阅读说明：本技术 一种搬运救援机器人 (Carrying rescue robot ) 是由 杨杰 陈东亮 关玉金 刘连荣 于 2021-09-08 设计创作，主要内容包括：本发明公开了一种搬运救援机器人,属于机器人技术领域,包括救援框体,所述救援框体的两侧为穿通结构,所述救援框体的一侧设有搬运机构,所述救援框体远离搬运机构的一侧固定安装有负重框,所述救援框体的顶端设有防护机构,本发明,通过设置救援框体并配合使用搬运机构,可有效对救援人进行快速的搬运救援；通过设置防护顶框,在救援人救援后通过机器人运输时,可有效防止不可控的外来物对置于救援框体中的救援人造成损伤,有效提高了整个机器人的安全性,且当不可控的外来物下落撞击防护顶框时,缓冲柱会挤压缓冲弹簧,有效对救援框体和防护顶框进行冲击缓冲,进一步提高了整个机器人的安全性。(The invention discloses a carrying rescue robot, which belongs to the technical field of robots and comprises a rescue frame body, wherein two sides of the rescue frame body are of a penetrating structure, one side of the rescue frame body is provided with a carrying mechanism, one side of the rescue frame body, which is far away from the carrying mechanism, is fixedly provided with a load bearing frame, and the top end of the rescue frame body is provided with a protection mechanism; through setting up protection top frame, when the robot transportation after the rescue people rescues, can prevent effectively that uncontrollable foreign matter from becoming the damage to the rescue man of placing in the rescue framework, effectively improve the security of whole robot, and when uncontrollable foreign matter whereabouts striking protection top frame, buffer column can extrude buffer spring, effectively assaults the buffering to rescue framework and protection top frame, has further improved the security of whole robot.)

1. The utility model provides a transport rescue robot, includes rescue framework (1), its characterized in that: the both sides of rescue framework (1) are the break-over structure, one side of rescue framework (1) is equipped with transport mechanism (2), one side fixed mounting that transport mechanism (2) were kept away from in rescue framework (1) has heavy burden frame (3), the top of rescue framework (1) is equipped with protection machanism (4), the bottom of rescue framework (1) is equipped with two sets of firm mechanism (5) that are the symmetric distribution, the equal fixed mounting in both sides of rescue framework (1) and heavy burden frame (3) has electronic row wheel (6), the bottom of heavy burden frame (3) is fixed to be inserted and is equipped with oxygen machine (7) of dredging that is the symmetric distribution, the top fixing clip of heavy burden frame (3) is equipped with solar panel (8).

2. A carrying rescue robot as claimed in claim 1, characterized in that two sets of linear electric cylinders (11) are fixed and clamped on both sides of the inner wall of the rescue frame body (1) and are distributed vertically and symmetrically, and a rescue auxiliary frame (12) corresponding to the carrying mechanism (2) is integrally formed on the upper end of one side of the rescue frame body (1) far away from the load frame (3).

3. A carrying rescue robot as claimed in claim 2, wherein the carrying mechanism (2) comprises two side frames (21), the side frames (21) are symmetrically distributed in two groups, the two groups of side frames (21) are respectively and fixedly mounted at the output ends of the corresponding two groups of linear electric cylinders (11), rotating shafts (22) are fixedly inserted at the tops of the two groups of side frames (21), belt conveyors (23) are rotatably sleeved at the outer sides of the rotating shafts (22), bases (24) are rotatably mounted at the opposite sides of the bottoms of the two groups of side frames (21), telescopic cylinders (25) are fixedly mounted at the top ends of the bases (24), rotating seats (26) are fixedly mounted at the output ends of the telescopic cylinders (25), the top ends of the rotating seats (26) and the bottom ends of the belt conveyors (23) are rotatably mounted, two groups of symmetrically distributed L-shaped frames (27) are fixedly mounted at the side, far away from the rotating shafts (22), of the top ends of the belt conveyors (23), and one side of each of the two groups of L-shaped frames (27) is fixedly inserted with a connecting shaft (271), and the outer side of each connecting shaft (271) is rotatably sleeved with an auxiliary plate (28).

4. A carrying rescue robot as claimed in claim 3, wherein the belt conveyor (23) has plural sets of rubber ribs (231) formed integrally on the outer side of the belt in an equidistant manner.

5. A handling rescue robot as claimed in claim 3, characterized in that a protection pad (281) is fixedly connected to one side of the auxiliary plate (28).

6. A handling rescue robot as claimed in claim 1, characterized in that the protection mechanism (4) comprises a protection top frame (41) and buffer assemblies (42), the buffer assemblies (42) being provided with a plurality of groups distributed in a rectangular array;

the buffer assembly (42) comprises an outer barrel (421) and buffer columns (422), a limiting ring (423) is fixedly mounted at the upper end of the inner wall of the outer barrel (421), the bottom of the buffer column (422) penetrates through the limiting ring (423) and is fixedly mounted with a limiting disc (424), a buffer spring (425) is fixedly mounted between the bottom end of the limiting disc (424) and the inner lower wall of the outer barrel (421), the buffer assemblies (42) are fixedly mounted through the bottom end of the outer barrel (421) and the top end of the rescue frame body (1), and the buffer assemblies (42) are fixedly mounted through the top ends of the buffer columns (422) and the bottom end of the protective top frame (41);

the two sides of the protective top frame (41) are fixedly provided with L-shaped protective side frames (43), and the bottoms of the L-shaped protective side frames (43) are in contact with the side wall of the rescue frame body (1).

7. A carrying rescue robot as claimed in claim 1, wherein the stabilizing mechanism (5) comprises a vertical shaft (51), a damping bearing (52) is fixedly sleeved at the top of the vertical shaft (51), the damping bearing (52) is fixedly clamped at the bottom end of the rescue frame body (1), a U-shaped frame (53) is fixedly installed at the bottom end of the vertical shaft (51), a bottom rod (55) is rotatably installed at one side of the U-shaped frame (53), an upper frame (54) corresponding to the bottom rod (55) is fixedly sleeved at the middle part of the outer side of the vertical shaft (51), rollers (56) are rotatably installed at the bottom end of the bottom rod (55), and buffering airbags (57) are fixedly installed between the upper frame (54) and the bottom rod (55) and are equidistantly distributed.

8. A carrying rescue robot as claimed in claim 1, wherein a middle plate (71) is fixedly mounted on one side of the inner wall of the load frame (3), an air evacuation hose (72) connected with the output end of the oxygen evacuation device (7) is fixedly inserted in the middle of the middle plate (71), and the end of the air evacuation hose (72) is located at the top of the rescue frame body (1).

Technical Field

The invention relates to the technical field of robots, in particular to a carrying rescue robot.

Background

The rescue robot is a robot which is developed by adopting advanced science and technology for rescue, such as an earthquake rescue robot, and is specially used for searching survivors in the ruins of underground shopping malls to execute rescue tasks after a major earthquake;

however, most of existing rescue robots are simple in structure, high-safety carrying rescue and subsequent moving transportation of rescued people cannot be effectively carried out in a complex environment, the practical effect is not ideal, and secondly, a stable mechanism is lacked, so that the rescued people cannot move unstably in the complex environment, secondary damage of rescued people is easily caused, and therefore the carrying rescue robot is provided for solving the problems.

Disclosure of Invention

The invention aims to provide a carrying rescue robot to solve the problems in the background technology.

In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a transport rescue robot, includes the rescue framework, the both sides of rescue framework are the break-over structure, one side of rescue framework is equipped with transport mechanism, one side fixed mounting that transport mechanism was kept away from to the rescue framework has heavy burden frame, the top of rescue framework is equipped with protection machanism, the bottom of rescue framework is equipped with two sets of firm mechanisms that are the symmetric distribution, the equal fixed mounting in both sides of rescue framework and heavy burden frame has electronic row's wheel, the bottom of heavy burden frame is fixed to be inserted and is equipped with the oxygen dispersing machine that is the symmetric distribution, the top fixing clip of heavy burden frame is equipped with solar panel.

Preferably, two groups of linear electric cylinders which are symmetrically distributed up and down are arranged on two sides of the inner wall of the rescue frame body in a fixed clamping mode, and a rescue auxiliary frame corresponding to the position of the carrying mechanism is integrally formed at the upper end of one side, far away from the load bearing frame, of the rescue frame body.

Preferably, the transport mechanism includes the side bearer, the side bearer is equipped with two sets of, two sets of that is the symmetric distribution the side bearer is fixed mounting respectively and is corresponding the output of two sets of sharp electric cylinder, and is two sets of the top of side bearer is fixed to be inserted and is equipped with the pivot, the outside of pivot is rotated the cover and is equipped with belt conveyer, and is two sets of the bottom opposite side of side bearer is all rotated and is installed the base, the equal fixed mounting in top of base has telescopic cylinder, telescopic cylinder's the equal fixed mounting in output has the rotation seat, the installation is rotated on the top of rotation seat and belt conveyer's bottom, one side fixed mounting that keeps away from the pivot on belt conveyer top has two sets of L type framves that are the symmetric distribution, and is two sets of L type frame one side is fixed to be inserted and is equipped with the connecting axle, the outside of connecting axle is rotated the cover and is equipped with the subplate.

Preferably, a plurality of groups of rubber raised lines which are distributed at equal intervals are integrally formed on the outer side of the belt in the belt conveyor.

Preferably, one side of the auxiliary plate is fixedly connected with a protective pad.

Preferably, the protection mechanism comprises a protection top frame and buffer assemblies, and the buffer assemblies are provided with a plurality of groups distributed in a rectangular array;

the buffer assembly comprises an outer barrel and a buffer column, a limiting ring is fixedly mounted at the upper end of the inner wall of the outer barrel, the bottom of the buffer column penetrates through the limiting ring and is fixedly provided with a limiting disc, a buffer spring is fixedly mounted between the bottom end of the limiting disc and the inner lower wall of the outer barrel, the buffer assembly is fixedly mounted through the bottom end of the outer barrel and the top end of the rescue frame body, and the buffer assembly is fixedly mounted through the top end of the buffer column and the bottom end of the protective top frame;

the two sides of the protection top frame are fixedly provided with L-shaped protection side frames, and the bottoms of the L-shaped protection side frames are in contact with the side wall of the rescue frame body.

Preferably, stabilizing mean includes the vertical axis, the fixed cover in top of vertical axis is equipped with damping bearing, the fixed joint of damping bearing is in the bottom of rescue framework, the bottom fixed mounting of vertical axis has U type frame, one side of U type frame is rotated and is installed the sill bar, the fixed cover in outside middle part of vertical axis is equipped with the roof-rack that corresponds with the sill bar, the gyro wheel is installed in the bottom rotation of sill bar, fixed mounting has the buffering gasbag that is the equidistance and distributes between roof-rack and the sill bar.

Preferably, a middle plate is fixedly mounted on one side of the inner wall of the load bearing frame, an air dredging hose connected with the output end of the oxygen dredging machine is fixedly inserted in the middle of the middle plate, and the end part of the air dredging hose is located at the top of the rescue frame body.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the rescue frame body and the carrying mechanism are arranged, so that rescued people can be effectively and rapidly carried and rescued, the oxygen dispersing machine and the gas dispersing hose are used in a matched manner, oxygen support is provided for the rescued people, and the using effect of the whole robot is effectively improved;

2. by arranging the protective top frame, when the robot is transported after being rescued by a rescuer, uncontrollable foreign objects can be effectively prevented from damaging the rescuers in the rescue frame, the safety of the whole robot is effectively improved, and when the uncontrollable foreign objects fall and impact the protective top frame, the buffer column can extrude the buffer spring, so that the rescue frame and the protective top frame are effectively subjected to impact buffering, and the safety of the whole robot is further improved;

3. through setting up stabilizing mean, during the use, rotate the vertical axis, make two sets of sill bars expand to improve the contact stability of whole robot and ground, and when the robot removed, through the gyro wheel, the sill bar was followed and is removed, when meetting the road surface of jolting, the sill bar can rotate in one side of U type frame, and the buffering gasbag that the extrusion corresponds cushions, thereby has effectively promoted the stability of whole robot when removing the transportation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is another schematic structural view of the present invention;

fig. 3 is a schematic view of the structural connection of the rescue frame and the carrying mechanism of the present invention;

fig. 4 is a schematic view of the structural connection of the rescue frame and the protection mechanism of the present invention;

FIG. 5 is an enlarged view taken at A of FIG. 4 in accordance with the present invention;

FIG. 6 is a schematic view of the fixing mechanism of the present invention;

in the figure: 1. a rescue frame body; 2. a carrying mechanism; 3. a load frame; 4. a protection mechanism; 5. a stabilizing mechanism; 6. an electric road wheel; 7. an oxygen dispersing machine; 71. a middle plate; 72. a gas-dispelling hose; 8. a solar panel; 11. A linear electric cylinder; 12. a rescue auxiliary frame; 21. a side frame; 22. a rotating shaft; 23. a belt conveyor; 231. rubber convex strips; 24. a base; 25. a telescopic cylinder; 26. a rotating seat; 27. an L-shaped frame; 271. a connecting shaft; 28. an auxiliary plate; 281. a protective pad; 41. a protective top frame; 42. a buffer assembly; 421. an outer cylinder; 422. a buffer column; 423. a limiting ring; 424. a limiting disc; 425. a buffer spring; 43. an L-shaped protective side frame; 51. A vertical axis; 52. a damping bearing; 53. a U-shaped frame; 54. a top frame; 55. a bottom bar; 56. a roller; 57. a buffer air bag.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b): as shown in fig. 1-6, the invention provides a transportation rescue robot, comprising a rescue frame 1, wherein two sides of the rescue frame 1 are of a through structure, so that the robot can conveniently convey a person to be rescued into the rescue frame 1 from one side of the rescue frame 1, one side of the rescue frame 1 is provided with a conveying mechanism 2, one side of the rescue frame 1, which is far away from the conveying mechanism 2, is fixedly provided with a load bearing frame 3 for bearing load on one side of the whole robot, so as to prevent the conveying mechanism 2 from tilting one side of the robot when the person is transported, thereby improving the stability of the whole robot, the top end of the rescue frame 1 is provided with a protection mechanism 4, the bottom end of the rescue frame 1 is provided with two groups of symmetrically distributed stabilizing mechanisms 5, two sides of the rescue frame 1 and the load bearing frame 3 are both fixedly provided with electric running wheels 6 for electric moving and moving displacement of the rescue robot, the bottom of the load bearing frame 3 is fixedly inserted with symmetrically distributed oxygen phobizers 7, be used for dredging oxygen, carry outside oxygen to rescue in the framework 1 and carry out the oxygen supply to the rescued people, improved the result of use of whole robot, the top fixing clip who bears a burden frame 3 is equipped with solar panel 8, absorbs solar energy and storage so that use.

Two groups of linear electric cylinders 11 which are symmetrically distributed up and down are arranged on two sides of the inner wall of the rescue frame body 1 in a clamping mode, a rescue auxiliary frame 12 corresponding to the position of the carrying mechanism 2 is integrally formed at the upper end of one side, far away from the load bearing frame 3, of the rescue frame body 1, and the rescue auxiliary frame 12 is arranged to prevent the robot from causing damage to rescued people lying horizontally due to uncontrollable foreign objects when the robot carries rescues by using the carrying mechanism 2.

The carrying mechanism 2 comprises side frames 21, two groups of the side frames 21 are symmetrically distributed, the two groups of the side frames 21 are respectively and fixedly installed at the output ends of the two corresponding groups of the linear electric cylinders 11, the two groups of the side frames 21 are driven to synchronously slide back and forth in the rescue frame body 1 by synchronously starting the groups of the linear electric cylinders 11, rotating shafts 22 are fixedly inserted at the tops of the two groups of the side frames 21, belt conveyors 23 are rotatably sleeved at the outer sides of the rotating shafts 22, a plurality of groups of rubber raised lines 231 which are distributed at equal intervals are integrally formed at the outer sides of belts in the belt conveyors 23, and rescued people placed on the ground can be conveyed to the belt conveyors 23 through the belts with the plurality of groups of the rubber raised lines 231 by starting the belt conveyors 23; the base 24 is rotatably mounted on the opposite sides of the bottoms of the two groups of side frames 21, the telescopic cylinders 25 are fixedly mounted at the top ends of the base 24, the rotating seats 26 are fixedly mounted at the output ends of the telescopic cylinders 25, the top ends of the rotating seats 26 and the bottom ends of the belt conveyors 23 are rotatably mounted, the belt conveyors 23 are driven to rotate on the outer sides of the rotating shafts 22 by synchronously starting the telescopic cylinders 25 on the two sides, so that the angles of the belt conveyors 23 are flexibly adjusted, two groups of symmetrically-distributed L-shaped frames 27 are fixedly mounted on one sides of the top ends of the belt conveyors 23 far away from the rotating shafts 22, connecting shafts 271 are fixedly inserted into one sides of the two groups of L-shaped frames 27, auxiliary plates 28 are rotatably sleeved on the outer sides of the connecting shafts 271, and protective pads 281 are fixedly connected to one sides of the auxiliary plates 28; when the belt conveyor 23 rotates to make one side of the belt conveyor 23 contact with the ground, the auxiliary plate 28 contacts with the ground and rotates, and by moving the entire robot, the head of the person to be rescued can be shoveled onto the belt conveyor 23 by the auxiliary plate 28 with the protection pad 281 for subsequent transportation to the person to be rescued.

The protection mechanism 4 comprises a protection top frame 41 and buffer assemblies 42, and the buffer assemblies 42 are provided with a plurality of groups which are distributed in a rectangular array;

the buffer component 42 comprises an outer cylinder 421 and a buffer column 422, a limit ring 423 is fixedly installed at the upper end of the inner wall of the outer cylinder 421, the bottom of the buffer column 422 penetrates through the limit ring 423 and is fixedly installed with a limit disc 424, a buffer spring 425 is fixedly installed between the bottom end of the limit disc 424 and the inner lower wall of the outer cylinder 421, the buffer components 42 are fixedly installed through the bottom end of the outer cylinder 421 and the top end of the rescue frame body 1, the buffer components 42 are fixedly installed through the top end of the buffer column 422 and the bottom end of the protection top frame 41, through the arrangement of the protection top frame 41, when the rescue frame is transported by a robot after being rescued by a rescuers, the uncontrollable foreign objects can be effectively prevented from damaging the rescuers in the rescue frame body 1, the safety of the whole robot is effectively improved, and when the uncontrollable foreign objects fall to impact the protection top frame 41, the buffer spring 425 can be extruded by the buffer column 422, the rescue frame body 1 and the protection top frame 41 can be effectively buffered by impact, the safety of the whole robot is further improved;

the equal fixed mounting in both sides of protection top frame 41 has L type protection side frame 43, and the bottom of L type protection side frame 43 and the lateral wall contact of rescue framework 1 are through setting up L type protection side frame 43, effectively protect the top side edge department of rescue framework 1.

The stabilizing mechanism 5 comprises a vertical shaft 51, a damping bearing 52 is fixedly sleeved at the top of the vertical shaft 51, the damping bearing 52 is fixedly clamped at the bottom end of the rescue frame 1, the vertical shaft 51 can realize damping type rotation at the bottom end of the rescue frame 1, a U-shaped frame 53 is fixedly installed at the bottom end of the vertical shaft 51, a bottom rod 55 is rotatably installed at one side of the U-shaped frame 53, the bottom rod 55 can rotate at one side of the U-shaped frame 53, an upper frame 54 corresponding to the bottom rod 55 is fixedly sleeved at the middle part of the outer side of the vertical shaft 51, a roller 56 is rotatably installed at the bottom end of the bottom rod 55, the bottom rod 55 is conveniently in rolling contact with the ground through the roller 56, buffer airbags 57 distributed at equal intervals are fixedly installed between the upper frame 54 and the bottom rod 55, when the stabilizing mechanism is used, the vertical shaft 51 is rotated, the two groups of bottom rods 55 are unfolded, so that the contact stability of the whole robot and the ground is improved, and when the robot moves, the robot passes through the roller 56, the bottom rod 55 moves along with the movement, when encountering a bumpy road surface, the bottom rod 55 can rotate on one side of the U-shaped frame 53 and extrude the corresponding buffer air bag 57 for buffering, so that the stability of the whole robot during moving and transportation is effectively improved.

Heavy burden frame 3's inner wall one side fixed mounting has middle plate 71, the middle part of middle plate 71 is fixed to be inserted and is equipped with the sparse air hose 72 of being connected with sparse oxygen machine 7 output, the tip of sparse air hose 72 is located the top position of rescue framework 1, when being arranged in rescue framework 1 by the rescuer, start sparse oxygen machine 7, pass through the accurate top of carrying to rescue framework 1 of sparse air hose 72 with the outside air, provide oxygen support to the rescued person, whole robot's result of use has effectively been improved.

The working principle is as follows: the invention relates to a carrying rescue robot, when in use, a vertical shaft 51 needs to be manually rotated to expand two groups of bottom rods 55 so as to improve the contact stability of the whole robot and the ground, then, the whole robot moves, when the robot moves, the bottom rods 55 follow the movement through rollers 56, when the robot meets a bumpy road surface, the bottom rods 55 can rotate on one side of a U-shaped frame 53 and extrude corresponding buffer airbags 57 to buffer, thereby effectively improving the stability of the whole robot during moving and transportation until the robot moves to the position of a rescuer, enabling a carrying mechanism 2 to correspond to the head of the rescuer, then, telescopic air cylinders 25 on two sides are synchronously started to drive a belt conveyor 23 to rotate on the outer side of a rotating shaft 22, enabling one side of the belt conveyor 23 to be in contact with the ground, at the moment, an auxiliary plate 28 is in contact with the ground and rotates, and by moving the whole robot, the head of the rescued person is shoveled into the belt conveyor 23 through the auxiliary plate 28 with the protective cushion 281, then the belt conveyor 23 is started, the rescued person placed on the ground can be conveyed onto the belt conveyor 23 through the belt with a plurality of groups of rubber raised lines 231, then the telescopic air cylinders 25 on the two sides are synchronously started again to drive the belt conveyor 23 to rotate and reset on the outer side of the rotating shaft 22 until the belt conveyor 23 is in a horizontal position, a plurality of groups of linear electric cylinders 11 are synchronously started, two groups of side frames 21 are driven to drive the belt conveyor 23 and the rescued person to slide into the rescue frame 1 to realize the effective carrying and rescue of the rescued person, at the moment, the oxygen dredging machine 7 can be started to accurately convey the outside air to the top of the rescue frame 1 through the air dredging hose 72 to provide oxygen support for the rescued person, the use effect of the whole robot is effectively improved, then, will be stably moved to suitable position by the rescue people, through setting up protection top frame 41, when being transported through the robot after being rescued by the rescue people, can prevent effectively that uncontrollable foreign matter from becoming the damage to the people of being rescued who puts in rescue framework 1, the security of whole robot has effectively been improved, and when uncontrollable foreign matter whereabouts striking protection top frame 41, buffer column 422 can extrude buffer spring 425, effectively bump the buffering to rescue framework 1 and protection top frame 41, the security of whole robot has further been improved.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.