CN112503313A - Camera lifting and falling control method for monitoring robot - Google Patents
Camera lifting and falling control method for monitoring robot Download PDFInfo
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- CN112503313A CN112503313A CN202011220219.4A CN202011220219A CN112503313A CN 112503313 A CN112503313 A CN 112503313A CN 202011220219 A CN202011220219 A CN 202011220219A CN 112503313 A CN112503313 A CN 112503313A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000000670 limiting effect Effects 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 239000011324 bead Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a camera lifting and dumping control method for a monitoring robot, wherein the robot is provided with a support and crawler belts, the crawler belts are arranged on two sides of the support, a vehicle body is arranged on the support, a motor is arranged on the support, a vehicle body is arranged on the vehicle body, the vehicle body is square in overlook, a support plate is hinged to the upper end of the outer side of the vehicle body, and the support plate is driven to rotate through a hydraulic cylinder; when the monitoring robot topples, the controller controls the hydraulic cylinder to extend, so that the supporting plate is driven to expand, and the monitoring robot is prompted to reset. Compared with the prior art, the invention has the following beneficial effects: reduce vibrations, be provided with the toroidal tube in this application on the base simultaneously, at the inside of toroidal tube, correspond the dead lever and be fixed with the elastic component, be provided with the pouring weight in the toroidal tube between the elastic component, can reduce the vibrations when the robot resumes owing to toppling over.
Description
Technical Field
The invention belongs to the field of robots, and relates to a monitoring robot and a camera lifting and dumping control method of the robot.
Background
At present, robots are more and more widely applied, the robots have incomparable functions in places where people cannot reach, and monitoring robots are used for replacing manual work to monitor scenes such as factories, pavements or fields and the like, and monitoring cameras are arranged in the monitoring robots.
However, in the existing problems, since the camera belongs to an instrument with relatively high precision, the vibration in the process of lifting the camera has influence on the camera, and the influence is irreversible, so that the vibration in the process of working the camera is reduced, which is important.
Disclosure of Invention
In view of the above technical problems, the present invention provides a method for controlling the elevation and the falling of a camera of a monitoring robot, which aims to solve the problems in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a camera lifting and falling control method of a monitoring robot is characterized in that the robot is provided with a support 1 and crawler belts 2, the crawler belts 2 are arranged on two sides of the support 1, a vehicle body 3 is arranged on the support 1, a motor 4 is arranged on the support 1, a vehicle body 5 is arranged on the vehicle body 3, the vehicle body 5 is square in plan view, a support plate 6 is hinged to the upper end of the outer side of the vehicle body 5, and the support plate 6 is driven to rotate through a hydraulic cylinder 7; when the monitoring robot topples, the controller controls the hydraulic cylinder 7 to extend, so that the support plate 6 is driven to expand, and the monitoring robot is prompted to reset.
A camera lifting and falling control method of a monitoring robot is characterized in that the robot is provided with a support 1 and crawler belts 2, the crawler belts 2 are arranged on two sides of the support 1, a vehicle body 3 is arranged on the support 1, a motor 4 is arranged on the support 1, a vehicle body 5 is arranged on the vehicle body 3, the vehicle body 5 is square in plan view, a support plate 6 is hinged to the upper end of the outer side of the vehicle body 5, and the support plate 6 is driven to rotate through a hydraulic cylinder 7; the inside bottom side of fuselage 5 is provided with base 8, set up ring channel 9 on the base 8, set up ball 10 in the ring channel 9, the border of the downside of carousel 12 is provided with annular protrusion, the annular protrusion of carousel 12 supports on ball 10, the drive shaft 11 of motor 4 passes through-hole and carousel 12 fixed connection on automobile body 3 and base 8, 4 dead levers 13 are vertically fixed with in fuselage 5, the cover that well plate 14 can reciprocate is established on dead lever 13, well plate 14 includes fixed part 22 and rotating part 23, rotating part 23 can be rotatory for fixed part 22, evenly be provided with 4 annular through grooves 24 on the rotating part 23, rotating part 23 has cavity 26, the side of rotating part 23 is provided with 4 through-holes 28, cavity 26 is connected to through-hole 28, be provided with connecting rod 17 and slide bar 25 in the annular through groove 24, the connecting rod 17 and the sliding rod 25 are arranged on two sides of the middle plate and are provided with limiting parts respectively, so that the connecting rod 17 and the sliding rod 25 can slide in the annular through groove 24, the lower end of the connecting rod 17 is hinged with one end of the lower support rod 15, the other end of the lower support rod 15 is hinged with the turntable 12, the upper end of the connecting rod 17 is hinged with one end of the upper support rod 16, the other end of the upper support rod 16 is hinged with the support disc 18, the camera 19 is fixedly arranged on the support disc 18, the upper part of the camera is connected with the upper cover 20 through the vertical rod 21, the upper cover 20 is circular when being overlooked, the through hole 28 is internally provided with a first ejecting block 29, the first ejecting block 29 and the sliding rod 25 are hinged with a driving rod 27, the fixing part 22 is provided with a cavity 30 corresponding to the through hole 28, the cavity 30 is internally provided with a spring, the other end of the second ejector block 33 is connected with the push plate 32, a second ejector block 33 is fixed on the push plate 32, an upper groove 34 is formed in the second ejector block 33, an upper steel ball 35 is arranged in the upper groove 34 in a rolling manner, a roller 37 is fixed at the end part of the second ejector block 33, the second ejector block 33 is supported on the fixed part 22, a lower groove 43 is formed in the lower side of the fixed part 22, a lower steel ball 44 is arranged in the lower groove 43 in a rolling manner, the upper steel ball 35 is used for supporting the supporting part 36 of the rotating part 23, the rotating part 23 is provided with a supporting plate part 42, the lower steel ball 44 is abutted against the supporting plate part 42, and a central round hole 38 is formed in the rotating part 23;
the control lifting method of the monitoring robot comprises the following steps:
when the camera 19 extends out, the controller controls the motor 4 to drive the turntable 12 to rotate, so as to drive the lower support rod 15 to rotate, the lower support rod 15 drives the connecting rod 17 to move in the arc-shaped through groove 24, the rotating part 23 is driven to move upwards, the fixing part 22 is driven to slide on the fixing rod, the connecting rod 17 moves in the arc-shaped through groove 24 to be in contact with the sliding rod 25, and the sliding rod 25 has a certain distance d from one end of the arc-shaped through groove 24, so that the sliding rod 25 moves to the end part of the arc-shaped through groove 24 under the action of the connecting rod 17, at the moment, the lower support rod 15 and the upper support rod 16 contract inwards, and the camera 19;
the driving rod 27 pushes the first ejecting block 29, the first ejecting block 29 ejects the second ejecting block 33, and the end face of the other end of the first ejecting block 29 connected with the driving rod 27 makes up the upper through hole 28 to form a continuous end face;
when the sliding rod 25 moves to the end of the arc-shaped through groove 24, if the rotation is further required, the rotating portion 23 rotates relative to the fixed portion 22, and the roller 37 rolls on the side surface of the rotating portion 23;
when the camera 19 is retracted, the motor 4 rotates reversely, when the first top block 29 abuts against the second top block 33, the second top block 33 can be inserted into the through hole 28 again, the cavity 26 is further provided with a limiting block 45, and the limiting block 45 limits the position of the first top block 29 in the through hole 28;
the dumping control method of the monitoring robot comprises the following steps:
after dumping, the controller controls the hydraulic cylinder 5 to extend.
Further, the base 8 is provided with a ring tube 39, elastic members 40 are fixed inside the ring tube 39 corresponding to the fixing rod 13, and a weight 41 is provided in the ring tube 39 between the elastic members 40.
Further, two ends of the annular through slot 24 are provided with buffer pads 46, two sides of the connecting rod 17 and the sliding rod 25 on the middle plate are provided with limit portions, the fixing portion 22 is provided with a first counter 47 and a second counter 48 at two adjacent fixing rods 13, and the rotating portion 23 is provided with an inductor 49.
Compared with the prior art, the invention has the following beneficial effects:
the camera is lifted in a rotating mode, and in order to further reduce the vibration during the rotating lifting, the middle plate is simultaneously equipped, and the vibration caused during the lifting can be further reduced in the rotating lifting process through the matching of the fixing part and the rotating part on the middle plate.
Simultaneously be provided with the ring pipe in this application on the base, at the inside of ring pipe, correspond the dead lever and be fixed with the elastic component, be provided with the pouring weight in the ring pipe between the elastic component, can reduce the vibrations when the robot resumes owing to empting.
Drawings
FIG. 1 is a front view of the robot of the present invention;
FIG. 2 is a schematic view of the internal structure of the robot of the present invention;
FIG. 3 is a schematic view of a camera support structure of the robot of the present invention;
FIG. 4 is a schematic view of the robot according to the present invention showing the internal structure of the robot when the camera is extended;
FIG. 5 is a schematic view of a middle support structure of the robot of the present invention;
FIG. 6 is a schematic view of the internal structure of the middle support of the robot of the present invention;
FIG. 7 is a partial cross-sectional view of the middle support of the robot of the present invention;
FIG. 8 is an enlarged view of portion A of FIG. 7 in accordance with the present invention;
FIG. 9 is an enlarged view of portion B of FIG. 7 in accordance with the present invention;
FIG. 10 is a first schematic view of a rotating portion of the robot of the present invention;
FIG. 11 is a second schematic view of a rotating portion of the robot of the present invention;
FIG. 12 is a top view of a rotating portion of the robot of the present invention;
FIG. 13 is a top view of the internal structure of the rotating part of the robot according to the present invention;
FIG. 14 is a top view of the robot midplane of the present invention;
FIG. 15 is a schematic view of the robot support plate of the present invention in an expanded configuration;
FIG. 16 is a schematic diagram of a tilted, erected configuration of the robot of the present invention;
FIG. 17 is a schematic view of an internal cushioning device according to the present invention;
in the figure, a bracket 1, a crawler 2, a vehicle body 3, a motor 4, a body 5, a support plate 6, a hydraulic cylinder 7, a base 8, an annular groove 9, a ball 10, a drive shaft 11, a rotary disc 12, a fixed rod 13, a middle plate 14, a lower support rod 15, an upper support rod 16, a connecting rod 17, a support plate 18, a camera 19, an upper cover 20, a vertical rod 21, a fixed part 22, a rotating part 23, an annular through groove 24, a sliding rod 25, a cavity 26, a drive rod 27, a through hole 28, a first top block 29, a cavity 30, a spring 31, a push plate 32, a second top block 33, an upper groove 34, an upper steel ball 35, a support part 36, a roller 37, a central circular hole 38, an annular pipe 39, an elastic part 40, a weight 41, a support plate part 42, a lower groove 43, a lower steel ball 44, a limit block 45.
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.
In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected or detachably connected; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
As shown in fig. 1, the invention discloses a camera lifting and dumping control method for a monitoring robot, the monitoring robot is provided with a support 1 and crawler belts 2, the crawler belts 2 are arranged on two sides of the support 1, the crawler belts are driven by a driving motor to drive the robot to move, a vehicle body 3 is arranged on the support 1, the vehicle body 3 is used for supporting equipment on the upper part of the robot, a motor 4 is arranged on the support 1, a machine body 5 is arranged on the vehicle body 3, the machine body 5 is square in plan view, a support plate 6 is hinged to the upper end of the outer side of the machine body 5, and the support 6 is driven to rotate by a hydraulic cylinder 7; the supporting plates 6 of the present invention may be disposed on both sides of the body 5, or the supporting plates 6 may be disposed on both the front and rear sides and the left and right sides of the body 5, so that the capability of the robot to return to a normal running state after being tilted can be further improved.
As shown in fig. 2, the internal structure of the robot of the present invention is schematically shown. As shown in fig. 2, the base 8 is provided on the bottom side (bottom) of the interior of the body 5 of the present invention, and the base 8 is fixed to the vehicle body 3, so that the stability of the vehicle body 3 is ensured by the base 8. The base 8 is provided with an annular groove 9, a plurality of balls 10 are placed in the annular groove 9, and the balls 10 can be fixed in the annular groove 9 through a fixing device, so that the balls 10 are spaced from each other and can rotate, similarly to the fixing mode of steel balls in a bearing.
As shown in fig. 2, the rim of the lower side of the turntable 12 is provided with an annular projection, which annular projection of the turntable 12 bears on the ball 10. The motor 4 is fixed on the lower side surface of the vehicle body 3, a driving shaft 11 of the motor 4 passes through holes on the vehicle body 3 and the base 8 to be fixedly connected with the turntable 12, so that the turntable 12 can be driven to rotate, and the turntable 12 can rotate smoothly due to the arrangement of the balls 10.
4 dead levers 13 are vertically fixed in the fuselage 5, the dead lever 13 is evenly arranged corresponding to the middle of the side wall of the fuselage 5, the lower end is fixed on the base 8, and the upper end is fixed with the inner upper wall of the fuselage 5. The fixing rod 13 is sleeved with a middle plate 14, as can be seen from fig. 7 and 8, the middle plate 14 is provided with a hole sleeved on the fixing rod 13, and the middle plate 14 can move up and down on the fixing rod 13. As shown in fig. 6, the middle plate 14 includes a fixed portion 22 and a rotating portion 23, the fixed portion 22 is annular, the rotating portion 23 is disc-shaped, and the rotating portion 23 is rotatable with respect to the fixed portion 22. As shown in fig. 12 and 13, the rotating portion 23 is uniformly provided with 4 annular through grooves 24, the rotating portion 23 has a cavity 26 (i.e., a cavity), the side surface of the rotating portion 23 is provided with 4 through holes 28, the through holes 28 are connected with the cavity 26 to communicate the cavity 26 with the outside, the annular through grooves 24 are provided with a connecting rod 17 and a sliding rod 25, the connecting rod 17 and the sliding rod 25 are provided with limiting portions on both sides of the middle plate to enable the connecting rod 17 and the sliding rod 25 to slide in the annular through grooves 24, and cushion pads 46 are provided at both ends of the annular through grooves 24.
As shown in fig. 2-4, the lower end of the connecting rod 17 is hinged to one end of the lower support rod 15, the other end of the lower support rod 15 is hinged to the rotary plate 12, the upper end of the connecting rod 17 is hinged to one end of the upper support rod 16, and the other end of the upper support rod 16 is hinged to the support plate 18.
A camera 19 is fixedly mounted on the support plate 18, the upper part of the camera 19 is connected with an upper cover 20 through a vertical rod 21, and the upper cover 20 is circular in plan view.
As shown in fig. 7 and 8, a first ejecting block 29 is arranged in the through hole 28, a driving rod 27 is hinged between the first ejecting block 29 and the sliding rod 25, the driving rod 27 is arranged inside the cavity 26, a cavity 30 is arranged on the fixing portion 22 corresponding to the through hole 28, a spring 31 and a push plate 32 are arranged in the cavity 30, one end of the spring 31 is fixed on the cavity 30, the other end of the spring 31 is connected with the push plate 32, a second ejecting block 33 is fixed on the push plate 32, an upper groove 34 is arranged on the second ejecting block 33, an upper steel ball 35 is arranged in the upper groove 34 in a rolling manner, a roller 37 is fixed at the end of the second ejecting block 33, the second ejecting block 33 is supported on the fixing portion 22, a lower groove 43 is arranged at the lower side of the fixing portion 22, a lower steel ball 44 is arranged in the lower groove 43 in a rolling manner, and the upper steel ball 35 is used for supporting a supporting portion 36, the rotating portion 23 has a plate portion 42, the lower steel ball 44 abuts against the plate portion 42, and lubricating oil is provided in the upper groove 34 and the lower groove 43.
As shown in fig. 12 and 13, the rotating portion 23 is provided with a central circular hole 38 to ensure that the air pressure in the cavity 26 is the same as the external air pressure regardless of whether the first top block 29 moves, and to ensure that the first top block 29 does not have a delay phenomenon when moving.
As shown in fig. 17, the base 8 is provided with a ring tube 39, the ring tube 39 is disposed between the inner side wall of the body 5 and the fixing rod 13, an elastic member 40 is fixed inside the ring tube 39 corresponding to the fixing rod 13, a weight 41 is disposed in the ring tube 39 between the elastic members 40, and the weight 41 is partitioned by the elastic member 40.
As shown in fig. 14, two ends of the annular through slot 24 are provided with buffer pads 46, two sides of the middle plate of the connecting rod 17 and the sliding rod 25 are provided with limit portions, the fixing portion 22 is provided with a first counter 47 and a second counter 48 at two adjacent fixing rods 13, and the rotating portion 23 is provided with a sensor 49.
The robot is provided with a controller, a power supply, a wireless transmission device and the like, wherein the controller is used for controlling the operation of the camera, the motor, the driving motor, the hydraulic cylinder and the crawler belt, and meanwhile, the controller can store and send images acquired by the camera to a remote control end or send dynamic pictures acquired by the camera in real time to the remote control end; the power supply supplies power to the electric equipment such as a controller, a camera, a motor, a driving motor and the like on the robot.
The working principle of the invention is as follows: when the camera needs to stretch out the during operation, controller control motor, the drive carousel is rotatory, it rotates to drive lower branch, lower branch drives the connecting rod and removes in the logical groove of arc, can drive the rotating part upward movement this moment, thereby drive the fixed part upwards slip on the dead lever, the connecting rod moves to and contacts with the slide bar in the logical groove of arc simultaneously, as shown in fig. 13, because the slide bar still has certain distance d apart from the one end that the logical groove of arc, consequently, the slide bar moves the tip that the logical groove of arc under the effect of connecting rod, lower branch 15 and last branch 16 of going up inwards shrink this moment, camera 19 stretches out 5 outsides of fuselage, the actuating lever promotes first kicking block, first kicking block is ejecting with the second kicking block. At this time, as shown in fig. 13, the end face of the other end of the first top block connected with the driving rod just can make up the upper through hole to form a continuous end face. When the slide bar moves to the end part of the arc-shaped through groove, if the slide bar needs to continue to rotate, the rotating part rotates relative to the fixed part, the roller rolls on the side surface of the rotating part, and even when the second ejector block is compressed, the upper steel beads can well support the rotating part. When the camera needs to be withdrawn, the camera rotates slowly in the reverse direction, when the first ejector block abuts against the second ejector block, the second ejector block can be inserted into the through hole again, a limiting block 45 is further arranged in the cavity 26, the limiting block 45 is used for limiting the position of the first ejector block pushed by the second ejector block, and when the second ejector block is inserted into the through hole, the first ejector block still abuts against the second ejector block.
When the robot topples, as shown in fig. 16, the controller controls the hydraulic cylinder to extend to the state shown in fig. 16, and the support plate rotates outwards for a certain angle in the initial state, so that the robot topples sideways, and the support plate is required to be controlled to extend, so that the support plate does not rotate clockwise but rotates anticlockwise by taking the ground as a fulcrum. When the center of gravity is in the position shown in fig. 16, the tracks of the robot return to contact with the ground, during which process the weight will move to one side when the robot topples, as shown in fig. 17, and will also swing back and forth within the loop due to the vibration or back and forth, enabling the robot to quickly return to a stationary state due to the weight of the weight being large and the movement of the weight being relatively slow with respect to the robot.
When the sensor 49 passes the first counter 47 and the second counter 48, the first counter and the second counter count, as shown in fig. 14, the rotating part rotates counterclockwise when the camera is extended, the rotating part rotates clockwise when the camera is retracted, when the camera is extended, the first counter 47 and the second counter 48 start counting, when the first counter count is greater than the second counter by 1, the rotating part is controlled to rotate, and at this time, the rotation enables the angle of the camera to return to the initial state.
Compared with the prior art, the invention has the following beneficial effects:
the camera is lifted in a rotating mode, and in order to further reduce the vibration during the rotating lifting, the middle plate is simultaneously equipped, and the vibration caused during the lifting can be further reduced in the rotating lifting process through the matching of the fixing part and the rotating part on the middle plate.
Simultaneously be provided with the ring pipe in this application on the base, at the inside of ring pipe, correspond the dead lever and be fixed with the elastic component, be provided with the pouring weight in the ring pipe between the elastic component, can reduce the vibrations when the robot resumes owing to empting.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (4)
1. A camera lifting and dumping control method for a monitoring robot is disclosed, the robot is provided with a support 1 and a crawler 2, the crawler 2 is arranged on two sides of the support 1, and a vehicle body 3 is arranged on the support 1, and the camera lifting and dumping control method is characterized in that: the support 1 is provided with a motor 4, the vehicle body 3 is provided with a vehicle body 5, the vehicle body 5 is square in plan view, the upper end of the outer side of the vehicle body 5 is hinged with a support plate 6, and the support plate 6 is driven to rotate through a hydraulic cylinder 7; when the monitoring robot topples, the controller controls the hydraulic cylinder 7 to extend, so that the support plate 6 is driven to expand, and the monitoring robot is prompted to reset.
2. A camera lifting and dumping control method for a monitoring robot is disclosed, the robot is provided with a support 1 and a crawler 2, the crawler 2 is arranged on two sides of the support 1, and a vehicle body 3 is arranged on the support 1, and the camera lifting and dumping control method is characterized in that: the support 1 is provided with a motor 4, the vehicle body 3 is provided with a vehicle body 5, the vehicle body 5 is square in plan view, the upper end of the outer side of the vehicle body 5 is hinged with a support plate 6, and the support plate 6 is driven to rotate through a hydraulic cylinder 7; the inside bottom side of fuselage 5 is provided with base 8, set up ring channel 9 on the base 8, set up ball 10 in the ring channel 9, the border of the downside of carousel 12 is provided with annular protrusion, the annular protrusion of carousel 12 supports on ball 10, the drive shaft 11 of motor 4 passes through-hole and carousel 12 fixed connection on automobile body 3 and base 8, 4 dead levers 13 are vertically fixed with in fuselage 5, the cover that well plate 14 can reciprocate is established on dead lever 13, well plate 14 includes fixed part 22 and rotating part 23, rotating part 23 can be rotatory for fixed part 22, evenly be provided with 4 annular through grooves 24 on the rotating part 23, rotating part 23 has cavity 26, the side of rotating part 23 is provided with 4 through-holes 28, cavity 26 is connected to through-hole 28, be provided with connecting rod 17 and slide bar 25 in the annular through groove 24, the connecting rod 17 and the sliding rod 25 are arranged on two sides of the middle plate and are provided with limiting parts respectively, so that the connecting rod 17 and the sliding rod 25 can slide in the annular through groove 24, the lower end of the connecting rod 17 is hinged with one end of the lower support rod 15, the other end of the lower support rod 15 is hinged with the turntable 12, the upper end of the connecting rod 17 is hinged with one end of the upper support rod 16, the other end of the upper support rod 16 is hinged with the support disc 18, the camera 19 is fixedly arranged on the support disc 18, the upper part of the camera is connected with the upper cover 20 through the vertical rod 21, the upper cover 20 is circular when being overlooked, the through hole 28 is internally provided with a first ejecting block 29, the first ejecting block 29 and the sliding rod 25 are hinged with a driving rod 27, the fixing part 22 is provided with a cavity 30 corresponding to the through hole 28, the cavity 30 is internally provided with a spring, the other end of the second ejector block 33 is connected with the push plate 32, a second ejector block 33 is fixed on the push plate 32, an upper groove 34 is formed in the second ejector block 33, an upper steel ball 35 is arranged in the upper groove 34 in a rolling manner, a roller 37 is fixed at the end part of the second ejector block 33, the second ejector block 33 is supported on the fixed part 22, a lower groove 43 is formed in the lower side of the fixed part 22, a lower steel ball 44 is arranged in the lower groove 43 in a rolling manner, the upper steel ball 35 is used for supporting the supporting part 36 of the rotating part 23, the rotating part 23 is provided with a supporting plate part 42, the lower steel ball 44 is abutted against the supporting plate part 42, and a central round hole 38 is formed in the rotating part 23;
the control lifting method of the monitoring robot comprises the following steps:
when the camera 19 extends out, the controller controls the motor 4 to drive the turntable 12 to rotate, so as to drive the lower support rod 15 to rotate, the lower support rod 15 drives the connecting rod 17 to move in the arc-shaped through groove 24, the rotating part 23 is driven to move upwards, the fixing part 22 is driven to slide on the fixing rod, the connecting rod 17 moves in the arc-shaped through groove 24 to be in contact with the sliding rod 25, and the sliding rod 25 has a certain distance d from one end of the arc-shaped through groove 24, so that the sliding rod 25 moves to the end part of the arc-shaped through groove 24 under the action of the connecting rod 17, at the moment, the lower support rod 15 and the upper support rod 16 contract inwards, and the camera 19;
the driving rod 27 pushes the first ejecting block 29, the first ejecting block 29 ejects the second ejecting block 33, and the end face of the other end of the first ejecting block 29 connected with the driving rod 27 makes up the upper through hole 28 to form a continuous end face;
when the sliding rod 25 moves to the end of the arc-shaped through groove 24, if the rotation is further required, the rotating portion 23 rotates relative to the fixed portion 22, and the roller 37 rolls on the side surface of the rotating portion 23;
when the camera 19 is retracted, the motor 4 rotates reversely, when the first top block 29 abuts against the second top block 33, the second top block 33 can be inserted into the through hole 28 again, the cavity 26 is further provided with a limiting block 45, and the limiting block 45 limits the position of the first top block 29 in the through hole 28;
the dumping control method of the monitoring robot comprises the following steps:
after dumping, the controller controls the hydraulic cylinder 5 to extend.
3. The method of claim 2, wherein the method comprises: the base 8 is provided with a ring tube 39, an elastic member 40 is fixed inside the ring tube 39 corresponding to the fixing rod 13, and a weight 41 is provided in the ring tube 39 between the elastic members 40.
4. A method of monitoring robot camera lift and tilt control as claimed in claim 3, characterized by: the two ends of the annular through groove 24 are provided with buffer pads 46, the two sides of the connecting rod 17 and the sliding rod 25, which are located on the middle plate, are provided with limit parts, the fixing part 22 is provided with a first counter 47 and a second counter 48 at two adjacent fixing rods 13, and the rotating part 23 is provided with an inductor 49.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011220219.4A CN112503313A (en) | 2020-11-05 | 2020-11-05 | Camera lifting and falling control method for monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011220219.4A CN112503313A (en) | 2020-11-05 | 2020-11-05 | Camera lifting and falling control method for monitoring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112503313A true CN112503313A (en) | 2021-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011220219.4A Withdrawn CN112503313A (en) | 2020-11-05 | 2020-11-05 | Camera lifting and falling control method for monitoring robot |
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| Country | Link |
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| CN (1) | CN112503313A (en) |
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Application publication date: 20210316 |