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CN-121989195-A - Mobile platform of miniature search and rescue robot

CN121989195ACN 121989195 ACN121989195 ACN 121989195ACN-121989195-A

Abstract

The invention belongs to the technical field of building collapse ruin search and rescue equipment, in particular relates to a microminiature search and rescue robot moving platform which comprises two moving modules and a load module, wherein the two moving modules are connected end to form a snake-shaped robot moving platform, the two moving modules are identical in structure and comprise driving joints, deflection joints and a fixed shell, the driving joints provide power for the robot moving platform to walk, the deflection joints control the walking direction of the robot moving platform and ensure that the robot moving platform successfully avoids obstacles in the walking process, and the load module is internally provided with a life detector and a battery and can search and rescue in the ruins and provide a power supply for the wireless communication robot to realize functions. The mobile platform of the miniature snake-shaped robot has good adaptability under the complex environment inside the ruins of building collapse, is particularly suitable for passing through narrow gaps, and has the characteristics of modularized structure, light weight, flexible walking, easy installation, replacement and accurate control.

Inventors

  • WANG CONG
  • ZHENG HUAIBING
  • LIU TONG
  • LIANG ZHIDA
  • LIU CHUN
  • LIU QIYU
  • LI BIN

Assignees

  • 中国科学院沈阳自动化研究所

Dates

Publication Date
20260508
Application Date
20241108

Claims (10)

  1. 1. The mobile platform of the microminiature search and rescue robot is characterized by comprising a load module (2) and a motion module (1) which is respectively connected with the front end and the rear end of the load module (2), wherein the three modules are connected end to form the mobile platform of the robot which can be in a snake shape; The motion module (1) comprises a motion module fixing part, a driving joint (4) and a deflection joint (5) which are respectively arranged on the motion module fixing part, wherein the driving joint (4) comprises a walking power source, a walking transmission mechanism and a driving wheel (15) with a track structure on the outer circle surface, the driving wheel (15) can rotate relative to the motion module fixing part, the output end of the walking power source provides rotary power for the driving wheel (15) through the walking transmission mechanism so as to drive a robot moving platform to walk, the deflection joint (5) comprises a deflection power source, a deflection transmission mechanism and a deflection output part, the deflection output part is connected with the load module (2), and the output end of the deflection power source provides deflection power for the deflection output part through the deflection transmission mechanism so as to change the relative angle between the motion module (1) and the load module (2) to form a snake-shaped configuration; The load module (2) comprises a load module fixing part, and a life detector (25) and a battery (26) which are respectively arranged in the load module fixing part, wherein the battery (26) is connected with the life detector (25) and supplies power for the life detector (25), and a detection surface of the life detector (25) is exposed out of the load module fixing part.
  2. 2. The mobile platform of the micro-miniature search and rescue robot according to claim 1, wherein the walking transmission mechanism comprises a bevel gear transmission mechanism and a belt wheel transmission mechanism, driving wheels (15) are arranged at the left end and the right end of the front end and the rear end of the motion module fixing part, the driving wheels (15) at the left end and the right end of each end are coaxial, shafts at the front end and the rear end are connected through the belt wheel transmission mechanism, and the output end of the walking power source is connected with the shaft at any end through the bevel gear transmission mechanism, so that synchronous and same-direction rotation of each driving wheel (15) is realized.
  3. 3. The micro-miniature search and rescue robot moving platform according to claim 2 is characterized in that a driving shaft A (10) and a driving shaft B (14) are rotatably installed at the front end and the rear end of the motion module fixing portion respectively, the left end and the right end of the driving shaft A (10) and the left end and the right end of the driving shaft B (14) are both extended out of the motion module fixing portion and are both connected with the driving wheel (15), the belt wheel transmission mechanism comprises an input belt wheel (11), an output belt wheel (12) and a driving belt (13), the belt wheel transmission mechanism comprises an input bevel gear (8) and an output bevel gear (9), the output bevel gear (9) and the input belt wheel (11) are both installed on the driving shaft A (10) or the driving shaft B (14), the output belt wheel (12) is installed on the driving shaft B (14) or the driving shaft A (10) and is connected with the input belt wheel (11) through the driving belt (13), and the output end of the walking power source is installed with the input bevel gear (8) meshed with the output bevel gear (9).
  4. 4. The mobile platform of the miniature search and rescue robot according to claim 3, wherein the walking power source is installed in the motion module fixing part through a walking power source support, and the input bevel gear (8) is rotatably connected with the walking power source support through a bearing.
  5. 5. The mobile platform of the microminiature search and rescue robot according to claim 2, wherein the axial direction of the output end of the walking power source is perpendicular to the axial direction of the shaft of the driving wheel (15).
  6. 6. The micro search and rescue robot moving platform according to claim 1, wherein the deflection transmission mechanism is a worm and gear transmission mechanism and comprises a worm shaft (19), a worm (20), a worm wheel (21) and a deflection shaft (22), the output end of the deflection power source is connected with an inner hole at one end of the worm (20), the inner hole at the other end of the worm (20) is connected with one end of the worm shaft (19), the other end of the worm shaft (19) is rotatably connected with a bearing base (18) fixedly connected in a moving module fixing part, the deflection shaft (22) is rotatably installed in the moving module fixing part, two ends of the deflection shaft extend out of the moving module fixing part and are connected with a deflection output part, and the worm wheel (21) meshed with the worm (20) is fixedly connected on the deflection shaft (22).
  7. 7. The mobile platform of the microminiature search and rescue robot of claim 6, wherein the output end of the deflection power source is perpendicular to the axis of the deflection shaft (22).
  8. 8. The mobile platform of the microminiature search and rescue robot according to claim 6, wherein the deflection output part is a U-shaped deflection connecting plate (23), and two sides of the U-shaped opening are respectively connected with two ends of the deflection shaft (22).
  9. 9. The micro-miniature search and rescue robot moving platform according to claim 1 is characterized in that the load module (2) and the moving modules (1) at the front end and the rear end are respectively connected into a snake shape through deflection output parts in deflection joints (5), the walking direction of the robot moving platform is controlled through the deflection joints (5) and the robot moving platform is ensured to successfully avoid obstacles in the walking process, and when the robot moving platform turns over by 90 degrees, the tilting and resetting to an initial state can be realized under the action of the gravity of the deflection joints (5) and the robot moving platform.
  10. 10. The mobile platform of the microminiature search and rescue robot of claim 1, wherein the whole mobile platform of the robot is symmetrically distributed in the front-back direction and the up-down direction, so that the whole mobile platform of the robot can normally run after turning over at 180 degrees.

Description

Mobile platform of miniature search and rescue robot Technical Field The invention belongs to the technical field of building collapse ruin search and rescue equipment, and particularly relates to a mobile platform of a micro search and rescue robot. Background Accident such as earthquake and tsunami often causes ruins to be generated when buildings collapse, and rescue of survivors buried under the ruins is a very urgent task. In order to improve rescue efficiency, rescue technology is greatly developed, and particularly, the rescue work of trapped people in a narrow space inside ruins is very difficult, and microminiature rescue equipment is urgently needed to enter the ruins to search and rescue the trapped people. Therefore, the microminiature requirement on the mobile platform of the search and rescue robot is high, and the mobile platform of the microminiature robot with extremely high adaptability is designed to adapt to various complicated terrains and environments, so that the difficult problem of search and rescue in ruins is solved, and the microminiature mobile platform has great research significance. Disclosure of Invention In order to know the specific situation of trapped people in a narrow space in ruins, the invention aims to improve the motion capability and environmental adaptability of a robot in an uncertain non-structural environment and provide a microminiature search and rescue robot moving platform for search and rescue work in the ruins. The aim of the invention is realized by the following technical scheme: the invention comprises a load module and a motion module respectively connected with the front end and the rear end of the load module, wherein the three modules are connected end to form a snake-shaped robot moving platform; the motion module comprises a motion module fixing part, a driving joint and a deflection joint, wherein the driving joint and the deflection joint are respectively arranged on the motion module fixing part, the driving joint comprises a walking power source, a walking transmission mechanism and a driving wheel with a track structure on the outer circular surface, the driving wheel can rotate relative to the motion module fixing part, the output end of the walking power source provides rotary power for the driving wheel through the walking transmission mechanism so as to drive a robot moving platform to walk, the deflection joint comprises a deflection power source, a deflection transmission mechanism and a deflection output part, the deflection output part is connected with a load module, the output end of the deflection power source provides deflection power for the deflection output part through the deflection transmission mechanism, and then the relative angle between the motion module and the load module is changed, so that a snake-shaped configuration is formed; The load module comprises a load module fixing part, and a life detector and a battery which are respectively arranged in the load module fixing part, wherein the battery is connected with the life detector and supplies power for the life detector, and the detection surface of the life detector is exposed outside the load module fixing part. The walking transmission mechanism comprises a bevel gear transmission mechanism and a belt wheel transmission mechanism, driving wheels are arranged at the left end and the right end of the front end and the rear end of the fixed part of the movement module, the driving wheels at the left end and the right end of each end are coaxial, shafts at the front end and the rear end are connected through the belt wheel transmission mechanism, and the output end of the walking power source is connected with the shaft at any end through the bevel gear transmission mechanism, so that synchronous and same-direction rotation of each driving wheel is realized. The driving wheel driving mechanism comprises an input belt wheel, an output belt wheel and a driving belt, the bevel gear driving mechanism comprises an input bevel gear and an output bevel gear, the output bevel gear and the input belt wheel are both arranged on the driving shaft A or the driving shaft B, the output belt wheel is arranged on the driving shaft B or the driving shaft A and is connected with the input belt wheel through the driving belt, and the output end of the walking power source is provided with the input bevel gear meshed with the output bevel gear. The walking power source is arranged in the motion module fixing part through the walking power source support piece, and the input bevel gear is rotationally connected with the walking power source support piece through a bearing. The axial direction of the output end of the walking power source is perpendicular to the axial direction of the shaft where the driving wheel is located. The deflection transmission mechanism is a worm and gear transmission mechanism and comprises a worm shaft, a worm wheel and a deflection shaft, wherein the outpu