CN220483027U

CN220483027U - Search and rescue robot

Info

Publication number: CN220483027U
Application number: CN202320310119.3U
Authority: CN
Inventors: 刘蜀阳; 韩志宏; 严海鹏; 叶康; 徐辉龙; 邹力棒
Original assignee: Jingdezhen Ceramic Institute
Current assignee: Jingdezhen Ceramic Institute
Priority date: 2023-02-24
Filing date: 2023-02-24
Publication date: 2024-02-13
Anticipated expiration: 2033-02-24

Abstract

The utility model discloses a search and rescue robot, which belongs to the technical field of search and rescue equipment and comprises a main frame and a floating suspension, wherein main driving assemblies for driving the main frame to move are arranged on two sides of the front end and the rear end of the main frame, an auxiliary driving assembly is arranged on the floating suspension, one end of the floating suspension is hinged with the main frame, a suspension adjusting steering engine is arranged below the main frame, an output shaft of the suspension adjusting steering engine is connected with the floating suspension, when the search and rescue robot encounters an obstacle which is difficult to pass in the advancing direction, the floating suspension is driven to be lifted upwards by the suspension adjusting steering engine until a suspension driving wheel is lifted to the upper surface of the obstacle, so that the ground grabbing force of the search and rescue robot can be increased when the search and rescue robot continues advancing, and meanwhile, a better climbing angle can be obtained.

Description

Search and rescue robot

Technical Field

The utility model relates to the technical field of search and rescue equipment, in particular to a search and rescue robot.

Background

With the continuous development of science and technology, robots are widely applied to post-disaster rescue, and the search and rescue robots can be applied to a plurality of rescue occasions, such as earthquake, debris flow, typhoons, floods, mining accidents, fire protection, dangerous object removal, field investigation and the like. When a disaster or an accident occurs, the field environment is complex and severe, the unknown and uncertain factors are filled, the life safety of search and rescue personnel is seriously threatened, and serious tests are brought to the deployment and implementation of search and rescue work. While 48 hours after the disaster is a key time for performing rescue, otherwise the possibility of survival of trapped people beyond 48 hours becomes small.

The search and rescue robot is used for replacing search and rescue personnel to enter the scene to execute the search and rescue detection task, so that the personal safety of the search and rescue personnel can be guaranteed, meanwhile, the robot can better enter a narrow space which is difficult for people to enter, search and rescue is performed in ruins, and the search and rescue efficiency is greatly improved. For example, in the coal mining process, disaster accidents such as gas, coal dust and fire disaster easily occur, at this time, workers are often trapped in a narrow mine, the environment in the mine is often filled with complex and unknown terrains, and meanwhile, high temperature, toxic gas and other factors may exist to cause harm to the safety of the workers. General rescue personnel can not directly enter a dangerous area, can only clear garbage through equipment such as a lifting winch, a movable windmill and the like, ventilate underground, and then search and rescue miners in danger. If the search and rescue robot is used for assisting in search and rescue, search and rescue personnel can know the condition in the well in a safe area, and the trapped personnel can be searched for and rescue in a directional manner, so that the search and rescue efficiency can be greatly improved.

The search and rescue robot can be remotely controlled or used for penetrating into complex, dangerous and uncertain disaster sites in an autonomous mode, detecting unknown environmental information, searching and rescuing trapped people, is an important branch and new research field for the practical development of the robot technology, and has important social value. In recent years, great importance has been attached to countries such as the united states, japan, australia, china, and the like.

For the current search and rescue robots, the obstacle crossing capability is an important index for determining the performance of the current search and rescue robots. The rapid and stable obstacle crossing capability can enable the robot to move freely and smoothly to execute search and rescue tasks when facing complex terrains in disaster areas, the obstacle crossing capability of the robot is directly influenced by a moving mechanism serving as a moving carrier of the moving robot, the types of the moving mechanisms of the search and rescue robots on the market at present are more, such as wheels, crawler-type and the like, different moving platforms determine the respective moving capability, and the wheels are rapid in speed, high in efficiency and poor in obstacle crossing capability; the crawler-type obstacle crossing capability is strong, but the crawler-type obstacle crossing robot has the defects of low speed and low movement efficiency, so that the search and rescue robot with quick design and strong obstacle crossing capability is a difficult problem to be solved by the current technicians.

In order to ensure that the robot has good obstacle crossing capability and obstacle crossing speed, the utility model designs an all-terrain search and rescue robot with exquisite structure based on the optimized wheel type movement mechanism, can adapt to various complex terrain conditions, has higher movement speed, ensures good kinematic stability, and can quickly and stably surmount obstacles in various complex terrains.

Disclosure of Invention

In order to overcome the defects in the prior art, the utility model provides a search and rescue robot.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a search and rescue robot, includes main frame and suspension that floats, main drive assembly who drives main frame and remove is all installed to the both sides of main frame front and back end, is equipped with auxiliary drive assembly on the suspension that floats, and suspension one end and main frame are articulated, and main frame below is equipped with the suspension and adjusts the steering wheel, and the output shaft of steering wheel is adjusted to the suspension and is connected with the suspension that floats.

Preferably, a buffer spring is arranged at the joint of the main frame and the floating suspension, and two ends of the buffer spring are respectively connected with the main frame and the floating suspension.

Preferably, the floating suspension adopts an I-shaped suspension, the I-shaped suspension is provided with two groups of front cantilevers and two groups of rear cantilevers, the two groups of front cantilevers are respectively hinged with the main frame, and two ends of the buffer spring are respectively connected with the main frame and the two groups of front cantilevers.

Preferably, the suspension adjusting steering engine adopts a 180-degree steering engine, and the suspension adjusting steering engine is connected with the main frame through a mounting bracket.

Preferably, the two sides of the main frame are provided with anti-collision wheels which are outwards protruded outside the main frame, the main frame is provided with an ultrasonic sensor for detecting the height, and the ultrasonic sensor is positioned above the anti-collision wheels.

Preferably, the main driving assembly comprises a main driving source and a main driving wheel, an output shaft of the main driving source is in transmission connection with the main driving wheel, the auxiliary driving assembly comprises an auxiliary driving source and a suspension driving wheel, and an output shaft of the auxiliary driving source is in transmission connection with the suspension driving wheel.

Preferably, the output shaft of the main driving source is in transmission connection with the main driving wheel through a coupler, the main driving source adopts a direct current motor, the main driving wheel adopts a crawler wheel, the output shaft of the auxiliary driving source is in transmission connection with the suspension driving wheel through a coupler, the auxiliary driving source adopts a direct current motor, and the suspension driving wheel adopts a rubber wheel.

Preferably, the search and rescue robot further comprises a horizontal rotating platform arranged on the main frame, the horizontal rotating platform comprises a horizontal steering engine and a horizontal rotating arm, the horizontal steering engine is connected with the main frame through a mounting bracket, an output shaft of the horizontal steering engine is connected with the horizontal rotating arm, and a searchlight and a camera are arranged on the horizontal rotating arm.

Preferably, the horizontal rotating arm is provided with a pitching mechanical arm, the pitching mechanical arm comprises a pitching steering engine and a pitching arm, the pitching steering engine is connected with the horizontal rotating arm through a mounting bracket, an output shaft of the pitching steering engine is connected with the pitching arm, and the outer end of the pitching arm is provided with a clamping jaw.

Preferably, the main frame is integrated with a singlechip main control board, an expansion board, a switch and a battery module for supplying power, wherein the singlechip main control board is respectively and electrically connected with the expansion board, the switch, a main driving assembly, an auxiliary driving assembly, a suspension adjusting steering engine, an ultrasonic sensor, a horizontal steering engine, a searchlight and a camera.

The beneficial effects of the utility model are as follows: compared with the prior art, the steering engine is adjusted through the suspension to cooperate with the floating suspension, so that the floating suspension can adjust the climbing angle according to the obstacle, the search and rescue robot can easily cross the obstacle which is difficult to cross by the common robot, the floating obstacle crossing of the search and rescue robot is realized, the obstacle crossing capacity and obstacle crossing speed of the search and rescue robot are improved, and the search and rescue robot can complete the work such as sample collection and obstacle cleaning in a complex environment.

Drawings

FIG. 1 is a perspective view of a first embodiment of the present utility model;

FIG. 2 is a second perspective view of an embodiment of the present utility model;

FIG. 3 is a third perspective view of an embodiment of the present utility model;

fig. 4 is a perspective view of a fourth embodiment of the present utility model.

In the figure, 10, a main frame; 11. a main driving source; 12. a main driving wheel; 13. an anti-collision wheel; 20. a floating suspension; 21. a front cantilever; 22. a rear cantilever; 23. a sub driving source; 24. hanging a driving wheel; 31. a suspension adjusting steering engine; 32. a buffer spring; 41. a horizontal steering engine; 42. a horizontal radial arm; 50. pitching the mechanical arm; 51. tilting steering engine; 52. pitching the arm; 53. clamping jaws; 61. an ultrasonic sensor; 62. a searchlight; 63. a camera is provided.

Detailed Description

The following describes the embodiments of the present utility model further with reference to the drawings. The description of these embodiments is provided to assist understanding of the present utility model, but is not intended to limit the present utility model. In addition, the technical features of the embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

As shown in the attached drawings 1-4, the search-and-rescue robot provided by the utility model comprises a main frame 10 and a floating suspension 20, wherein main driving components for driving the main frame 10 to move are arranged on two sides of the front end and the rear end of the main frame 10, a secondary driving component is arranged on the floating suspension 20, the main driving component comprises a main driving source 11 and a main driving wheel 12, an output shaft of the main driving source 11 is in transmission connection with the main driving wheel 12, the secondary driving component comprises a secondary driving source 23 and a suspension driving wheel 24, an output shaft of the secondary driving source 23 is in transmission connection with the suspension driving wheel 24, one end of the floating suspension 20 is hinged with the main frame 10, a suspension adjusting steering engine 31 is arranged below the main frame 10, an output shaft of the suspension adjusting steering engine 31 is connected with the floating suspension 20, the suspension adjusting steering engine 31 adopts a 180-degree steering engine, the suspension adjusting steering engine 31 is connected with the main frame 10 through a mounting bracket, and the suspension adjusting steering engine 31 can drive the floating suspension 20 to pitch down relative to the main frame 10.

Specifically, when the search and rescue robot enters a disaster area to execute a search and rescue task and faces a complex and changeable terrain environment, when the search and rescue robot encounters an obstacle which is difficult to cross in the travelling direction, the suspension adjusting steering engine 31 drives the floating suspension 20 to lift upwards until the suspension driving wheel 24 lifts to the upper surface of the obstacle, so that the search and rescue robot can increase the grabbing force when continuing travelling, and can obtain a better climbing angle at the same time, in the climbing process, the pitching angle of the floating suspension 20 can be adjusted in real time according to the gradient change and through the suspension adjusting steering engine 31, so that the suspension driving wheel 24 is kept to be clung to the surface of the obstacle, and the search and rescue robot can easily and quickly cross the obstacle.

Compared with the prior art, through the cooperation of suspension adjustment steering wheel 31 and floating suspension 20 for floating suspension 20 can be according to the obstacle adjustment climbing angle, and the search and rescue robot can be more relaxed cross the obstacle that ordinary robot is difficult to cross, realizes search and rescue robot's the obstacle that floats, improves search and rescue robot's obstacle ability and obstacle speed of crossing, makes search and rescue robot accomplish work such as sample collection, obstacle clearance in the complex environment.

Further, in order to improve the stability of the obstacle surmounting of the search and rescue robot, a buffer spring 32 is arranged at the joint of the main frame 10 and the floating suspension 20, the two ends of the buffer spring 32 are respectively connected with the main frame 10 and the floating suspension 20, the floating suspension 20 adopts an I-shaped suspension, the I-shaped suspension is provided with two groups of front cantilevers 21 and two groups of rear cantilevers 22, the two groups of front cantilevers 21 are respectively hinged with the main frame 10, the two ends of the buffer spring 32 are respectively connected with the main frame 10 and the two groups of front cantilevers 21, the buffer spring 32 is matched with the I-shaped suspension and the main frame 10 to form a buffer structure, when the obstacle surmounting of the search and rescue robot, the swing amplitude of the floating suspension 20 can be limited through the buffer spring 32, and vibration and impact generated when the obstacle surmounting is absorbed, so that the search and rescue robot can surmount the obstacle stably.

Furthermore, the two sides of the main frame 10 are respectively provided with an anti-collision wheel 13, the anti-collision wheels 13 are outwards protruded outside the main frame 10, and the anti-collision wheels 13 can protect the search and rescue robot and absorb the impact force of the collision when the side of the search and rescue robot collides, so that the search and rescue robot is prevented from being damaged; be equipped with the ultrasonic sensor 61 that is used for the height on the main frame 10, ultrasonic sensor 61 is located the top of crashproof wheel 13, and when search and rescue robot need pass narrow and small space, accessible ultrasonic sensor 61 measures, judges search and rescue robot can the safe pass, avoids search and rescue robot card in narrow and small space.

Further, the output shaft of the main driving source 11 is in transmission connection with the main driving wheel 12 through a coupler, the main driving source 11 adopts a direct current motor, the main driving wheel 12 adopts a crawler wheel, the output shaft of the auxiliary driving source 23 is in transmission connection with the suspension driving wheel 24 through a coupler, the auxiliary driving source 23 adopts a direct current motor, the suspension driving wheel 24 adopts a rubber wheel, wherein the diameter of the main driving wheel 12 is larger than that of the suspension driving wheel 24, the angle of lifting required by the floating suspension 20 during obstacle crossing can be reduced through the arrangement, the gravity center of the search and rescue robot during obstacle crossing is reduced, and the search and rescue robot is effectively prevented from backward turning in the climbing process.

Further, in order to cooperate with the operation of the search and rescue robot, when the search and rescue robot enters a disaster area to execute a search and rescue task and needs to face complex and changeable terrain environments, the search and rescue robot can have certain detection and working capacities, the search and rescue robot further comprises a horizontal rotating platform arranged on the main frame 10, the horizontal rotating platform comprises a horizontal steering engine 41 and a horizontal rotating arm 42, the horizontal steering engine 41 is connected with the main frame 10 through a mounting bracket, an output shaft of the horizontal steering engine 41 is connected with the horizontal rotating arm 42, a searchlight 62 for providing illumination and a camera 63 for collecting image data are arranged on the horizontal rotating arm 42, a pitching mechanical arm 50 for carrying out environment sampling is arranged on the horizontal rotating arm 42, the pitching mechanical arm 50 comprises a pitching steering engine 51 and a pitching mechanical arm 52, the pitching steering engine 51 is connected with the horizontal rotating arm 42 through the mounting bracket, the output shaft of the pitching steering engine 51 is connected with the pitching arm 52, the outer end of the pitching arm 52 is provided with a clamping jaw 53, the horizontal steering engine 41 and the pitching steering engine 51 both adopt 360-degree steering engines, the horizontal steering engine 41 is matched with the horizontal rotating arm 42, the movement range of the searchlight 62 and the camera 63 can be greatly improved, the operation interval is enlarged, and then the detection capability of the search and rescue robot to an unknown environment is improved, wherein after a sampling object is determined through the camera 63, the sampling work can be carried out in the environment through the pitching mechanical arm 50, after a sample is carried out, a worker can further detect the disaster area environment through the sample, so that the worker can conveniently know the disaster area internal environment, further rescue activities can be carried out, or obstacle clearance is carried out, and the search and rescue robot can further go deep.

Further, the main frame 10 is integrated with a singlechip main control board, an expansion board, a switch and a lithium battery module for supplying power, the singlechip main control board is respectively electrically connected with the expansion board, the switch, a main driving assembly, an auxiliary driving assembly, a suspension adjusting steering engine 31, an ultrasonic sensor 61, a horizontal steering engine 41, a searchlight 62 and a camera 63 and is used for controlling different action components to perform cooperative work, wherein a plurality of groups of sensor interfaces are arranged on the expansion board, and a sensor can be added according to requirements, so that the detection and disaster relief capability of the search and rescue robot is further improved. For example, armored sensors are used in exploring mining areas; a temperature sensor and the like are additionally arranged in the area where the fire disaster happens to be detected, so that the detection capability of the search and rescue robot to the environment of the disaster area is enhanced, and the search and rescue robot can be better adapted to different disaster relief situations.

The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, but the present utility model is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the utility model, and yet fall within the scope of the utility model.

Claims

1. The utility model provides a search and rescue robot, its characterized in that, includes main frame (10) and floating suspension (20), main drive assembly that drives main frame (10) removal is all installed to the both sides of main frame (10) front and back end, is equipped with auxiliary drive assembly on floating suspension (20), and floating suspension (20) one end is articulated with main frame (10), and main frame (10) below is equipped with suspension adjustment steering wheel (31), and the output shaft of suspension adjustment steering wheel (31) meets with floating suspension (20).

2. The search and rescue robot according to claim 1, wherein a buffer spring (32) is arranged at the joint of the main frame (10) and the floating suspension (20), and two ends of the buffer spring (32) are respectively connected with the main frame (10) and the floating suspension (20).

3. The search and rescue robot according to claim 2, wherein the floating suspension (20) adopts an i-shaped suspension, the i-shaped suspension is provided with two groups of front cantilevers (21) and two groups of rear cantilevers (22), the two groups of front cantilevers (21) are respectively hinged with the main frame (10), and two ends of the buffer spring (32) are respectively connected with the main frame (10) and the two groups of front cantilevers (21).

4. The search and rescue robot according to claim 1, wherein the suspension adjustment steering engine (31) adopts a 180-degree steering engine, and the suspension adjustment steering engine (31) is connected with the main frame (10) through a mounting bracket.

5. The search and rescue robot according to claim 1, wherein the main frame (10) is provided with anti-collision wheels (13) on both sides, the anti-collision wheels (13) are protruded outwards from the outer side of the main frame (10), the main frame (10) is provided with an ultrasonic sensor (61) for measuring height, and the ultrasonic sensor (61) is located above the anti-collision wheels (13).

6. A search and rescue robot as claimed in claim 1, characterized in that the main drive assembly comprises a main drive source (11) and a main drive wheel (12), an output shaft of the main drive source (11) is in transmission connection with the main drive wheel (12), the auxiliary drive assembly comprises an auxiliary drive source (23) and a suspension drive wheel (24), and an output shaft of the auxiliary drive source (23) is in transmission connection with the suspension drive wheel (24).

7. The search and rescue robot according to claim 6, wherein an output shaft of the main driving source (11) is in transmission connection with the main driving wheel (12) through a coupling, the main driving source (11) adopts a direct current motor, the main driving wheel (12) adopts a crawler wheel, an output shaft of the auxiliary driving source (23) is in transmission connection with the suspension driving wheel (24) through the coupling, the auxiliary driving source (23) adopts a direct current motor, and the suspension driving wheel (24) adopts a rubber wheel.

8. The search and rescue robot according to claim 1, further comprising a horizontal rotating platform arranged on the main frame (10), wherein the horizontal rotating platform comprises a horizontal steering engine (41) and a horizontal rotating arm (42), the horizontal steering engine (41) is connected with the main frame (10) through a mounting bracket, an output shaft of the horizontal steering engine (41) is connected with the horizontal rotating arm (42), and a searchlight (62) and a camera (63) are arranged on the horizontal rotating arm (42).

9. The search and rescue robot according to claim 8, wherein the horizontal rotating arm (42) is provided with a pitching mechanical arm (50), the pitching mechanical arm (50) comprises a pitching steering engine (51) and a pitching arm (52), the pitching steering engine (51) is connected with the horizontal rotating arm (42) through a mounting bracket, an output shaft of the pitching steering engine (51) is connected with the pitching arm (52), and a clamping jaw (53) is arranged at the outer end of the pitching arm (52).

10. The search and rescue robot according to claim 1, wherein the main frame (10) is integrated with a singlechip main control board, an expansion board, a switch and a battery module for supplying power, and the singlechip main control board is respectively and electrically connected with the expansion board, the switch, the main driving assembly, the auxiliary driving assembly and the suspension adjusting steering engine (31).