CN102496293A

CN102496293A - Robot standing on road for commanding pedestrians and vehicles to pass through road

Info

Publication number: CN102496293A
Application number: CN2011104040610A
Authority: CN
Inventors: 徐德胜
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-12-04
Filing date: 2011-12-04
Publication date: 2012-06-13
Anticipated expiration: 2031-12-04
Also published as: CN102496293B

Abstract

The invention discloses a robot standing on a road for commanding pedestrians and vehicles to pass through the road. The robot is characterized in that a cross arm and a vertical arm form a framework, a physical body is wrapped outside the framework, a police clothes is put on the outer side of the physical body, shoulders are arranged on the left side surface and the right side surface above the framework, hands are arranged on tail ends of the shoulders, the head is arranged right above the framework, red lights are arranged on the front surfaces and the rear surfaces of the shoulders, green lights are lifted in the hands, a plurality of cameras around the upside and the downside of the framework are arranged on a support plate, the framework is arranged on a rotating disk, a base is arranged under the rotating disk, power conversion and signal systems are arranged on the rotating disk and in the base, the edge of the base is provided with a device for driving the robot to rotate; in a crossing, the robot rotates for 90 DEG, suspends, switches on the red lights and the green lights after stretching out the shoulders, gives a sign for vehicles and pedestrians in the head-on side and the reversing side to suspend to ensure that vehicles and pedestrians at the side surfaces pass through; and after one minute, the red lights and the green lights are switched off and the shoulders are collected, the robot rotates for 90 DEG again, and suspends, switches on the red lights and the green lights after stretching out the shoulders, gives a sign for vehicles and pedestrians in the other direction to pass through.

Description

A kind ofly stand in the robot that commander pedestrian and vehicle go across the road on the road

Affiliated technical field

The present invention relates to a kind of robot, refer in particular to and stand in the robot that commander pedestrian and vehicle go across the road on the road.

Background technology

At present, known police is can not twenty four hours round-the-clock stands in that commander pedestrian and vehicle go across the road on the road.

Summary of the invention

The police is can not twenty four hours round-the-clock to stand in the problem that commander pedestrian and vehicle go across the road on the road in order to solve; The present invention provides a kind of robot; This robot can not only commander pedestrian and vehicle go across the road and control the roadside traffic lights; And can also check pedestrian and the vehicle that goes across the road around the crossing, and get off through computer recording.

The technical solution adopted for the present invention to solve the technical problems is: put on police's clothes in the outside of robot health; The clothes the inside hides many camera systems; The robot health is by the robot skeleton, the robot body, and two shoulders of robot, robot two hands, robot head, several critical pieces are formed; The rectangle red eye is housed on the front-back of two shoulders of robot, is respectively carrying a discoid greensignal light in two hands of robot; The transformation voltage stabilizer is housed, picture receiver, computing machine, the drive unit that the robot shoulder upwards rises or regains downwards on the robot health the inside supporting plate; The robotic station is on rotating disk; Be base below the rotating disk, above the rotating disk He in the base power conversion system and signal system be housed, the foundation bolt hole of firm banking is arranged on the base cylindrical, the device that the base next door has the drive machines person to rotate.

When robot works at " ten " word crossing; After rotating 90 degree, microprocessor control driven by servomotor size gear set drive robot health stops operating; Rise two shoulders then; Open the rectangle red eye that is contained on the shoulder front-back; Signal is sailed the vehicle and the pedestrian that come to the robot front and back and is temporarily stopped to go across the road, and opens a discoid greensignal light of respectively carrying in two hands of robot simultaneously, and vehicle that signal is sailed to robot left and right sides face and pedestrian be the road through North and South direction in preset time; Robot turns off red eye and greensignal light then; Regain two shoulders downwards; The robot health stops operating after rotating 90 degree once more, upwards rises two shoulders, opens red eye and greensignal light; The vehicle and the pedestrian of signal North and South direction temporarily stop to go across the road, and let the vehicle of east-west direction and pedestrian go across the road.Constantly the health of cycle repeats robot rotates, and suspends, and rises shoulder, the opening signal lamp, and signal vehicle and pedestrian go across the road.

Around around the robot skeleton and be divided into row, following row, in go up to arrange, in upward arrange the layout camera system.Camera system connects picture receiver, and picture receiver connects computing machine, and the computing machine situation that camera system is captured is all noted;

The robot health is contained on the rotating disk, on the cylindrical of rotating disk, inlays a gear wheel, and pinion wheel and scrambler are enclosed within on the servo motor shaft; The driven by servomotor pinion wheel; Pinion wheel drives gear wheel, and gear wheel drives rotating disk, and rotating disk drives and is contained in the robot health on the rotating disk; Scrambler is connected microprocessor with servomotor with electric wire, is rotated by microprocessor control robot health.

The robot skeleton is assembled into by perpendicular support and stull, and the transversal section of robot skeleton is an equilateral hexagon.

At the robot body that the coated outside elastic soft material of robot skeleton is processed, the transversal section of robot body is oval.

The robot shoulder is by shoulder, the shoulder joint of shoulder root, and the fixed part of shoulder, shoulder rise the several critical pieces of the drive unit of regaining to be formed.The robot shoulder is contained in the left and right sides, the top face of robot skeleton; The end of shoulder joint is welded on the root of shoulder; The fixed part of shoulder is used for fixing shoulder; The shoulder joint section is " 9 " word shape, and shoulder joint is: at rectangular parallelepiped of a cylindrical radially upper right corner welding, respectively protrude a short and small cylinder in cylindrical axial two sides, short and small cylinder and right cylinder coaxial inner conductor.The fixed part of shoulder is by the shoulder joint pedestal, web joint, and screw constitutes.Right cylinder on the shoulder joint is contained in the breach circle of shoulder joint pedestal, and the breach circle is meant that the limit, bottom right at the shoulder joint bearing drills through the cylindrical macropore in a shouldering joint, then macropore the right and following material complete resection is fallen, and produces breach.On the front-back of shoulder joint pedestal, respectively adorn a web joint, the short and small cylinder of the shoulder joint of packing in the web joint front aperture, the back penetrates screw in two holes, and shoulder is fixed on the shoulder joint pedestal.The drive unit that shoulder rise to be regained is by servomotor, forerunner's Moving plate, and the rear-guard Moving plate, deformable elasticity driving lever, indeformable rigidity driving lever, adapter sleeve, pin, the several critical pieces of pulse encoder constitute.Forerunner's Moving plate is enclosed within on the axle of servomotor; The servo motor shaft that radially passes of driving-disc is got through an aperture in the past then; In aperture, penetrate pin, rely on pin to give forerunner's Moving plate the transmission of torque of servomotor, the deformable elasticity driving lever of welding on the excircle of forerunner's Moving plate; The rear-guard Moving plate is enclosed within on the short and small cylinder of shoulder joint; The short and small cylinder that radially passes shoulder joint of rear-guard Moving plate is got through an aperture; In aperture, penetrate pin, rely on pin to give shoulder the transmission of torque of rear-guard Moving plate, the indeformable rigidity driving lever of welding on the excircle of rear-guard Moving plate; Forerunner's Moving plate rotates under the drive of servomotor, and the deformable elasticity driving lever on forerunner's Moving plate is stirred indeformable rigidity driving lever on the rear-guard Moving plate simultaneously, thereby the promotion shoulder upwards rises or the servomotor counter-rotating is regained shoulder downwards.In a single day in shoulder rise or withdrawal process, run into barrier, the deformable elasticity driving lever on forerunner's Moving plate produces to rear curved; Slip over the indeformable rigidity driving lever on the rear-guard Moving plate; Though at this moment forerunner's Moving plate rotates, rear-guard Moving plate and shoulder are motionless, when removing barrier; Deformable elasticity driving lever on forerunner's Moving plate recovers former state under the effect of self elastic force, promote the rear-guard Moving plate and make shoulder from upwards rising 90 degree at one's side or being retracted at one's side downwards; Adapter sleeve is connected the pulse scrambler on another short and small cylinder of shoulder joint, and the effect of pulse encoder is speed and the angle that the control shoulder upwards rises or regains downwards.Pulse encoder connects computing machine with electric wire, and high low-voltage separates with the light coupling; Servomotor is by computer control, and servomotor connects computing machine with electric wire, separates high low-voltage with optocoupler; Pulse encoder also ceaselessly passed to computing machine to signal continuously when shoulder made progress rise or downward withdrawal process; Computing machine is with program of software programming: whether program whenever detects the pulsatile once scrambler at a distance from 0.1 second has signal to pass to computing machine; Shoulder will suspend motionless when in rise or withdrawal process, running into barrier; Pulse encoder stops to pass to computing machine to signal simultaneously; Detect the signal less than scrambler after it's 0.1 second past for computing machine, program will jump to time waiting automatically and close on the servomotor rotating program, and the back program will jump to automatically and open on the servomotor rotating program after one minute; If this moment, shoulder did not run into barrier in rise or withdrawal process; Pulse encoder will continuously pass to computing machine to signal, and computer program redirect is always being opened on the servomotor rotating program, accomplishes a shoulder and upwards rises or the downward process of regaining; Robot starts and upwards to rise shoulder in this time period of downward withdrawal shoulder, has also turned on the annular lamp below the gear wheel simultaneously, face the annular lamp below be mounted in the sensor on the little supporting plate in base limit; The signal wire of sensor connects microprocessor, turn on the annular lamp after, sensor will obtain signal and pass to microprocessor; Microprocessor control rotary machine people's servomotor; Robot must not be rotated, only be completely retracted under the situation at one's side, just close the annular lamp at the robot shoulder; After closing the annular lamp; The sensor no signal on base limit passes to microprocessor, and at this moment microprocessor just starts rotary machine people's servomotor, and robot is rotated.

The imitated respectively true man of two hands of robot hold the hand of fist tight in one's hands; Two hands of robot are welded on the end of two shoulders of robot respectively; Respectively carrying a discoid greensignal light in two hands of robot, the workplace of greensignal light faces the side of robot health.

The imitated true man's of robot head head and face, robot head be welded on the robot skeleton directly over.

Above the rotating disk He in the base power conversion system and signal system are housed, wherein power conversion system is by hollow heavy insulation cover, hollow anodal torch; Hollow negative pole torch, cathode contact electrode base, insulcrete; The cathode contact electrode base, case, cathode power supply line; Anode power cord, several critical pieces are formed.The bearing of packing in the hole in the middle of the rotating disk, the brearing bore hollow heavy insulation cover of packing into reinstalls hollow anodal torch in hollow heavy insulation cover; There is screw thread the lower end of hollow anodal torch; On screw thread, load onto nut and compress the cathode power supply line, the hollow negative pole torch of packing in the hollow anodal torch is kept apart hollow anodal torch and hollow negative pole torch with hollow heavy insulation cover; The length of hollow negative pole torch surpasses hollow anodal torch; Hollow anodal torch is all protruded at the two ends up and down of hollow negative pole torch, and there is screw thread the lower end of hollow negative pole torch, on screw thread, loads onto nut and compresses anode power cord; The cathode contact electrode base is by the cathode contact electrode, rigid enclosure, and insulation sleeve, cushion block, screw, spring, insulcrete is formed.Insulation sleeve is contained in the rigid enclosure; Be cushion block under the rigid enclosure, the cathode contact electrode is contained in the insulation sleeve, and spring is contained on the centre position at the back side of circular arc workplace of cathode contact electrode; Rely on the thrust of spring all the time the circular arc workplace of cathode contact electrode to be resisted against on the anodal torch; Positive electrical wire in the welding of the back side of cathode contact electrode, insulcrete be contained in the cathode contact electrode rigid enclosure above, the borehole jack on the insulcrete is on the cylindrical of the hollow heavy insulation cover of hollow negative pole torch outside; Be used to block the cathode contact electrode base above the cathode contact electrode base, the cathode contact electrode base is fixed on the rotating disk with screw; The cathode contact electrode base is by rigid enclosure, insulation sleeve, and the hassock piece, screw, spring is formed.Insulation sleeve is contained in the rigid enclosure; Be the hassock piece under the rigid enclosure, the cathode contact electrode is contained in the insulation sleeve, and spring is contained in the back side of cathode contact electrode; The tension force of dependence spring is resisted against the circular arc workplace of cathode contact electrode on the negative pole torch; Negative electrical wire in the welding of the back side of cathode contact electrode, the cathode contact electrode base is fixed on the rotating disk with screw, and the cathode contact electrode base is on the cathode contact electrode base; The case of insulation covers the power conversion system that is contained on the rotating disk, and the electric wire on electric wire on the cathode contact electrode and the cathode contact electrode passes from the right sides of case respectively, directly is connected on the transformation voltage stabilizer; Cathode contact electrode in cathode contact electrode base and the pedestal is together with dial rotation; The cathode contact electrode is under the thrust of the electrode back side upper spring during rotation; All the time pasting hollow anodal torch and rotating, receiving 220 volts of external on the cathode power supply line under hollow anodal torch power supplys, because hollow anodal torch outside is hollow heavy insulation cover; Hollow anodal torch and hollow heavy insulation cover between hollow heavy insulation cover and the rotating disk bearing be housed, so can not rotate; The working method that the cathode contact electrode receives power supply is the same with the cathode contact electrode; Though the power supply that cathode contact electrode and cathode contact electrode receive has fluctuation; Be transferred to the picture receiver in the robot health again after but process transformation voltage stabilizer transformation is stable; Computing machine, the camera on the robot skeleton, signal lamp on the shoulder; Servomotor and pulse encoder that shoulder drives, the signal system on the rotating disk.Signal system is by a plurality of light source tubes, a plurality of sensors, and the self-control original screen panel, the several critical pieces of light source tube mounting flange and bolt are formed.Light source tube is that lamp is installed in the thin hollow tubular, and the tiny endoporus of pipe becomes the light source that lamp penetrates into tiny light source; The light source of No. one, No. two, No. three light source tube is irradiation downwards, and light source tube is horizontally arranged in the outside of case with straight line, between light source tube and the light source tube from a distance, with the light source tube mounting flange and be bolted on the rotating disk; The middle part is a thrust ball bearing below the rotating disk; It below the thrust ball bearing self-control original screen panel; The self-control original screen panel is processed into by a circular insulating board, face below No. two light source tube light sources with No. three light source tube light sources below on self-control original screen panel plane, respectively get through first sphere shape light and pass the hole greater than the light source diameter, on self-control original screen panel plane, draw big " ten " word line then; The center line that first sphere shape light passes the hole is positioned at the right-hand member of " ten " word line greatly; The center line that second sphere shape light passes the hole is positioned at the upper end of " ten " word line greatly, and the center line that the 3rd sphere shape light passes the hole is positioned at greatly left end on " ten " word line, and the center line that the 4th sphere shape light passes the hole is positioned at the lower end of " ten " word line greatly; Sensor just is equipped with at the back side of self-control original screen panel in the back of passing the hole at each sphere shape light; Face No. two light source tubes penetrate light sources below, be contained in the sensor at the self-control original screen panel back side, be called two road sensors; Face No. three light source tubes penetrate sources below, be contained in the sensor at the self-control original screen panel back side, be called three road sensors; With thrust ball bearing original screen panel is separated below the rotating disk, the original screen panel of making by oneself can not rotate; When the robot that is installed on the rotating disk rotates 90 °; Be installed in No. two light source tubes on the rotating disk equally; No. three light sources also rotate 90 degree, because sphere shape light passes hole and sphere shape light and passes sensor below the hole too according to 90 ° of rows on the self-control original screen panel, so after 90 ° of the each rotations of robot; The sphere shape light that light source just in time passes on the self-control original screen panel passes the hole; Sensor by the self-control original screen panel back side receives, and sensor passes to microprocessor with signal, and microprocessor uses this signal to remove to open the green light and the red light in roadside; On self-control original screen panel plane, get through the narrow oval arc light source of article one below the number of the facing light source tube light source and pass the hole, on self-control original screen panel plane, draw " ten " word line then, the narrow oval arc light source of article one passes the hole and is positioned at the lower right corner of " ten " word line greatly; The narrow oval arc light source of second passes the upper right corner of Kong Yuda " ten " word line, and the 3rd narrow oval arc light source passes the hole and be positioned at the upper left corner of " ten " word line greatly, and the 4th narrow oval arc source passes the hole and be positioned at the lower left corner of " ten " word line greatly; The narrow oval arc light source of each bar passes the hole and is located at two No. two light source tubes, and light source passes the centre in hole on the self-control original screen panel under No. three light pipes, and sensor just is equipped with at the back of the body of self-control original screen panel in the back of passing the hole at every narrow oval arc light source; Be called a road sensor, narrow oval arc light source passes the light source that the hole is passed on the original screen panel from making by oneself in road sensor reception, and light source converts signal to; Again signal is passed to microprocessor, microprocessor uses this signal to remove to control the amber light in roadside, is contained in device people on the rotating disk when rotating according to each 90 °; A light source tube that is contained on the rotating disk also rotates 90 °, because the arc length that the narrow oval arc light source of self-control original screen panel under light source tube passes the hole is also near 90 °, so robot is when rotating for each 90 °; The amber light in roadside is No. four light source tubes of light yellow always, No. five light source tubes, No. six light source tubes; The light source of No. seven light source tubes is upwards irradiations; No. four, No. five, No. six; No. seven light pipe is installed in respectively on the limit of three road sensors on the self-control original screen panel; The centreline space of each light source tube is at a distance from 90 °, and the center line that each light source tube is installed aligns with the center line that each sphere shape light of No. two light source tubes passes the hole, and the center line that each sphere shape light of No. three light source tubes passes the hole aligns and on the rotating disk of the light source right opposite of each light source tube; Respectively get through a sphere shape light and pass the hole; Adorn a sensor at the back side that each sphere shape light passes the hole again, when the robot that is installed on the rotating disk rotates 90 degree, sphere shape light passes the sensor that hole and sphere shape light pass the back, hole and also turns over 90 ° on the rotating disk; And the light source tube on the self-control original screen panel is too according to 90 ° of arrangements; Robot is each rotate 90 degree after, just made light source tube sends on the self-control original screen panel light source pass that sphere shape light passes the hole on the rotating disk, received by the sensor on the rotating disk; Sensor passes to computing machine with letter, and computing machine upwards rises with the shoulder of this signal deactivation robot; It below the rotating disk cylindrical high thrust ball bearing; The diameter of bore of smashball bearing is greater than the outside diameter of self-control original screen panel; Be base below the high thrust ball bearing, because separate with thrust ball bearing between rotating disk and the base, so dial rotation and base does not rotate; On the cylindrical of base; Be separated by 90 ° according to each and weld four base earrings of wearing the lower margin spiral shell, a base cover is equipped with at the back side of base, and the back of on road, digging pit is with concreting machine people ground; Put into the lower margin silk in the ground; The earrings of base is inserted in the foundation bolt, screws with nut, thereby robot is fixed on the ground.

The invention has the beneficial effects as follows, can replace the police to stand in that commander pedestrian and vehicle go across the road on the road.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention is further specified.

Fig. 1 is the front elevation of robot of the present invention.

Among the figure: the shoulder 4-of body 3-robot of 1-robot head 2-robot rectangle signal lamp

5-robot 6-disk signal lamp bracket 7-disk signal lamp 8-installs the hole of camera system

9-gear 10-servomotor 11-original screen panel 12-base

13-base earrings 14-foundation bolt 15-rotating disk 16-robot skeleton

26-microprocessor 35-gear wheel 49-high thrust ball bearing

Fig. 2 is the A-A cut-open view of Fig. 1.

Among the figure: the perpendicular support of 17-18-stull 19-camera system 20-computing machine

21-picture receiver 22-transformation voltage stabilizer 23-supporting plate

Fig. 3 is the D-D cut-open view of Fig. 2.

Among the figure: 24-shoulder joint 25-shoulder joint pedestal

Fig. 4 is the E-E cut-open view of Fig. 3.

Fig. 5 is the F-F cut-open view of Fig. 4.

Fig. 6 is the partial enlarged drawing that draw at the indicated position of Fig. 5 marked " J ".

Among the figure: the hollow negative pole torch of the hollow heavy insulation cover hollow anodal torch 29-of 28-of 27-30-insulcrete

31-case 32-cathode power supply line 33-anode power cord 34-cathode contact electrode

36-annular lamp 37-nut 38-rigid enclosure 39-insulation sleeve

40-cathode contact electrode 41-cushion block 42-screw 43-spring

44-positive electrical wire 45-hassock piece 46-thrust ball bearing 47-axle sleeve

The little supporting plate of 48-intermediate shaft 50-bearing 75-sensor 76-

67-self-control original screen panel 51-negative electrical wire

Fig. 7 is the semisectional view that draw in the indicated orientation of Fig. 1 marked " C ".

Fig. 8 is the partial enlarged drawing that draw at the indicated position of Fig. 7 marked " H ".

Among the figure: 52-web joint 53-screw 54-servomotor 55-forerunner Moving plate

The indeformable rigidity driving lever of the deformable elasticity driving lever of 56-rear-guard Moving plate 57-58-

59-adapter sleeve 60-pin 61-pulse encoder

Fig. 9 is the W-W cut-open view of Fig. 8.

Figure 10 is the partial enlarged drawing that draw at the indicated position of Fig. 9 marked " Y ".

Figure 11 is the B-B cut-open view of Fig. 1.

Figure 12 is the partial enlarged drawing that draw at the indicated position of Figure 11 marked " L ".

Among the figure: No. three light source tube 65-of No. two light source tube 64-of 62--light source tube 63-light source tube mounting flange

66-bolt 68-three road sensor 69-two road sensor 70-one road sensor

No. six sensors of No. four sensor 74-of No. six light source tube 73-of No. four light source tube 72-of 71-

The 80-base cover

Figure 13 is the left view of Fig. 1.

Figure 14 is the front elevation of self-control original screen panel.

Among the figure: one narrow oval arc light source of 77-passes hole 78-two road sphere shape lights and passes the hole

79-three road sphere shape lights pass the circular hole that hole 81--installs No. six light source tubes

Figure 15 is that deformable elasticity driving lever is welded on the three-view diagram on forerunner's Moving plate.

Among the figure: 82-wears the hole of pin

Figure 16 is that indeformable rigidity driving lever is welded on the three-view diagram on the rear-guard Moving plate.

Figure 17 is the F-F cut-open view of Fig. 4.Drawing out simple and easy circuit among the figure connects.

83,84,85,86,87, the 88-electric wire among the figure:

Embodiment

In Fig. 1; Robot head 1 be welded on robot skeleton 16 directly over; Robot body 2 is wrapped in the outside of robot skeleton 16, puts on police's clothes in the outside of robot body 2, and robot shoulder 3 is contained in the left and right sides, the top face of robot skeleton 16; Four rectangle signal lamps 4 are installed in respectively on the front-back of two shoulders 3 of robot; Robot 5 is welded on the end of robot shoulder 3, and two hands of robot are respectively being put forward a disk signal lamp bracket 6 for 5 li, and disk signal lamp 7 is housed in the disk signal lamp bracket 6; On robot body 2, get out the hole 8 that camera system is installed; Robot skeleton 16 usefulness screws are fixed on the rotating disk 15, are high thrust ball bearings 49 below the rotating disk 15, are bases 12 below the high thrust ball bearing 49, on the cylindrical of base 12, are separated by 90 ° according to each and weld four base earrings 13 of wearing foundation bolt 14; Gear wheel 35 is embedded on the cylindrical of rotating disk 15, with gear wheel 35 pairing be the gear 9 that is contained on the servomotor 10, original screen panel 11 is housed on the servomotor 10, servomotor 10 is contained in the next door of base 12, microprocessor 26 also is contained in the next door of servomotor 10.Servomotor 10 driven gears 9 rotate robot with gear wheel 35, speed and angle that original screen panel 11 controls are rotated.

In Fig. 2, perpendicular support 17 is contained on the rotating disk 15 after being assembled into robot skeleton 16 with stull 18; Camera system 19 is contained in above the supporting plate 23, and supporting plate 23 usefulness screws are installed on the robot skeleton 16, and computing machine 20 also all is contained on the supporting plate 23 with picture receiver 21 and transformation voltage stabilizer 22.

In Fig. 3, shoulder joint 24 is welded on the end of robot shoulder 3, and the right cylinder on the shoulder joint 24 is contained in the breach circle of shoulder joint pedestal 25.

In Fig. 4, the transversal section of drawing out robot body 2 is for oval, and the transversal section of robot skeleton 16 is assembled into according to equilateral hexagon by stull 18.

In Fig. 6, the lower end of bearing 50 is stretched into the hole of thrust ball bearing 46 and is gone into, and the upper end of bearing 50 is placed in the big endoporus in the middle of the rotating disk 15, is self-control original screen panel 67 below the thrust ball bearing 46; Hollow heavy insulation cover 27 is contained in the endoporus of bearing 50; Hollow anodal torch 28 is contained in the hollow heavy insulation cover 27; The hollow negative pole torch 29 of in the endoporus of second hollow heavy insulation cover 27, packing into, the intermediate shaft 48 of in the endoporus of the 3rd hollow heavy insulation cover 27, packing into; Axle sleeve 47 is enclosed within on the following spindle nose of intermediate shaft 48, compresses cathode power supply line 32 in the lower end of hollow anodal torch 28 with nut 37, the positive pole of cathode power supply line 32 external 220 volts of power supplys; Lower end at hollow negative pole torch 29 compresses anode power cord 33 with nut 37, the negative pole of anode power cord 33 external 220 volts of power supplys; Cathode contact electrode 34 is contained in the insulation sleeve 39; Again insulation sleeve 39 is contained in the rigid enclosure 38, will be fixed on the rotating disk 15 in rigid enclosure 38, at the beneath interpolation cushion block 41 of rigid enclosure 38 with screw 42; Spring 43 is contained on the centre position at the back side of circular arc workplace of cathode contact electrode 34; Positive electrical wire 44 is passed the endoporus of spring 43, be welded on the back side of cathode contact electrode 34 after, positive electrical wire 44 directly connects transformation voltage stabilizer 22 after passing the side of case 31; Insulcrete 30 be contained in cathode contact electrode 34 rigid enclosure 38 above, the borehole jack on the insulcrete 30 is on the cylindrical of hollow heavy insulation cover 27; Cathode contact electrode 40 is contained in the insulation sleeve 39; Again insulation sleeve 39 is contained in the rigid enclosure 38, will be fixed on the rotating disk 15 in rigid enclosure 38, at the beneath interpolation hassock piece 45 of rigid enclosure 38 with screw 42; Spring 43 is contained on the centre position at the back side of circular arc workplace of cathode contact electrode 40; Negative electrical wire 51 is passed the endoporus of spring 43, be welded on the back side of cathode contact electrode 40 after, negative electrical wire 51 directly connects transformation voltage stabilizer 22 after passing another side of case 31; The case 31 of insulation cover on rotating disk 15 about assembly in two groups of rigid enclosure 38 and the rigid enclosure 38 overlap 27, hollow negative pole torch 29, hollow anodal torch 28 with the hollow heavy insulation that is exposed on the rotating disk 15; Annular lamp 36 be contained in gear wheel 35 below, face annular lamp 36 below be mounted in the sensor 75 on the little supporting plate 76 in base 12 limits.The annular lamp 36 that rotates with rotating disk 15 sends light source upwards rising in this time period of downward withdrawal, to turn on light from shoulder 3; Light source is received by sensor 75; Sensor 75 outputs signal to microprocessor 26 must not rotate servomotor 10; As long as robot stretches out shoulder 3, robot just can't rotate like this.

Among Fig. 8, the cylinder part of shoulder joint 24 is divided in the breach circle of shoulder joint pedestal 25; Respectively adorn a web joint 52 on the front-back of shoulder joint pedestal 25, the short and small cylinder of the shoulder joint 24 of packing in web joint 52 front aperture, the back penetrates screw 53 in two holes; Forerunner's Moving plate 55 is enclosed within on the axle of servomotor 54, gets through an aperture at 54 of the servomotors that radially pass of forerunner's Moving plate 55, in aperture, penetrates pin 60, and deformable elasticity driving lever 57 is welded on the excircle of forerunner's Moving plate 55; The rear-guard Moving plate is enclosed within on the short and small cylinder of shoulder joint, and the short and small cylinder that radially passes shoulder joint 24 of rear-guard Moving plate 56 is got through an aperture, in aperture, penetrates pin 60, and indeformable rigidity driving lever 58 is welded on the excircle of rear-guard Moving plate 56; Stir the indeformable rigidity driving lever 58 on the rear-guard Moving plate 56 at the deformable elasticity driving lever 57 on forerunner's Moving plate 55 under the drive of servomotor 54, thereby robot shoulder 3 is upwards risen or withdrawal downwards; Adapter sleeve 59 is connected pulse scrambler 61 on another short and small cylinder of shoulder joint 24, respectively gets through an aperture at the short and small cylinder that radially passes shoulder joint 24 of adapter sleeve 59 and the axle of pulse encoder 61, in aperture, penetrates pin 60.

Among Figure 10, shoulder joint 24 sections are " 9 " word shape, and the right cylinder on the shoulder joint 24 is contained in the breach circle of shoulder joint pedestal 25.

Among Figure 12, light source tube 62, No. two light source tubes 63, No. three light source tubes 64 are horizontally arranged in the outside of case 31 with straight line, are fixed on the rotating disk 15 with light source tube mounting flange 65 and bolt (66); One road sensor 70, two road sensors 69, three road sensors 68 are contained in the back side of self-control original screen panel 67 and face the top that light source tube 62, No. two light source tubes 63, No. three light source tubes 64 penetrate light sources; No. four light source tubes 71 and No. six light source tube 72 usefulness light source tube mounting flanges 65 and bolt 66 are contained in the next door of a road sensor 70, and No. four sensors 73 and No. six sensors 74 are contained on the rotating disk 15 and face No. four light source tubes 71 and No. six light source tubes 72 penetrate the top of light sources; Light source tube is that lamp is installed in the thin hollow tubular, and the tiny light source that penetrates in the pipe passes the sensor that the hole is installed in self-control original screen panel 67 back sides through the light source on the self-control original screen panel 67 and receives, and sensor is exported electric signal immediately; One road sensor 70 outputs signal to the amber light in microprocessor 26 control roadsides, and two road sensors 69, three road sensors 68 output signal to the green light and the red light in microprocessor 26 control roadsides; No. four sensors 73 and No. six sensors 74 and No. five sensors and No. seven sensor output signals are given computing machine 20, and the shoulder 3 of this signal deactivation robot of computing machine 20 usefulness upwards rises; Base cover 80 is mounted in the lid below the base 12.

Among Figure 13, the workplace of drawing out the disk signal lamp 7 that 5 li of robots are carrying faces the side of robot head 1.

Among Figure 15, deformable elasticity driving lever 57 is welded on forerunner's Moving plate 55 excircles; In the hole of wearing pin 82, insert pin 60.

Among Figure 16, indeformable rigidity driving lever 58 is welded on rear-guard Moving plate 56 excircles; In the hole of wearing pin 82, insert pin 60.

Among Figure 17, draw out simple and easy circuit and connect.The positive pole of the cathode power supply line 32 external 220 volts of power supplys under the hollow anodal torch 28, the negative pole of the anode power cord 33 external 220 volts of power supplys under the hollow negative pole torch 29; Positive electrical wire 44 connects transformation voltage stabilizer 22, and negative electrical wire 51 connects transformation voltage stabilizer 22; Transformation voltage stabilizer 22 usefulness electric wires 83 connect picture receiver 21; Transformation voltage stabilizer 22 usefulness electric wires 84 connect computing machine 20; Transformation voltage stabilizer 22 usefulness electric wires 85 are connected on the shoulder joint pedestal 25, power supply are provided for servomotor 54, rectangle signal lamp 4 and disk signal lamp 7; Computing machine 20 is connected shoulder joint pedestal 25 and gets on to control servomotor 54, rectangle signal lamp 4 and disk signal lamp 7; Picture receiver 21 connects camera system 19; Computing machine 20 connects picture receiver 21; Because extremely unstable,, pass through again to give robot each power unit power supply again after transformation voltage stabilizer 22 is stablized transformation so be connected transformation voltage stabilizer 22 with positive electrical wire 44 with negative electrical wire 51 earlier from the power supply that cathode contact electrode 34 and cathode contact electrode 40 obtain.

Claims

1. one kind stands in the robot that commander pedestrian and vehicle go across the road on the road, and it is that skeleton is formed in stull, perpendicular support, skeleton coated outside body, and police's clothes are put in the body outside; Shoulder is contained in the left and right sides, the top face of skeleton, the root weld shoulder joint of shoulder, and the drive unit that has shoulder to stretch out and pack up on the shoulder joint, hand are contained in the end of shoulder; The head be contained in skeleton directly over, adorn red light on the front-back of shoulder, carrying green light in the hand; Have a lot of camera systems to be contained on the supporting plate up and down around skeleton, skeleton is contained on the rotating disk, is base below the rotating disk; On the rotating disk, power source conversion and signal system be housed in the base, the device that the base limit has the drive machines people to rotate, it is characterized in that: the transversal section of skeleton is an equilateral hexagon; Place a plurality of camera systems around skeleton, the transversal section of body is oval, and police's clothes are put in the body outside; The shoulder joint section is " 9 " word shape, and the rectangle red eye is housed on the front-back of shoulder, is carrying discoid greensignal light in the hand; The workplace of greensignal light faces the side of robot health, the workplace of red eye; Face the front of robot health, front wheel driving dribbling on the motor is moving to be contained in the rear-guard Moving plate on the shoulder joint, the deformable elasticity driving lever of welding on the cylindrical of forerunner's Moving plate by being installed in the driving of shoulder; The non deformable rigidity driving lever of welding on the cylindrical of rear-guard Moving plate, power source conversion be the positive and negative contact electrode of rotating under the promotion of spring, be close to motionless hollow both positive and negative polarity torch; The lower end external power supply of hollow both positive and negative polarity torch, contact electrode obtain being defeated by the transformation voltage stabilizer earlier behind the power supply, stablize through the transformation voltage stabilizer and give after the transformation robot each power unit power supply again; Signal system is that light source tube is launched light source, and light source passes the through hole of the circular or narrow oval arc on the self-control original screen panel, is received by sensor.

2. a kind of robot that commander pedestrian and vehicle go across the road on the road that stands in according to claim 1; It is characterized in that: the length of hollow negative pole torch is greater than hollow anodal torch; Put hollow heavy insulation cover in the outside of hollow anodal torch, after hollow heavy insulation cover is put in hollow anodal torch the inside, put into hollow negative pole torch again.

3. a kind of robot that commander pedestrian and vehicle go across the road on the road that stands in according to claim 1, it is characterized in that: the self-control original screen panel is a circular insulating board, on the self-control original screen panel, gets out the hole that circular and narrow oval arc passes light source.

4. a kind of robot that commander pedestrian and vehicle go across the road on the road that stands in according to claim 1, it is characterized in that: light source tube is that lamp is installed in the thin hollow tubular.