CN105345806A - Monitoring robot capable of ascending and descending automatically - Google Patents
Monitoring robot capable of ascending and descending automatically Download PDFInfo
- Publication number
- CN105345806A CN105345806A CN201510887939.9A CN201510887939A CN105345806A CN 105345806 A CN105345806 A CN 105345806A CN 201510887939 A CN201510887939 A CN 201510887939A CN 105345806 A CN105345806 A CN 105345806A
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- CN
- China
- Prior art keywords
- robot
- supervisory
- direct current
- current generator
- monitoring device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses a monitoring robot capable of ascending and descending automatically. The monitoring robot comprises a machine frame, a climbing rod device, a traveling device, a monitoring device and a control device. The climbing rod device, the traveling device and the monitoring device are arranged on the machine frame. The climbing rod device is used for climbing a column. The traveling device is used for movement of the robot. The monitoring device is used for collecting environment data. The control device is connected with the climbing rod device, the traveling device and the monitoring device and used for receiving a control command, controlling the robot to be moved to a specified position through the traveling device and the climbing rod device, controlling the monitoring device to collect the environment data and outputting the environment data. According to the monitoring robot, real-time images can be transmitted to a far end through a camera in a manual remote-control way. Under the condition that people cannot enter a high-risk site, the robot can be directly moved to the high-risk site through direct remote control for monitoring instead of people, and thus the site condition can be known in the first time and the number of rescue causalities can be effectively reduced through observation and prediction.
Description
Technical field
The present invention relates to monitoring, monitoring technical field, espespecially one is independently elevated supervisory-controlled robot.
Background technology
Although society is day by day flourishing now, natural and man-made calamities still often have generation, such as fire, landslide, earthquake etc., and any disaster field is all very dangerous, and the personnel that are not suitable for enter.For rescue personnel, grasp disaster field situation and seem promising important.And it is whichsoever local, nearly all can just like electric pole, this kind of higher cylinder of lamp stand, climb to the high point by these cylinders and carry out monitoring observation, preferably field data can be obtained, also rescue team can be allowed to understand field condition, in this case, need badly and a kind ofly can enter the equipment that disaster field carries out environmental data collecting.
Summary of the invention
For the problem mentioned in background technology, the present invention proposes one and be independently elevated supervisory-controlled robot, disaster field can be entered and carry out environmental data collecting.Staff by controlling to robot remote the monitoring task entering and complete high-risk, can realize the timely control to dangerous field condition.Especially when running into high-risk field condition, personnel are inconvenient to enter, then can direct remote control robot, and robot is directly moved to high-risk scene, replace people to monitor, by observing, prediction is effective reduces rescue personnel's injures and deaths again can to understand field condition in the very first time like this.This is independently elevated supervisory-controlled robot and has manual system, facilitates operated by personnel.
For achieving the above object, the present invention proposes one and being independently elevated supervisory-controlled robot, described robot comprises: frame, pole climbing device, running gear, monitoring device and control device; Wherein, described pole climbing device, running gear, monitoring device are arranged in described frame; Described pole climbing device is for climbing cylinder; Described running gear is used for the movement of robot; Described monitoring device is for gathering environmental data; Described control device connects described pole climbing device, running gear and monitoring device, for receiving control instruction, control described running gear and described robot is moved to assigned address by pole climbing device, control described monitoring device and gather environmental data, and this environmental data is exported.
Further, described pole climbing device comprises: a plurality of direct current generator, a plurality of silica gel wheel; Wherein, described a plurality of direct current generator rotates for controlling described a plurality of silica gel wheel.
Further, being arranged in frame of the parallel and symmetry of described a plurality of direct current generator.
Further, described robot also comprises: clamping device; Wherein, this clamping device comprises: odd number direct current generator, odd number screw mandrel, odd number coulisse and a plurality of silica gel wheel; Described odd number direct current generator is arranged in frame, and described odd number screw mandrel is connected with described odd number direct current generator by shaft coupling, and described odd number coulisse is arranged in frame, and described a plurality of silica gel wheel is arranged on described odd number coulisse.
Further, described robot also comprises stop, runs for automatically controlling described direct current generator according to the position relationship of robot and cylinder or stops.
Further, described running gear comprises: a plurality of direct current generator, a plurality of wheel; Wherein, described a plurality of direct current generator is for controlling described a plurality of vehicle wheel rotation.
Further, described robot also comprises: protector; Wherein, this protector comprises: worm and gear motor, protection arm and a plurality of rubber wheel; Described worm and gear motor is arranged in frame, and rotate for controlling described protection arm, described a plurality of rubber wheel is arranged on protection arm.
Further, described monitoring device comprises: camera, is arranged in described frame, for gathering environmental data.
Further, described monitoring device also comprises: steering wheel, is arranged in described frame, connects described camera, for rotating described camera.
Further, described control device comprises: wireless communication module and command process module; Wherein, described wireless communication module, for receiving control instruction, is sent to described command process module, also for receiving the environmental data of described monitoring device collection and exporting; Described command process module, for the treatment of control instruction, controls described running gear and described robot is moved to assigned address by pole climbing device, and controls described monitoring device and gather environmental data.
Further, described command process module is 89C52 single-chip microcomputer.
Further, described robot also comprises: data reception module, for receiving the described environmental data that described control device exports.
Further, described robot also comprises; Remote sensing control module, communicates to connect with described control device, for sending control instruction.
The present invention propose autonomous lifting supervisory-controlled robot manually Remote mode, can realtime graphic by thecamera head to far-end.When running into high-risk field condition people and being inconvenient to enter, directly remote control robot can directly be moved to high-risk scene, replace people to monitor, by observing, prediction is effective reduces rescue personnel's injures and deaths again can to understand field condition in the very first time like this.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms a application's part, does not form limitation of the invention.In the accompanying drawings:
Fig. 1 is the structural representation of the autonomous lifting supervisory-controlled robot of one embodiment of the invention.
Fig. 2 is the structural representation of the pole climbing device of one embodiment of the invention.
Fig. 3 is the structural representation of direct current generator and screw mandrel in the clamping device of one embodiment of the invention.
Fig. 4 is the structural representation of coulisse in the clamping device of one embodiment of the invention.
Fig. 5 is the structural representation of the protector of one embodiment of the invention.
Drawing reference numeral illustrates:
1 frame, 2 direct current generators, 3 silica gel wheels, 4 direct current generators, 5 wheels, 6 direct current generators, 7 screw mandrels, 8 silica gel wheels, 9 cameras, 10 steering wheels, 11 worm and gear motors, 12 protection arms, 13 coulisses, 14 rubber wheels.
Detailed description of the invention
Below coordinating diagram and preferred embodiment of the present invention, setting forth the technological means that the present invention takes for reaching predetermined goal of the invention further.
Fig. 1 is the structural representation of the autonomous lifting supervisory-controlled robot of one embodiment of the invention.As shown in Figure 1, this robot comprises: frame 1, pole climbing device, running gear, monitoring device and control device; Pole climbing device, running gear, monitoring device are arranged in frame 1; Wherein,
Pole climbing device comprises: a plurality of direct current generator 2, a plurality of silica gel wheel 3, for climbing cylinder;
Running gear comprises: a plurality of direct current generator 4, a plurality of wheel 5, for the movement of robot;
Monitoring device comprises: camera 9, steering wheel 10, for gathering environmental data;
Control device (not illustrating) connects pole climbing device, running gear and monitoring device, for receiving control instruction, robot is moved to assigned address by control lines walking apparatus and pole climbing device, controls monitoring device and gathers environmental data, and exported by this environmental data.
Originally executing in example, robot working environment can be disaster field, because ground is comparatively complicated, therefore preferably can adopt four wheel mechanism, to adapt to different road conditions.In view of the requirement of the restriction in space and car body weight, intensity, economy, in a preferred embodiment, frame 1 can adopt frame structure, not only can save material, be conducive to weight reduction, and simplicity of design easily realizes with this.
In one embodiment, the structure of pole climbing device can shown in reference diagram 1 and Fig. 2, and it comprises: a plurality of direct current generator 2, a plurality of silica gel wheel 3; Wherein, the parallel and symmetry of a plurality of direct current generator 2 be arranged in frame 1, a plurality of direct current generator 2 rotates for controlling a plurality of silica gel wheel 3.
When robot needs upwards to climb time, a plurality of direct current generator 2 controls the rotation of a plurality of silica gel wheel 3 makes Robot cylinder up climb, the speed that staff can be risen by adjustment adjustment of rotational speed.
In one embodiment, this robot also comprises: clamping device, its structure can reference diagram 1, shown in Fig. 3 and Fig. 4.
Wherein, this clamping device comprises: odd number direct current generator 6, odd number screw mandrel 7, odd number coulisse 13 and a plurality of silica gel wheel 8.Odd number direct current generator 6 is arranged in frame 1, and odd number screw mandrel 7 is connected with odd number direct current generator 6 by shaft coupling, and odd number coulisse 13 is arranged in frame 1, and a plurality of silica gel wheel 8 is arranged on odd number coulisse 13.
After robot moves to assigned address, direct current generator 6 can drive screw mandrel 7, makes robot clamp cylinder two ends, allow a plurality of silica gel wheel 3 fully contact with cylinder by feed screw nut, coulisse 13 is moved by 45 degree of chutes on both sides simultaneously, makes silica gel wheel 8 prop up the cylinder other end.
In order to better control is to the clamping of cylinder, this robot also comprises stop, runs for automatically controlling direct current generator according to the position relationship of robot and cylinder or stops.
In one embodiment, as shown in Figure 1, running gear comprises: a plurality of direct current generator 4, a plurality of wheel 5; Wherein, a plurality of direct current generator 4 rotates for controlling a plurality of wheel 5, and robot can be moved.
In one embodiment, this robot also comprises: protector; Its structure can shown in reference diagram 1 and Fig. 5.
Wherein, this protector comprises: worm and gear motor 11, protection arm 12 and a plurality of rubber wheel 14; Worm and gear motor 11 is arranged in frame 1, and rotate for controlling protection arm 12, a plurality of rubber wheel 14 is arranged on protection arm 12.
After robot moves to assigned address, after clamping device makes robot clamp cylinder two ends, protector drives protection arm 12 to rotate by turbine and worm motor 11, makes a plurality of rubber wheel 14 prop up the cylinder after being clamped, prevents robot from occurring tilting in the process of climbing and toppling over.
In one embodiment, as shown in Figure 1, monitoring device comprises: camera 9, steering wheel 10, and it is all arranged in frame 1, and steering wheel 10 connects camera 9, and for rotating camera 9, camera 9 is for gathering environmental data.
In the present embodiment, control device comprises: wireless communication module and command process module; Wherein, wireless communication module, for receiving control instruction, is sent to command process module, also for receiving the environmental data of monitoring device collection and exporting; Command process module, for the treatment of control instruction, robot is moved to assigned address by control lines walking apparatus and pole climbing device, and controls monitoring device collection environmental data.This command process module can adopt 89C52 single-chip microcomputer.
The master control system of the autonomous lifting supervisory-controlled robot that the present invention proposes is primarily of single-chip computer control system, image delivering system, motor driven systems 3 major part composition.Wherein, the processor of single-chip computer control system adopts homemade chip STC12C52RC, and it can be competent at calculating and the processing speed demand of robot.The multi-channel PWM signal that kinematic system provides mainly through single-chip microcomputer controls each motor.Sensing system is made up of ultrasonic distance-measuring sensor, camera module etc.Each several part adopts modularized design, and have certain autgmentability, development and maintenance is simple.
In the above-described embodiments, this robot also comprises: data reception module, for the environmental data that receiving control device exports.
In the above-described embodiments, this robot also comprises; Remote sensing control module, communicates to connect with control device, for sending control instruction.
Above-mentioned data reception module, rocking bar control module are arranged on far-end, are not arranged in robot.
The electric power system of robot is divided into two parts: the power supply of single-chip microcomputer needs+5V, and direct current generator needs the voltage driven of+24V.Robot system adopts the model airplane battery of+24V to power, and carries out step-down process, obtain+5V voltage with this by voltage stabilizing chip.
The present invention propose autonomous lifting supervisory-controlled robot manually Remote mode, can realtime graphic by thecamera head to far-end.When running into high-risk field condition people and being inconvenient to enter, directly remote control robot can directly be moved to high-risk scene, replace people to monitor, by observing, prediction is effective reduces rescue personnel's injures and deaths again can to understand field condition in the very first time like this.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; the protection domain be not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (13)
1. be independently elevated a supervisory-controlled robot, it is characterized in that, described robot comprises: frame, pole climbing device, running gear, monitoring device and control device; Wherein,
Described pole climbing device, running gear, monitoring device are arranged in described frame;
Described pole climbing device is for climbing cylinder;
Described running gear is used for the movement of robot;
Described monitoring device is for gathering environmental data;
Described control device connects described pole climbing device, running gear and monitoring device, for receiving control instruction, control described running gear and described robot is moved to assigned address by pole climbing device, control described monitoring device and gather environmental data, and this environmental data is exported.
2. autonomous lifting supervisory-controlled robot according to claim 1, it is characterized in that, described pole climbing device comprises: a plurality of direct current generator, a plurality of silica gel wheel; Wherein, described a plurality of direct current generator rotates for controlling described a plurality of silica gel wheel.
3. autonomous lifting supervisory-controlled robot according to claim 2, is characterized in that, being arranged in frame of the parallel and symmetry of described a plurality of direct current generator.
4. autonomous lifting supervisory-controlled robot according to claim 1, it is characterized in that, described robot also comprises: clamping device; Wherein,
This clamping device comprises: odd number direct current generator, odd number screw mandrel, odd number coulisse and a plurality of silica gel wheel; Described odd number direct current generator is arranged in frame, and described odd number screw mandrel is connected with described odd number direct current generator by shaft coupling, and described odd number coulisse is arranged in frame, and described a plurality of silica gel wheel is arranged on described odd number coulisse.
5. autonomous lifting supervisory-controlled robot according to claim 4, it is characterized in that, described robot also comprises stop, runs for automatically controlling described direct current generator according to the position relationship of robot and cylinder or stops.
6. autonomous lifting supervisory-controlled robot according to claim 1, it is characterized in that, described running gear comprises: a plurality of direct current generator, a plurality of wheel; Wherein, described a plurality of direct current generator is for controlling described a plurality of vehicle wheel rotation.
7. autonomous lifting supervisory-controlled robot according to claim 1, it is characterized in that, described robot also comprises: protector; Wherein,
This protector comprises: worm and gear motor, protection arm and a plurality of rubber wheel; Described worm and gear motor is arranged in frame, and rotate for controlling described protection arm, described a plurality of rubber wheel is arranged on protection arm.
8. autonomous lifting supervisory-controlled robot according to claim 1, it is characterized in that, described monitoring device comprises: camera, is arranged in described frame, for gathering environmental data.
9. autonomous lifting supervisory-controlled robot according to claim 8, it is characterized in that, described monitoring device also comprises: steering wheel, is arranged in described frame, connects described camera, for rotating described camera.
10. autonomous lifting supervisory-controlled robot according to claim 1, it is characterized in that, described control device comprises: wireless communication module and command process module; Wherein,
Described wireless communication module, for receiving control instruction, is sent to described command process module, also for receiving the environmental data of described monitoring device collection and exporting;
Described command process module, for the treatment of control instruction, controls described running gear and described robot is moved to assigned address by pole climbing device, and controls described monitoring device and gather environmental data.
11. autonomous lifting supervisory-controlled robots according to claim 1, it is characterized in that, described command process module is 89C52 single-chip microcomputer.
12. autonomous lifting supervisory-controlled robots according to any one of claim 1 to 11, it is characterized in that, described robot also comprises: data reception module, for receiving the described environmental data that described control device exports.
13. autonomous lifting supervisory-controlled robots according to any one of claim 1 to 11, it is characterized in that, described robot also comprises; Remote sensing control module, communicates to connect with described control device, for sending control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887939.9A CN105345806B (en) | 2015-12-07 | 2015-12-07 | Autonomous lifting supervisory-controlled robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510887939.9A CN105345806B (en) | 2015-12-07 | 2015-12-07 | Autonomous lifting supervisory-controlled robot |
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| CN105345806A true CN105345806A (en) | 2016-02-24 |
| CN105345806B CN105345806B (en) | 2017-10-27 |
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| CN201510887939.9A Active CN105345806B (en) | 2015-12-07 | 2015-12-07 | Autonomous lifting supervisory-controlled robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557173A (en) * | 2019-01-17 | 2019-04-02 | 中国石油大学(北京) | Non-destructive testing device |
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| CN105345806B (en) | 2017-10-27 |
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