废墟狭缝搜救机器人自动送进系统研究  

Automatic insertion system for a searching and rescuing robot in ruins

作　　者：徐草[1] 章亚男[1] 沈林勇[1] 徐解民[1] 龚振邦[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机电工程》2010年第11期110-114,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家高技术研究发展计划("863"计划)资助项目(2007AA041502-6)

摘　　要：为开发一种能够在废墟狭缝中运动与探测的搜救机器人,使之成为一种面向地震等自然灾害应用的高效救援手段,研究了机器人柔性本体自动送进系统。针对柔性本体在废墟狭缝中的送进难题,提出了"前拉后推"的双驱动方式,采用了两套驱动装置,即安装在本体头部的拉进装置和安装在本体尾部的推进装置,研制了一种可实现柔性本体在狭小空间中自动送进的机械机构和控制系统。经样机试验表明,该系统可较好地实现柔性本体在废墟中的自动送进,并实现预定搜救功能。In order to develop a robot for searching and rescuing in cracks of ruins,and make the robot become a kind of efficient tool oriented to the disasters such as earthquakes,an automatic insertion system for the flexible robot body was investigated.A dual-drive method with a pulling device and a pushing device at both sides of the flexible tube respectively was proposed,to solve the difficulties problem of sending a flexible tube inside narrow cracks.A prototype of mechanism and control was realized for automatic insertion of flexible robot body into narrow space.Test results prove that the robot prototype can work effectively in moving through ruins and realize its rescuing function.

关 键 词：搜救机器人 柔性本体 送进系统 

分 类 号：TH123[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]