CN102496293B - Robot standing on road for commanding pedestrians and vehicles to pass through road - Google Patents
Robot standing on road for commanding pedestrians and vehicles to pass through road Download PDFInfo
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- CN102496293B CN102496293B CN2011104040610A CN201110404061A CN102496293B CN 102496293 B CN102496293 B CN 102496293B CN 2011104040610 A CN2011104040610 A CN 2011104040610A CN 201110404061 A CN201110404061 A CN 201110404061A CN 102496293 B CN102496293 B CN 102496293B
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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
Affiliated technical field
The present invention relates to a kind of robot, refer in particular to and stand in the robot that on road, commander pedestrian and vehicle go across the road.
Background technology
At present, known police is can not twenty four hours round-the-clock stands in commander pedestrian and vehicle on road and goes across the road.
Summary of the invention
In order to solve, the police is can not twenty four hours round-the-clock stands in the problem that on road, commander pedestrian and vehicle go across the road, the 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 gone across the road around crossing, and get off by computer recording.
The technical solution adopted for the present invention to solve the technical problems is: in the outside of robot health, put on police's clothes; 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 form; The rectangle red eye is housed on the front-back of two shoulders of robot, in two hands of robot, is respectively carrying a discoid greensignal light; The transformation voltage-stablizer is housed, picture receiver, computer, the drive unit that the robot shoulder upwards rises or regains downwards on the supporting plate of robot health the inside; The robotic station is on rotating disk; Be base below rotating disk, above rotating disk He in base, power conversion system and signal system be housed, the fang bolt hole of firm banking is arranged on the base cylindrical, the device that the base side has the driven machine person to rotate.
When robot works at " ten " word crossing, microprocessor is controlled after driven by servomotor size gear set drive robot health rotates 90 degree and is stopped operating, then rise two shoulders, open the rectangle red eye be contained on the shoulder front-back, signal is sailed to the robot front and back vehicle and the pedestrian that come and is temporarily stopped going across the road, open a discoid greensignal light of respectively carrying in two hands of robot simultaneously, signal to the robot left and right sides sail the vehicle that comes and pedestrian in preset time by the road of North and South direction; Then robot turns off red eye and greensignal light, regain two shoulders downwards, the robot health stops operating after again rotating 90 degree, upwards rise two shoulders, open red eye and greensignal light, vehicle and the pedestrian of signal North and South direction temporarily stop going across the road, and allow the vehicle of east-west direction and pedestrian go across the road.The health that constantly is cycled to repeat robot rotates, and suspends, and rises shoulder, the opening signal lamp, and prompting vehicle and pedestrian go across the road.
Around the surrounding of robot skeleton and be divided into upper row, lower row, in upper row, in upper row, arrange camera system.Camera system connects picture receiver, and picture receiver connects computer, and the computer situation that camera system is captured is all recorded;
The robot health is contained on rotating disk, inlays a gear wheel on the cylindrical of rotating disk, and pinion and encoder are enclosed within on servo motor shaft, the driven by servomotor pinion, pinion drives gear wheel, and gear wheel drives rotating disk, and rotating disk drives and is contained in the robot health on rotating disk; Encoder is connected microprocessor with servomotor with electric wire, by microprocessor control health, is rotated.
The robot skeleton is assembled into by perpendicular support and stull, and the cross section of robot skeleton is equilateral hexagon.
The robot body of making at the coated outside elastic soft material of robot skeleton, the cross section of robot body is oval.
The robot shoulder is by shoulder, the shoulder joint of shoulder root, and the standing part of shoulder, shoulder rises the several critical pieces of the drive unit of regaining and forms.The robot shoulder is contained in the top left and right sides of robot skeleton; The end of shoulder joint is welded on the root of shoulder; The standing part of shoulder is used for fixing shoulder; The shoulder joint section is " 9 " word shape, and shoulder joint is: at a cuboid 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 cylinder coaxial inner conductor.The standing part of shoulder is by the shoulder joint pedestal, connecting plate, and screw forms.Cylinder on shoulder joint is contained in the breach circle of shoulder joint pedestal, and the breach circle refers to 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.Respectively fill a connecting plate on the front-back of shoulder joint pedestal, the short and small cylinder of the shoulder joint of packing in the connecting plate front aperture, back penetrates screw in the Liang Ge hole, 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 coder form.Forerunner's Moving plate is enclosed within on the axle of servomotor, then the servo motor shaft that radially passes of driving-disc is got through an aperture in the past, penetrate pin in aperture, the dependence pin to forerunner's Moving plate, welds deformable elasticity driving lever to the transmission of torque of servomotor 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, penetrate pin in aperture, the dependence pin to shoulder, welds indeformable rigidity driving lever to the transmission of torque of rear-guard Moving plate 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, stir indeformable rigidity driving lever on the rear-guard Moving plate simultaneously, thereby the promotion shoulder upwards rises or the servomotor reversion is regained shoulder downwards.Once run into barrier in shoulder rise or withdrawal process, deformable elasticity driving lever on forerunner's Moving plate, produce crooked backward, slip over the indeformable rigidity driving lever on the rear-guard Moving plate, although 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, promotes the rear-guard Moving plate and makes shoulder from upwards rising 90 degree at one's side or being retracted at one's side downwards; Adapter sleeve is connected to pulse coder on another short and small cylinder of shoulder joint, and the effect of pulse coder is to control speed and the angle that shoulder upwards rises or regains downwards.Pulse coder connects computer with electric wire, and high low-voltage separates with the light coupling, servomotor is by computer control, and servomotor connects computer with electric wire, with optocoupler, separates high low-voltage, shoulder upwards rise or when regaining process downwards pulse coder also signal is ceaselessly passed to computer continuously, program of software programming for computer: whether program detects the pulsatile once encoder every 0.1 second has signal to pass to computer, shoulder will suspend motionless while in rise or withdrawal process, running into barrier, pulse coder stops signal being passed to computer simultaneously, computer can't detect the signal of encoder after spending for 0.1 second, program will automatically jump to the time wait and close on the program of servomotor rotation, after one minute, program will jump on the program of opening the servomotor rotation automatically, if now shoulder does not run into barrier in rise or withdrawal process, pulse coder will continuously pass to computer to signal, computer program redirect always is on the program of opening the servomotor rotation, completing a shoulder upwards rises or the downward process of regaining, the robot startup is upwards risen shoulder until regain in this time period of shoulder downwards, while has also been turned on the annular lamp below gear wheel, face the annular lamp below be mounted in the sensor on the little supporting plate in base limit, the holding wire of sensor connects microprocessor, after turning on the annular lamp, sensor will obtain signal and pass to microprocessor, microprocessor is controlled rotary machine people's servomotor, robot must not be rotated, only in the situation that the robot shoulder be completely retracted at one's side, just close the annular lamp, after closing the annular lamp, the sensor no signal on base limit passes to microprocessor, at this moment microprocessor just starts rotary machine people's servomotor, robot is rotated.
Two hands of robot are copied respectively the hand that true man hold fist; Two hands of robot are welded on respectively the end of two shoulders of robot; Respectively carrying a discoid greensignal light in two hands of robot, the working face of greensignal light, face 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 rotating disk He in 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, insulation board, the cathode contact electrode base, case, cathode power supply line, anode power cord, several critical pieces form.The bearing of packing in hole in the middle of the rotating disk, the brearing bore hollow heavy insulation cover of packing into, reinstall hollow anodal torch in hollow heavy insulation cover, there is screw thread the lower end of hollow anodal torch, load onto nut and compress the cathode power supply line on screw thread, the hollow negative pole torch of packing in hollow anodal torch, with hollow heavy insulation cover, hollow anodal torch and hollow negative pole torch are kept apart, 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, there is screw thread the lower end of hollow negative pole torch, load onto nut and compress anode power cord on screw thread, the cathode contact electrode base is by the cathode contact electrode, rigid enclosure, and insulation sleeve, cushion block, screw, spring, insulation board forms.Insulation sleeve is contained in rigid enclosure, it under rigid enclosure, is cushion block, the cathode contact electrode is contained in insulation sleeve, spring is contained on the centre position at the back side of circular arc working face of cathode contact electrode, rely on the thrust of spring all the time the circular arc working face of cathode contact electrode to be resisted against on anodal torch, positive electrical wire in the welding of the back side of cathode contact electrode, insulation board be contained in the cathode contact electrode rigid enclosure above, borehole jack on insulation board is on the cylindrical of the hollow heavy insulation cover of hollow negative pole torch outside, for blocking the cathode contact electrode base above the cathode contact electrode base, the cathode contact electrode base is screwed on rotating disk, the cathode contact electrode base is by rigid enclosure, insulation sleeve, and the hassock piece, screw, spring forms.Insulation sleeve is contained in rigid enclosure, it under rigid enclosure, is the hassock piece, the cathode contact electrode is contained in insulation sleeve, spring is contained in the back side of cathode contact electrode, rely on the tension force of spring that the circular arc working face of cathode contact electrode is resisted against 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 screwed on rotating disk, and the cathode contact electrode base is on the cathode contact electrode base; The case of insulation covers the power conversion system be contained on rotating disk, and the electric wire on the electric wire on the cathode contact electrode and cathode contact electrode passes from the limit, left and right of case respectively, directly is connected on the transformation voltage-stablizer; The cathode contact electrode base with together with cathode contact electrode in pedestal with dial rotation, during rotation, the cathode contact electrode is under the thrust of electrode back side upper spring, all the time pasting hollow anodal torch rotates, receive 220 volts of power supplys external on the cathode power supply line under hollow anodal torch, because hollow anodal torch outside is hollow heavy insulation cover, hollow anodal torch and hollow heavy insulation cover between hollow heavy insulation cover and 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; Although the power supply that cathode contact electrode and cathode contact electrode receive has fluctuation, but be transferred to again the picture receiver in the robot health after transformation voltage-stablizer transformation is stable, computer, camera on the robot skeleton, signal lamp on shoulder, servomotor and pulse coder that shoulder drives, the signal system on 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 form.Light source tube is that lamp is arranged in thin hollow pipe, and the light source that the tiny endoporus of pipe penetrates lamp becomes tiny light source, the light source of No. one, No. two, No. three light source tube is to irradiate downwards, and light source tube is horizontally arranged in the outside of case with straight line, between light source tube and light source tube from a distance, with the light source tube mounting flange and be bolted on rotating disk, below rotating disk, middle part is thrust ball bearing, it below thrust ball bearing, is the 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 and below No. three light source tube light sources and respectively get through first sphere shape light that is greater than the light source diameter through hole on self-control original screen panel plane, then draw large " ten " word line on self-control original screen panel plane, first sphere shape light is positioned at the right-hand member of " ten " word line greatly through the center line in hole, second sphere shape light is positioned at the upper end of " ten " word line greatly through the center line in hole, the 3rd sphere shape light is positioned at greatly left end on " ten " word line through the center line in hole, the 4th sphere shape light is positioned at the lower end of " ten " word line greatly through the center line in hole, namely at the back side of self-control original screen panel, sensor is housed at each sphere shape light through the back in hole, 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, below rotating disk, with thrust ball bearing, original screen panel is separated, the original screen panel of making by oneself can not rotate, when the robot be arranged on rotating disk rotates 90 °, be arranged on equally No. two light source tubes on rotating disk, No. three light source also rotates 90 degree, because on the self-control original screen panel sphere shape light through hole and sphere shape light through the sensor below hole too according to 90 ° of rows, so after 90 ° of the each rotations of robot, light source just in time passes hole through the sphere shape light on the self-control original screen panel, sensor by the self-control original screen panel back side receives, sensor passes to microprocessor by signal, and microprocessor uses this signal to remove to open green light and the red light in roadside, get through the long narrow circular arc light source of article one through hole below the number of facing light source tube light source on self-control original screen panel plane, then draw " ten " word line on self-control original screen panel plane, article one, long narrow circular arc light source is positioned at the lower right corner of " ten " word line greatly through hole, the long narrow circular arc light source of second is through the upper right corner of Kong Yuda " ten " word line, article three, long narrow circular arc light source is positioned at the upper left corner of " ten " word line greatly through hole, article four, long narrow circular arc light source is positioned at the lower left corner of " ten " word line greatly through hole, each long narrow circular arc light source is located at two No. two light source tubes through hole, on self-control original screen panel under No. three light pipes, light source is through the centre in hole, namely at the back of the body of self-control original screen panel, sensor is housed at every long narrow circular arc light source through the back in hole, be called a road sensor, one road sensor receives long narrow circular arc light source from the self-control original screen panel and passes through hole the light source of coming, light source converts signal to, again signal is passed to microprocessor, microprocessor uses this signal to remove to control the amber light in roadside, be contained in device people on rotating disk when rotating according to each 90 °, the light source tube be contained on rotating disk also rotates 90 °, because the long narrow circular arc light source of self-control original screen panel under light source tube also approaches 90 ° through the arc length in hole, 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 to irradiate, No. four, No. five, No. six, No. seven light pipe is arranged on respectively on the limit of three road sensors on the self-control original screen panel, the centreline space of each light source tube is every 90 °, the center line that each light source tube is installed aligns with the center line of each sphere shape light of No. two light source tubes through hole, each sphere shape light of No. three light source tubes is through the alignment of the center line in hole and on the rotating disk of the light source right opposite of each light source tube, respectively get through a sphere shape light through hole, fill a sensor at each sphere shape light through the back side in hole again, when the robot be arranged on rotating disk rotates 90 degree, on rotating disk, sphere shape light also turns over 90 ° through hole and sphere shape light through the sensor of back, hole, and the light source tube on the self-control original screen panel is too according to 90 ° of arrangements, after each rotation 90 degree of robot, just make to make by oneself on original screen panel the light source that light source tube sends and passed hole through sphere shape light on rotating disk, by the sensor on rotating disk, received, sensor passes to computer by letter, computer upwards rises with the shoulder of this signal deactivation robot, it below the rotating disk cylindrical, is the high thrust ball bearing, the diameter of bore of smashball bearing is greater than the outside diameter of self-control original screen panel, below the high thrust ball bearing, be base, because separate with thrust ball bearing between rotating disk and base, so dial rotation and base does not rotate, on the cylindrical of base, be separated by 90 ° and weld four base earrings of wearing the lower margin spiral shell according to each, a base cover is equipped with at the back side of base, use concreting machine people ground after digging pit on road, put into the lower margin silk in ground, the earrings of base is inserted in fang bolt, screws with nut, thereby robot is fixed on ground.
The invention has the beneficial effects as follows, can replace the police to stand in commander pedestrian and vehicle on road and go across the road.
The accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the front view of robot of the present invention.
In 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-fang bolt 15-rotating disk 16-robot skeleton
26-microprocessor 35-gear wheel 49-high thrust ball bearing
Fig. 2 is the A-A cutaway view of Fig. 1.
In figure: the perpendicular support of 17-18-stull 19-camera system 20-computer
21-picture receiver 22-transformation voltage-stablizer 23-supporting plate
Fig. 3 is the D-D cutaway view of Fig. 2.
In figure: 24-shoulder joint 25-shoulder joint pedestal
Fig. 4 is the E-E cutaway view of Fig. 3.
Fig. 5 is the F-F cutaway view of Fig. 4.
Fig. 6 is the partial enlarged drawing that the indicated position of mark on Fig. 5 " J " is drawn.
In figure: the hollow negative pole torch of the hollow heavy insulation cover hollow anodal torch 29-of 28-of 27-30-insulation board
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-jackshaft 50-bearing 75-sensor 76-
67-self-control original screen panel 51-negative electrical wire
Fig. 7 is the half sectional view that the indicated orientation of mark on Fig. 1 " C " is drawn.
Fig. 8 is the partial enlarged drawing that the indicated position of mark on Fig. 7 " H " is drawn.
In figure: 52-connecting plate 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 coder
Fig. 9 is the W-W cutaway view of Fig. 8.
Figure 10 is the partial enlarged drawing that the indicated position of mark on Fig. 9 " Y " is drawn.
Figure 11 is the B-B cutaway view of Fig. 1.
Figure 12 is the partial enlarged drawing that the indicated position of mark on Figure 11 " L " is drawn.
In figure: No. tri-light source tube 65-light source tube mounting flanges of No. bis-light source tube 64-of 62--light source tube 63-
66-bolt 68-tri-road sensor 69-bis-road sensor 70-mono-road sensors
No. six sensors of No. tetra-sensor 74-of No. six light source tube 73-of No. tetra-light source tube 72-of 71-
The 80-base cover
Figure 13 is the left view of Fig. 1.
Figure 14 is the front view of self-control original screen panel.
In figure: 77-long narrow circular arc light source together passes hole through Kong78-bis-road sphere shape lights
79-tri-road sphere shape lights are installed the circular hole of No. six light source tubes through hole 81--
Figure 15 is that deformable elasticity driving lever is welded on the three-view diagram on forerunner's Moving plate.
In 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 cutaway view of Fig. 4.Drawing out Simple line in figure connects.
83,84,85,86,87, the 88-electric wire in figure:
The specific 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, put on police's clothes in the outside of robot body 2, robot shoulder 3 is contained in the top left and right sides of robot skeleton 16, four rectangle signal lamps 4 are arranged on respectively on the front-back of two shoulders 3 of robot, robot 5 is welded on the end of robot shoulder 3,5 li, two hands of robot are respectively being put forward a disk signal lamp bracket 6, and disk signal lamp 7 is housed in disk signal lamp bracket 6; Get out the hole 8 that camera system is installed on robot body 2; Robot skeleton 16 is screwed on rotating disk 15, is high thrust ball bearing 49 below rotating disk 15, is base 12 below high thrust ball bearing 49, on the cylindrical of base 12, according to each, is separated by 90 ° and welds four base earrings 13 of wearing fang bolt 14; Gear wheel 35 is embedded on the cylindrical of rotating disk 15, with gear wheel 35 pairing be the gear 9 be contained on servomotor 10, original screen panel 11 is housed on servomotor 10, servomotor 10 is contained in the side of base 12, microprocessor 26 also is contained in the side of servomotor 10.Servomotor 10 driven gears 9 and gear wheel 35 rotate robot, and original screen panel 11 is controlled speed and the angle of rotating.
In Fig. 2, after being assembled into robot skeleton 16, perpendicular support 17 and stull 18 be contained on rotating disk 15; Camera system 19 is contained in above supporting plate 23, and supporting plate 23 use screws are arranged on robot skeleton 16, and computer 20 and picture receiver 21 and transformation voltage-stablizer 22 also all are contained on supporting plate 23.
In Fig. 3, shoulder joint 24 is welded on the end of robot shoulder 3, and the cylinder on shoulder joint 24 is contained in the breach circle of shoulder joint pedestal 25.
In Fig. 4, draw out the cross section of robot body 2 for oval, the cross section of robot skeleton 16 is assembled into according to equilateral hexagon by stull 18.
In Fig. 6, the hole that thrust ball bearing 46 is stretched in the lower end of bearing 50 enters, and the upper end of bearing 50 is placed in the large endoporus in the middle of rotating disk 15, is self-control original screen panel 67 below thrust ball bearing 46; Hollow heavy insulation cover 27 is contained in the endoporus of bearing 50, hollow anodal torch 28 is contained in hollow heavy insulation cover 27, the hollow negative pole torch 29 of packing in the endoporus of second hollow heavy insulation cover 27, the jackshaft 48 of packing in the endoporus of the 3rd hollow heavy insulation cover 27; Axle sleeve 47 is enclosed within on the lower spindle nose of jackshaft 48, in the lower end of hollow anodal torch 28, with nut 37, compresses cathode power supply line 32, the positive pole of the external 220 volts of power supplys of cathode power supply line 32; Lower end at hollow negative pole torch 29 compresses anode power cord 33 with nut 37, the negative pole of the external 220 volts of power supplys of anode power cord 33; Cathode contact electrode 34 is contained in insulation sleeve 39, again insulation sleeve 39 is contained in rigid enclosure 38, with screw 42, will be fixed on rotating disk 15 in rigid enclosure 38, beneath interpolation cushion block 41 in rigid enclosure 38, spring 43 is contained on the centre position at the back side of circular arc working face of cathode contact electrode 34, endoporus by positive electrical wire 44 through spring 43, after being welded on the back side of cathode contact electrode 34, positive electrical wire 44 is through directly connecting transformation voltage-stablizer 22 behind the side of case 31; Insulation board 30 be contained in cathode contact electrode 34 rigid enclosure 38 above, the borehole jack on insulation board 30 is on the cylindrical of hollow heavy insulation cover 27; Cathode contact electrode 40 is contained in insulation sleeve 39, again insulation sleeve 39 is contained in rigid enclosure 38, with screw 42, will be fixed on rotating disk 15 in rigid enclosure 38, beneath interpolation hassock piece 45 in rigid enclosure 38, spring 43 is contained on the centre position at the back side of circular arc working face of cathode contact electrode 40, endoporus by negative electrical wire 51 through spring 43, after being welded on the back side of cathode contact electrode 40, negative electrical wire 51 is through directly connecting transformation voltage-stablizer 22 behind another side of case 31; The case 31 of insulation covers two groups of left and right rigid enclosure 38 and the assembly in rigid enclosure 38 on rotating disk 15 and is exposed to the hollow heavy insulation cover 27 on rotating disk 15, hollow negative pole torch 29, hollow anodal torch 28; Annular lamp 36 be contained in gear wheel 35 below, face annular lamp 36 below be mounted in the sensor 75 on the base 12 little supporting plates 76 in limit.The annular lamp 36 rotated with rotating disk 15 is upwards rising from shoulder 3 until turn on light and send light source in this time period of regaining downwards, 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.
In Fig. 8, the cylinder part of shoulder joint 24 is divided in the breach circle of shoulder joint pedestal 25; Respectively fill a connecting plate 52 on the front-back of shoulder joint pedestal 25, the short and small cylinder of the shoulder joint 24 of packing in connecting plate 52 front aperture, back penetrates screw 53 in the Liang Ge hole; Forerunner's Moving plate 55 is enclosed within on the axle of servomotor 54, at servomotor 54 axles that radially pass of forerunner's Moving plate 55, gets through an aperture, penetrates pin 60 in aperture, 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, penetrates pin 60 in aperture, and indeformable rigidity driving lever 58 is welded on the excircle of rear-guard Moving plate 56; Deformable elasticity driving lever 57 under the drive of servomotor 54 on forerunner's Moving plate 55 is stirred the indeformable rigidity driving lever 58 on rear-guard Moving plate 56, thereby makes robot shoulder 3 upwards rise or regain downwards; Adapter sleeve 59 is connected to pulse coder 61 on another short and small cylinder of shoulder joint 24, at radially the pass short and small cylinder of shoulder joint 24 and the axle of pulse coder 61 of adapter sleeve 59, respectively gets through an aperture, penetrates pin 60 in aperture.
In Figure 10, shoulder joint 24 sections are " 9 " word shape, and the cylinder on shoulder joint 24 is contained in the breach circle of shoulder joint pedestal 25.
In 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, with light source tube mounting flange 65 and bolt (66), be fixed on rotating disk 15; 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 use light source tube mounting flanges 65 and bolt 66 are contained in the side of a road sensor 70, and No. four sensors 73 and No. six sensors 74 are contained on 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 arranged in thin hollow pipe, and the sensor that the tiny light source penetrated in pipe is installed in self-control original screen panel 67 back sides by the light source on self-control original screen panel 67 through hole receives, and sensor is output electrical signals immediately; One road sensor 70 outputs signal to the amber light that microprocessor 26 is controlled roadside, and two road sensors 69, three road sensors 68 output signal to green light and the red light that microprocessor 26 is controlled roadside; No. four sensors 73 and No. six sensors 74 and No. five sensors and No. seven sensor output signals are to computer 20, and the shoulder 3 of this signal deactivation robot of computer 20 use upwards rises; Base cover 80 is mounted in the lid below base 12.
In Figure 13, the working face of drawing out the disk signal lamp 7 that 5 li of robots are carrying faces the side of robot head 1.
In Figure 15, deformable elasticity driving lever 57 is welded on forerunner's Moving plate 55 excircles; Insert pin 60 in the hole 82 of wearing pin.
In Figure 16, indeformable rigidity driving lever 58 is welded on rear-guard Moving plate 56 excircles; Insert pin 60 in the hole 82 of wearing pin.
In Figure 17, draw out Simple line and connect.The positive pole of the external 220 volts of power supplys of cathode power supply line 32 under hollow anodal torch 28, the negative pole of the external 220 volts of power supplys of anode power cord 33 under hollow negative pole torch 29; Positive electrical wire 44 connects transformation voltage-stablizer 22, and negative electrical wire 51 connects transformation voltage-stablizer 22; Transformation voltage-stablizer 22 use electric wires 83 connect picture receiver 21; Transformation voltage-stablizer 22 use electric wires 84 connect computer 20; Transformation voltage-stablizer 22 use electric wires 85 are connected on shoulder joint pedestal 25, power supply are provided to servomotor 54, rectangle signal lamp 4 and disk signal lamp 7; Computer 20 is connected to 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; Computer 20 connects picture receiver 21; Because the power supply obtained from cathode contact electrode 34 and cathode contact electrode 40 is extremely unstable, thus first by positive electrical wire 44, with negative electrical wire 51, is connected transformation voltage-stablizer 22, then to each power unit of robot, power again after stablize transformation by transformation voltage-stablizer 22.
Claims (1)
1. one kind stands in the robot that on road, commander pedestrian and vehicle go across the road, it is stull, perpendicular support forms skeleton, skeleton coated outside body, police's clothes are put in the body outside, shoulder is contained in the top left and right sides of skeleton, the root weld shoulder joint of shoulder, the drive unit that has shoulder to stretch out and pack up on shoulder joint, hand is contained in the end of shoulder, the head be contained in skeleton directly over, fill red light on the front-back of shoulder, carrying green light in hand, around skeleton, there are up and down a plurality of camera systems to be contained on supporting plate, skeleton is contained on rotating disk, it below rotating disk, is base, on rotating disk, power supply conversion and signal system are housed in base, the device that the base limit has the driven machine people to rotate, it is characterized in that: on the supporting plate of robot health the inside, the transformation voltage-stablizer is housed, picture receiver, computer, camera system connects picture receiver, picture receiver connects computer, the robot health is contained on rotating disk, inlay a gear wheel on the cylindrical of rotating disk, pinion and encoder are enclosed within on servo motor shaft, encoder is connected microprocessor with servomotor with electric wire, it below gear wheel, is the annular lamp, face the annular lamp below be mounted in the base limit, sensor on little supporting plate, the cross section of skeleton is equilateral hexagon, place a plurality of camera systems around skeleton, the cross section of body is oval, police's clothes are put in the body outside, the shoulder joint section is " 9 " word shape, the rectangle red eye is housed on the front-back of shoulder, carrying discoid greensignal light in hand, the working face of greensignal light, face the side of robot health, the working face of red eye, face the front of robot health, by being arranged on, front wheel driving dribbling on motor is moving is contained in the rear-guard Moving plate on shoulder joint in the driving of shoulder, the deformable elasticity driving lever of welding on the cylindrical of forerunner's Moving plate, the non deformable rigidity driving lever of welding on the cylindrical of rear-guard Moving plate, power supply conversion is that the positive and negative contact electrode of rotating is 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 obtains first being defeated by the transformation voltage-stablizer after power supply, after stablizing transformation by the transformation voltage-stablizer, to each power unit of robot, power again, 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 putting into hollow heavy insulation cover, hollow anodal torch the inside puts into again hollow negative pole torch, insulation sleeve is contained in rigid enclosure, it under rigid enclosure, is cushion block, the cathode contact electrode is contained in insulation sleeve, spring is contained on the centre position at the back side of circular arc working face of cathode contact electrode, positive electrical wire in the welding of the back side of cathode contact electrode, insulation board be contained in the cathode contact electrode rigid enclosure above, borehole jack on insulation board is on the cylindrical of the hollow heavy insulation cover of hollow negative pole torch outside, insulation sleeve is contained in rigid enclosure, it under rigid enclosure, is the hassock piece, the cathode contact electrode is contained in insulation sleeve, spring is contained in the back side of cathode contact electrode, negative electrical wire in the welding of the back side of cathode contact electrode, electric wire on electric wire on the cathode contact electrode and cathode contact electrode passes from the limit, left and right of case respectively, directly is connected on the transformation voltage-stablizer, signal system is that light source tube is launched light source, and light source, through the through hole of the circular or long narrow circular arc on the self-control original screen panel, is received by sensor, and light source tube is that lamp is arranged in thin hollow pipe, below rotating disk, middle part is thrust ball bearing, it below thrust ball bearing, is the self-control original screen panel, sensor is equipped with at the back side at the self-control original screen panel, and the self-control original screen panel is a circular insulating board, gets out circle and the long narrow circular arc hole through light source on the self-control original screen panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104040610A CN102496293B (en) | 2011-12-04 | 2011-12-04 | Robot standing on road for commanding pedestrians and vehicles to pass through road |
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| CN2011104040610A CN102496293B (en) | 2011-12-04 | 2011-12-04 | Robot standing on road for commanding pedestrians and vehicles to pass through road |
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| CN102496293A CN102496293A (en) | 2012-06-13 |
| CN102496293B true CN102496293B (en) | 2013-12-04 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104882015A (en) * | 2015-06-26 | 2015-09-02 | 宁波德坤工业设计有限公司 | High-simulation intelligent police robot |
| CN106448145B (en) * | 2016-11-21 | 2018-11-06 | 张育栋 | A kind of crossing intelligence robot command |
| CN107146436A (en) * | 2017-06-30 | 2017-09-08 | 中山市风华稀柠照明设计有限公司 | A kind of emergent stop-light |
| CN107545747B (en) * | 2017-10-14 | 2019-10-22 | 徐佩登 | Temporary road traffic robot command for highway |
| CN112440285A (en) * | 2019-09-04 | 2021-03-05 | 王元知 | Robot assistant police for watching zebra crossing and gate |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06301889A (en) * | 1992-11-20 | 1994-10-28 | Kensetsusho Tohoku Chiho Kensetsu Kyokucho | Traffic guiding robot |
| JPH06203296A (en) * | 1993-01-04 | 1994-07-22 | Kansai Electric Power Co Inc:The | Traffic guide robot |
| JPH0883394A (en) * | 1994-07-12 | 1996-03-26 | Kokoro:Kk | Robot for traffic guide |
| CN2292644Y (en) * | 1996-11-23 | 1998-09-30 | 陈贺新 | Robot of traffic police |
| CN2362167Y (en) * | 1998-08-10 | 2000-02-02 | 孙先锋 | Traffic instruction giving device for traffic police |
| CN2758036Y (en) * | 2004-12-20 | 2006-02-15 | 济南大学 | Network intelligent traffic police robot |
| KR100709322B1 (en) * | 2005-05-27 | 2007-04-20 | 윤성운 | A Robot Apparatus of Traffic Control Mannequin |
| CN2798211Y (en) * | 2005-06-16 | 2006-07-19 | 河南鸿志实业有限公司 | Analog person for traffic warning |
| CN2816954Y (en) * | 2005-08-31 | 2006-09-13 | 曾宪佐 | Man-shape safety warning induction apparatus |
| KR100883521B1 (en) * | 2007-08-03 | 2009-02-13 | 한국전자통신연구원 | Traffic control robot, traffic control system and method by using robot thereby |
| CN201503642U (en) * | 2009-06-30 | 2010-06-09 | 陕西科技大学 | Traffic control robot based on PLC |
| KR100960991B1 (en) * | 2009-07-01 | 2010-06-03 | (주) 에스엘테크 | Traffic control system using robot in school zone and method thereof |
| CN202352083U (en) * | 2011-12-04 | 2012-07-25 | 徐德胜 | Robot standing on road for commanding pedestrians and vehicles to pass through road |
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