CN106799739A - All-purpose robot is investigated in a kind of land, water and air - Google Patents
All-purpose robot is investigated in a kind of land, water and air Download PDFInfo
- Publication number
- CN106799739A CN106799739A CN201710170308.4A CN201710170308A CN106799739A CN 106799739 A CN106799739 A CN 106799739A CN 201710170308 A CN201710170308 A CN 201710170308A CN 106799739 A CN106799739 A CN 106799739A
- Authority
- CN
- China
- Prior art keywords
- water
- investigation
- fuselage
- land
- cabin
- Prior art date
- 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.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 34
- 238000011835 investigation Methods 0.000 claims abstract description 42
- 230000008054 signal transmission Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 108010066057 cabin-1 Proteins 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
Classifications
-
- 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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
-
- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a kind of land, water and air investigation all-purpose robot, including fuselage, sky investigation device, road wheel and water lowering or hoisting gear；The fuselage is connected with head by transfer, left cabin is installed on the left of the fuselage, the bottom of the sky investigation device is from left to right sequentially installed with leg, second camera, LED, groove and secondary signal transmitting-receiving transmitting device, the inside of the sky investigation device is provided with motor and control cabinet, the road wheel is by fixed plate, expansion plate and wheel are constituted, the water lowering or hoisting gear is by hydraulic means, power set and marine propeller are constituted, the output end and hydraulic means of the PLC, power set, the input of motor and catapult-launching gear is electrically connected with.The present invention carries out investigations suitable for land, water and air are comprehensive, changes the mode that tradition investigation needs the robot of multiple types to use cooperatively, and equipment is integrally easy to use, and stability is high.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of land, water and air investigation all-purpose robot.
Background technology
Robot（Robot）It is the installations for performing work automatically.It can both receive mankind commander, can run again
The program of advance layout, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, for example, produce industry, construction industry, or danger work, current robot is varied, but very
There are land, water and air to investigate general robot less, general robot is investigated it is desirable to a kind of land, water and air occur to this, be used for
Meet the demand of people.
The content of the invention
In order to solve above-mentioned problem, the present invention provides a kind of land, water and air investigation all-purpose robot, above-mentioned to solve
The problem proposed in background technology, is had an advantageous effect in that；Carried out investigations suitable for land, water and air are comprehensive, change tradition and detect
The mode for needing the robot of multiple types to use cooperatively is looked into, equipment is integrally easy to use, and stability is high, be up to this purpose, this hair
It is bright that a kind of land, water and air investigation all-purpose robot, including fuselage, sky investigation device, road wheel and water lowering or hoisting gear are provided；
The fuselage is connected with head by transfer, and the first signal transmitting and receiving transmitting device and the first shooting are provided with head
Head, is provided with left cabin on the left of the fuselage, and right cabin is provided with the right side of fuselage, and the sky investigation device is arranged on
Left cabin and the inside in right cabin, the bottom of sky investigation device be from left to right sequentially installed with leg, second camera,
LED, groove and secondary signal transmitting-receiving transmitting device, the groove are connected with base by catapult-launching gear, the sky investigation
The inside of device is provided with motor and control cabinet, and motor is arranged on the top of control cabinet, the motor and machine spiral shell
Rotation oar is rotated by rotary shaft and connected, and the road wheel is made up of fixed plate, expansion plate and wheel, and the fixed plate passes through
Rotary shaft is rotated with driving gear and the first driven gear and is connected, and the expansion plate and the first driven gear are connected by rotary shaft
Connect, the expansion plate is connected with universal plate by connector, the inside of the universal plate is provided with the second driven gear, and universal
The bottom of disk is provided with wheel, and the water lowering or hoisting gear is made up of hydraulic means, power set and marine propeller, described
Hydraulic means is fixedly connected with power set by telescopic mast, and the power set are connected with marine propeller by line shaft,
And line shaft is fixedly connected with the bottom of power set by fix bar, the output of the second camera and height measuring device
End is electrically connected with the input of control cabinet, and control cabinet receives and dispatches transmitting device and first with PLC by secondary signal
The connection of signal transmitting and receiving transmitting device signal transmission, the output end of the PLC and the first camera, hydraulic means, power
The input of device, motor and catapult-launching gear is electrically connected with, and the first signal transmitting and receiving transmitting device passes through with Surveillance center
Signal is connected.
Preferably, infrared scanner is installed on the fuselage, and fuselage passes through dividing plate and left cabin and the top in right cabin
Portion connects, and the present invention can set infrared scanner in relevant position.
Preferably, telescopic fixed bracket is installed on the inwall in the left cabin and right cabin, and telescopic fixed bracket is used with empty
Investigation device is closely connected, and is set telescopic fixed bracket and is easy to investigation device to stretch.
Preferably, height measuring device is installed on the outer wall of the sky investigation device, setting height measuring device can
For measurement height.
Preferably, the driving gear and the first driven gear, the first driven gear and the second driven gear and second
Driven gear is connected with wheel by chain Chain conveyer, and present invention transmission mainly passes through chain drive.
Compared with prior art, the beneficial effects of the invention are as follows：The equipment carries out investigations suitable for land, water and air are comprehensive, changes
Change tradition investigation needs the mode that the robot of multiple types is used cooperatively, it is necessary to when being investigated in the air, sky is used and investigates device meeting
Ground is taken photo by plane on high, the data taken photo by plane receive and dispatch transmitting device and the first signal transmitting and receiving transmitting device by secondary signal
Connection be transferred to PLC and Surveillance center, when if desired carrying out land and investigating, the rotation of wheel will drive the shifting of fuselage
Dynamic, and then the first camera shoots to the environment of surrounding, when if desired carrying out investigations under water, dividing plate is by left cabin and right cabin
Room is sealed, and the left cabin and right cabin of sealing can provide buoyancy, the rise of the moving belt motor car wheel of expansion plate, power set
The rotation of marine propeller is driven by line shaft, and then can be carried out investigations in water, equipment resistance to overturning is high, user
Just, can facilitate people and each region carried out investigations by control centre's remote control.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural representation that sky of the invention investigates device；
Fig. 3 is the structural representation of road wheel of the present invention；
Fig. 4 is the structural representation of water lowering or hoisting gear of the present invention；
Fig. 5 is theory diagram of the invention.
In figure：The left cabins of 1-；2- fuselages；3- heads；4- the first signal transmitting and receiving transmitting devices；The cameras of 5- first；6- is red
Outer scanner；The right cabins of 7-；8- dividing plates；9- machine propellers；10- motor；11- telescopic fixed brackets；12- catapult-launching gears；13-
Base；14- universal plates；15- line shafts；16- marine propellers；17- hydraulic means；18- telescopic masts；19- power set；20-
Rotary shaft；21- control cabinets；22- height measuring devices；23- legs；24- second cameras；25-LED lamps；26- grooves；27-
Binary signal receives and dispatches transmitting device；28- driving gears；29- chains；The driven gears of 30- first；31- fixed plates；32- expansion plates；
33- wheels；The driven gears of 34- second；35- fix bars；36-PLC controllers；37- Surveillance center；A- is empty with investigation device；B-
Road wheel；C- water lowering or hoisting gears.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
The present invention provides a kind of land, water and air investigation all-purpose robot, to solve the problems, such as to propose had in above-mentioned background technology
Beneficial effect be；Carried out investigations suitable for land, water and air are comprehensive, change tradition investigation needs the robot of multiple types to coordinate to be made
Mode, equipment is integrally easy to use, and stability is high.
Refer to Fig. 1-5, a kind of embodiment that the present invention is provided：All-purpose robot, including fuselage are investigated in a kind of land, water and air
2nd, it is empty with investigation device A, road wheel B and water lowering or hoisting gear C；Fuselage 2 is connected with head 3 by transfer, and head 3
On the first signal transmitting and receiving transmitting device 4 and the first camera 5 be installed, the left side of fuselage 2 is provided with left cabin 1, and fuselage 2
Right side is provided with right cabin 7, and sky is arranged on the inside in left cabin 1 and right cabin 7, the empty bottom with investigation device A with investigation device A
Portion is from left to right sequentially installed with leg 23, second camera 24, LED 25, groove 26 and secondary signal transmitting-receiving transmitting device
27, groove 26 is connected with base 13 by catapult-launching gear 12, and the inside of sky investigation device A is provided with motor 10 and control cabinet
21, and motor 10 is arranged on the top of control cabinet 21, motor 10 is rotated by rotary shaft 20 with machine propeller 9 and is connected,
Road wheel B is made up of fixed plate 31, expansion plate 32 and wheel 33, fixed plate 31 by rotary shaft 20 and driving gear 28 and
First driven gear 30 rotates connection, and expansion plate 32 is connected with the first driven gear 30 by rotary shaft 20, expansion plate 32 and ten thousand
Connected by connector to disk 14, the inside of universal plate 14 is provided with the second driven gear 34, and the bottom of universal plate 14 is installed
There is wheel 33, water lowering or hoisting gear C is made up of hydraulic means 17, power set 19 and marine propeller 16, hydraulic means 17
It is fixedly connected by telescopic mast 18 with power set 19, power set 19 are connected with marine propeller 16 by line shaft 15, and
Line shaft 15 is fixedly connected with the bottom of power set 19 by fix bar 35, second camera 24 and height measuring device 22
Output end is electrically connected with the input of control cabinet 21, and control cabinet 21 is received and dispatched by secondary signal with PLC 36 and transmitted
Device 27 is connected with the signal transmission of the first signal transmitting and receiving transmitting device 4, the output end of PLC 36 and hydraulic means 17, dynamic
The input electric connection of power apparatus 19, motor 10 and catapult-launching gear 12, the first signal transmitting and receiving transmitting device 4 and Surveillance center
37 are connected by signal, are provided with infrared scanner 6 on fuselage 2, and fuselage 2 is by dividing plate 8 and left cabin 1 and right cabin 7
Top is connected, and telescopic fixed bracket 11 is provided with the inwall in left cabin 1 and right cabin 7, and telescopic fixed bracket 11 is investigated with sky
Device A is closely connected, and height measuring device 22 is provided with the outer wall of sky investigation device A, and driving gear 28 and first is driven
Gear 30, the first driven gear 30 and the second driven gear 34 and the second driven gear 34 are passed with wheel 33 by the chain of chain 29
The output end of dynamic connection, the input of PLC 36 and the first camera 5 is electrically connected with.
Operation principle；, it is necessary to when being investigated in the air, sky can be navigated to ground on high with investigation device A when using
Clap, the data taken photo by plane are transferred to PLC by the connection that secondary signal receives and dispatches the signal transmitting and receiving transmitting device 4 of transmitting device 27 and first
Controller 36 and Surveillance center 37, when if desired carrying out land investigation, the rotation of the wheel 33 on road wheel B will be with motivation
Environment around the movement of body 2, and then the first camera 5 pairs shoots, and when if desired carrying out investigations under water, dividing plate 8 is by a left side
Cabin 1 and right cabin 7 are sealed, and the left cabin 1 and right cabin 7 of sealing can provide buoyancy, and water is with flexible on lowering or hoisting gear C
The rise of the moving belt motor car wheel 33 of plate 32, power set 19 drive the rotation of marine propeller 16 by line shaft 15, and then
Can be carried out investigations in water.
The above, is only presently preferred embodiments of the present invention, is not the limit for making any other form to the present invention
System, and any modification for being made according to technical spirit of the invention or equivalent variations, still fall within model required for protection of the invention
Enclose.
Claims (5)
1. a kind of land, water and air investigation all-purpose robot, including fuselage（2）, it is empty with investigation device A, road wheel B and water lifting
Device C, it is characterised in that：The fuselage（2）With head（3）Connected by transfer, and head（3）On the first letter is installed
Number transmitting-receiving transmitting device（4）With the first camera（5）, the fuselage（2）Left side left cabin is installed（1）, and fuselage（2）'s
Right side is provided with right cabin（7）, the empty investigation device A is installed in left cabin（1）With right cabin（7）Inside, the sky
Leg is from left to right sequentially installed with the bottom of investigation device A（23）, second camera（24）, LED（25）, groove（26）
Transmitting device is received and dispatched with secondary signal（27）, the groove（26）With base（13）By catapult-launching gear（12）Connection, the sky
Motor is installed with the inside of investigation device A（10）And control cabinet（21）, and motor（10）Installed in control cabinet（21）'s
Top, the motor（10）With machine propeller（9）By rotary shaft（20）Connection is rotated, the road wheel B is by solid
Fixed board（31）, expansion plate（32）And wheel（33）Constitute, the fixed plate（31）By rotary shaft（20）With driving gear（28）
With the first driven gear（30）Rotate connection, the expansion plate（32）With the first driven gear（30）By rotary shaft（20）Even
Connect, the expansion plate（32）With universal plate（14）Connected by connector, the universal plate（14）Inside be provided with second from
Moving gear（34）, and universal plate（14）Bottom wheel is installed（33）, the water lowering or hoisting gear C is by hydraulic means
（17）, power set（19）And marine propeller（16）Constitute, the hydraulic means（17）With power set（19）By flexible
Post（18）It is fixedly connected, the power set（19）With marine propeller（16）By line shaft（15）Connection, and line shaft
（15）With power set（19）Bottom pass through fix bar（35）It is fixedly connected, the second camera（24）Filled with elevation carrection
Put（22）Output end and control cabinet（21）Input be electrically connected with, and control cabinet（21）With PLC（36）By
Binary signal receives and dispatches transmitting device（27）With the first signal transmitting and receiving transmitting device（4）Signal transmission is connected, the PLC（36）
Output end and the first camera（5）, hydraulic means（17）, power set（19）, motor（10）And catapult-launching gear（12）'s
Input is electrically connected with, the first signal transmitting and receiving transmitting device（4）With Surveillance center（37）Connected by signal.
2. all-purpose robot is investigated in a kind of land, water and air according to claim 1, it is characterised in that：The fuselage（2）Upper peace
Equipped with infrared scanner（6）, and fuselage（2）By dividing plate（8）With left cabin（1）With right cabin（7）Top connection.
3. all-purpose robot is investigated in a kind of land, water and air according to claim 1, it is characterised in that：The left cabin（1）With
Right cabin（7）Inwall on telescopic fixed bracket is installed（11）, and telescopic fixed bracket（11）Closely connect with sky investigation device A
Connect.
4. all-purpose robot is investigated in a kind of land, water and air according to claim 1, it is characterised in that：It is described empty with investigation device
Height measuring device is installed on the outer wall of A（22）.
5. all-purpose robot is investigated in a kind of land, water and air according to claim 1, it is characterised in that：The driving gear（28）
With the first driven gear（30）, the first driven gear（30）With the second driven gear（34）And second driven gear（34）With car
Wheel（33）By chain（29）Chain conveyer is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710170308.4A CN106799739A (en) | 2017-03-21 | 2017-03-21 | All-purpose robot is investigated in a kind of land, water and air |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710170308.4A CN106799739A (en) | 2017-03-21 | 2017-03-21 | All-purpose robot is investigated in a kind of land, water and air |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106799739A true CN106799739A (en) | 2017-06-06 |
Family
ID=58987122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710170308.4A Pending CN106799739A (en) | 2017-03-21 | 2017-03-21 | All-purpose robot is investigated in a kind of land, water and air |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106799739A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000534A (en) * | 2017-12-30 | 2018-05-08 | 肇庆市智高电机有限公司 | For a kind of land, water and air Detecting Robot |
| CN108557108A (en) * | 2017-12-26 | 2018-09-21 | 杭州哈智机器人有限公司 | Land sky security robot and its application process |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102530256A (en) * | 2012-03-13 | 2012-07-04 | 北京理工大学 | Air-ground amphibious task set |
| CN204415724U (en) * | 2015-01-29 | 2015-06-24 | 马鞍山市赛迪智能科技有限公司 | Unmanned vehicle system is scouted in a kind of patrol |
| CN105818626A (en) * | 2016-05-09 | 2016-08-03 | 金陵科技学院 | Universal robot for water, land and air investigation |
| CN206551036U (en) * | 2017-03-21 | 2017-10-13 | 金陵科技学院 | All-purpose robot is investigated in a kind of land, water and air |
-
2017
- 2017-03-21 CN CN201710170308.4A patent/CN106799739A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102530256A (en) * | 2012-03-13 | 2012-07-04 | 北京理工大学 | Air-ground amphibious task set |
| CN204415724U (en) * | 2015-01-29 | 2015-06-24 | 马鞍山市赛迪智能科技有限公司 | Unmanned vehicle system is scouted in a kind of patrol |
| CN105818626A (en) * | 2016-05-09 | 2016-08-03 | 金陵科技学院 | Universal robot for water, land and air investigation |
| CN206551036U (en) * | 2017-03-21 | 2017-10-13 | 金陵科技学院 | All-purpose robot is investigated in a kind of land, water and air |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557108A (en) * | 2017-12-26 | 2018-09-21 | 杭州哈智机器人有限公司 | Land sky security robot and its application process |
| CN108000534A (en) * | 2017-12-30 | 2018-05-08 | 肇庆市智高电机有限公司 | For a kind of land, water and air Detecting Robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170606 |