CN107745752A - Carry the field automation crawl electromechanical equipment of camera device - Google Patents
Carry the field automation crawl electromechanical equipment of camera device Download PDFInfo
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- CN107745752A CN107745752A CN201711094760.3A CN201711094760A CN107745752A CN 107745752 A CN107745752 A CN 107745752A CN 201711094760 A CN201711094760 A CN 201711094760A CN 107745752 A CN107745752 A CN 107745752A
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- 238000010168 coupling process Methods 0.000 claims description 13
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- 229910001069 Ti alloy Inorganic materials 0.000 claims description 12
- 239000002253 acid Substances 0.000 claims description 9
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- 238000003384 imaging method Methods 0.000 claims description 8
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automation field of electromechanical equipment, and in particular to carries the field automation crawl electromechanical equipment of camera device.The equipment is made up of sensor, traveling controller, driving wheel, crawler belt, Athey wheel, Manipulator Controller, lift etc.；Described crawler driving whell is wound around with Athey wheel, Manipulator Controller is installed above bottom plate, lift is installed above Manipulator Controller, height metal pole can be adjusted by being provided with one above lift, metal poles top is provided with hinge, the left end and hinge links of described connecting rod, described connecting rod lower section are provided with elevating lever.The present invention is erected above manipulator with CCD camera, taken a picture with CCD and accurately shoot objective direction, size, consequently facilitating plant equipment captures object, the present invention is in order to adapt to field work, crawler belt is have also been devised in the bottom of vehicle, the Ground Operation in wilderness field can be practically applicable to, vehicle can command behind the scenes again in addition, while can also be by pilot steering.
Description
Technical field
The present invention relates to automation field of electromechanical equipment, and in particular to the field automation crawl for carrying camera device is electromechanical
Equipment.
Background technology
With the development of industrial automation technology, automate that the benefit brought is more and more, and industrial automation advantage is：
First, labor productivity is greatly improved.More products can be namely manufactured in the unit interval, the input of each labour can
Create the higher output value；2nd, product quality has high reproducibility, uniformity, and disqualification rate can be greatly reduced；3rd, significantly
Reduce manufacturing cost.The beat of Machine automated Assembling Production is very short, can reach higher productivity ratio, while machine can connect
Reforwarding row, thus manufacturing cost can be greatly reduced under conditions of production in enormous quantities.4th, Product Precision is high.Adopted in machinery equipment
With various high-precision guiding, positioning, feeding, adjustment, detection, vision system or parts, it is ensured that Product Assembly production
High accuracy；5th, shorten the manufacturing cycle, reduce product amounts.The Machine automated manufacturing cycle for making product shortens, and can make enterprise
Industry realizes quick delivery, improves the competitiveness of enterprise commercially, while can also reduce the quantity of raw material and product, reduces
Circulating fund cost；6th, manual operation is substituted under harmful, dangerous environment；7th, machine can only be relied under partial picture
Device automated production.At present, the product of in the market is increasingly minimized, is miniaturized, and the size of part significantly reduces, various microcomputers
Electric system develops rapidly, and the manufacture and assembly of the product such as these micro mechanisms, microsensor, micro actuator can only rely on machine
Device is realized.
Particularly worker's operation in the wild when, it is therefore desirable to be able to have it is a kind of carry camera device field automation gripper
Electric equipment captures to complete the automation of construction material, machine components, chemical industry raw and auxiliary material etc..So as to improve automatization level.
The content of the invention
There is problem in the present invention, invented the field automation crawl electromechanical equipment for carrying camera device for above-mentioned, this
Invent and propose to be erected above manipulator with CCD camera, taken a picture with CCD and accurately shoot objective direction, size, consequently facilitating
Plant equipment captures, and the present invention have also been devised crawler belt to adapt to field work in the bottom of vehicle.Other vehicle again can be with distant
Control commander, while occasion of the field without alternating current can also be facilitated with dc source by pilot steering, vehicle.Before the present invention
Side is provided with anticollision radar, avoids striking the barriers such as trees, stone, very convenient and practical, before having wide popularization and application
Scape.
Technical solution of the present invention：
Carry the field automation crawl electromechanical equipment of camera device, it is characterised in that the equipment is by sensor 1, walking
Controller 2, driving wheel 3, crawler belt 4, Athey wheel 5, bottom plate 6, Manipulator Controller 7, lift 8, hinge 9, servo motor B 10,
Video camera 11, manipulator 12, elevating lever 13, servomotor A14, seat 15, handle-bar 16, battery 17, remote control 18, water
Yaw lever 19, gear 20, fixing axle 21, connecting rod 22 form；Week of the described crawler belt 4 wound on driving wheel 3 and Athey wheel 5
Enclose, described crawler belt 4 is metal pin hinge type crawler belt, and crawler belt 4 is made up of creeper tread and track pin, and crawler belt 4 is by 3 bands of driving wheel
Dynamic, the inside of driving wheel 3 is provided with motor；Described bottom plate 6 is arranged on the top of crawler belt 4, and the described profile of bottom plate 6 is rectangular
The carbon steel plate of body is welded, and described base plate interior 6 places traveling controller 2, and described controller 2 carries data signal
Process chip, the control circuit of described controller 2 by control chip, chip drives system, AD sampling systems, power model,
Power model drive system, hardware protection system, position detecting system, bus Support Capacitor composition；The top of bottom plate 6 is provided with
Manipulator Controller 7, the top of Manipulator Controller 7 are provided with lift 8, and the top of lift 8, which is provided with one, can adjust height
Metal poles are spent, metal poles top is provided with hinge 9, and left end and the hinge 9 of described connecting rod 22 link, under described connecting rod 22
Side is provided with elevating lever 13, and the lower section of elevating lever 13 is provided with servomotor A14；The right-hand member of described connecting rod 22 is mounted with servo electricity
Machine B10, servo motor B 10 drive the semicircle rack of the left end of horizontal pendulum lever 19 by exporting shaft driven gear 20, gear 20,
Described horizontal pendulum lever 19 forms gap with fixing axle 21 and coordinated so that horizontal pendulum lever 19 rotates horizontally around fixing axle 21；
The wheel tooth module of described gear 20 and semicircle rack is 2mm, and pressure angle is 20 degree；The right-hand member chain of horizontal pendulum lever 19 picks
Tool hand 12, video camera 11 is provided with above manipulator 12；Sensor 1 is installed in the described right-hand member of bottom plate 6, in described bottom plate
Seat 15 is installed with handle-bar 16 above 6 right-hand members in order to which whole equipment drives, in order to save space, described electric power storage
Pond 17 is arranged on the lower section of seat 15, and whole equipment can also be by the remote control of remote control 18.
Further technical solution is the present invention：
The described lower section of elevating lever 13 is provided with rack, and little gear is provided with described servomotor A14 output shaft, small
Gear engages with the rack of the lower section of elevating lever 13, and the rotor inside described servomotor A14 is permanent magnet, driver control
Three-phase electric forming electromagnetic field, rotor rotate in the presence of this magnetic field, while the encoder feedback signal that servomotor A14 is carried
To driver, driver compared with desired value, adjusts the angle that rotor rotates, servomotor A14 essence according to value of feedback
Degree is consistent with the precision of its supporting encoder.
Described manipulator 12 is by manipulator base 30, rotary shaft A31, supporting plate 32, rotary shaft B33, encoder 34, rotation
Motor 35, magic square are fast 36, mechanical finger 37, manipulator rotating base 38, rotary shaft C39 composition；Supporting plate 32 is pacified by central shaft
Above manipulator base 30, supporting plate 32 forms gap with central shaft and coordinated, and supporting plate 32 can be rotated by 360 ° along horizontal plane,
Under the commander of remote control 18, all component levels of the top of supporting plate 32 can be caused to rotate, manipulator space of the present invention is flexible
It is big to operate the free degree.Rotary shaft A31 is arranged on supporting plate 32, and manipulator rotating base 38 is welded as a whole with supporting plate 32,
For manipulator rotating base 38 than 32 thick 0.5~0.6mm of supporting plate, 8~15 storage lubrications are arranged below in manipulator rotating base 38
The pit of fat, in order to which two contact surfaces are in good lubricating status；Three are provided between rotary shaft A31 and rotary shaft B33
The connecting rod of root titanium alloy, the light intensity of the connecting rod quality very high life-span that can substantially improve manipulator of titanium alloy so that this hair
It is bright that there is unexpected technique effect；Connected between rotary shaft B33 and rotary shaft C39 with the connecting rod of two titanium alloys；Rotation
Axle A31, rotary shaft B33 and rotary shaft C39 end are mounted on micro servo motor to drive three axles to operate, miniature servo
Motor is controlled by the control of remote control 18 or by the controlling switch on the side of handle-bar 16.One end of electric rotating machine 35
Encoder 34 is installed；The other end of electric rotating machine 35 is provided with magic square fast 36, and magic square fast 36 is connected with the mechanical finger 37 on both sides,
The mechanical finger 37 of both sides is made up of two sections, and magic square fast 36 inside mechanical finger 37 with being provided with metal spring and Link chain device
Structure, in order to which mechanical finger 37 flexibly captures or put down object.
Described encoder 34 is increment of rotation formula encoder, i.e. encoder 34 often turns over a unit angle and is issued by one
Then individual pulse signal, encoder 34 are finely divided to it, copped wave goes out the higher pulse of frequency, and as A phases, B phases, Z phases exports.
A phases, B phases are the pulse output in mutually 1/4 cycle of delay, and rotating can be distinguished according to delay relation, and by taking A phases, B
The rising and falling edges of phase can carry out 2 or 4 frequencys multiplication；Z phases are individual pen pulse, i.e., often circle sends a pulse.Increment of rotation formula
Pulse is exported when encoder is to rotate, its position is known by counting equipment, when encoder is motionless or has a power failure, by counting
The memory internal of equipment remembers position.So, after power failure, encoder can not have any movement, when send a telegram here work when, compile
In code device output pulse process, can not have and disturb and pulse-losing.
Described lift 8 is by direct current hydraulic motor 40, hydraulic stem 41, upper bottom surface 42, moving lever 43, transverse axis 44, support
Slide bar 45, bottom surface 46, chute 47 form；Wherein direct current hydraulic motor 40 is arranged in 46 fixing axles of bottom surface, direct current
Vertical Lift hydraulic jack is installed, hydraulic stem 41 is arranged on Vertical Lift hydraulic jack by shaft coupling on the output shaft of hydraulic motor 40
Output shaft on, moving lever 43 is in arranged crosswise, while horizontally disposed transverse axis 44, moving lever are also equipped between moving lever 43
43 top is provided with upper bottom surface 42；Upper bottom surface 42 and bottom surface 46 are that the trade mark is 50Ti35V15Cr titanium alloy materials；Under
The right of bottom surface 46 is provided with two chutes 47, chute 47 open up it is T-shaped, while the lower end of supporting slider 45 be provided with T-flange with
It is easy to form prismatic pair with two chutes 47, the microchannels of lithium base grease storage is additionally provided with prismatic pair, in order to cunning
Groove 47 is lubricated in time.
Described remote control 18 is made up of infrared transmitting tube, infrared receiving terminal, display charactron, button；Remote control 18 is adopted
With focus control mode, using MSP430 single-chip microcomputers as master controller, remote control 18 uses infrared light to be encoded for carrier, emission control
Signal, by robot reception signal and decode remote control mode；The control software of described remote control (18) is compiled using C language
Make to complete the coding of remote signal and modulation function.The remote control realize the rotation of robot, advance, rise, decline, after
Move back, distant control function is of the invention shows that the remote control realizes by experiment for speed governing and autonomous, manual mode of operation, switching etc.
Design object, and control the field automation crawl electromechanical equipment effect for carrying camera device.
Described sensor 1 carries alarm display module, the receiving module based on CX20106A chips, with single-chip microcomputer
Controllers of the AT89S51 as range finder module, the Flash using 4kbit as flash memory, 1288 byte inner RAM, 2
16 digit counters, 6 interrupt sources.Sensor 1 designed by the present invention, in the market ultrasonic radar product finding range
Narrow, the problem of price is higher, from lifting transmission power and receiving sensitivity is improved, uses intermediate-frequency transformer and Sony
CX20106A chips to transmitting and receiving module circuit redesign, improve well range finder module transmission power and
Receiving sensitivity.The reliable finding range of the present invention can be limited in 80 yuan/platform up to 5m, cost of manufacture, so as to design one kind
Cost is low, finding range large sensor can prevent that the field automation crawl electromechanical equipment for carrying camera device from being hit.
Described controller 7 with program counter, command register, command decoder, clock, SS line, when
Sequence control signal forms part；Described battery 17 is lead-acid battery, and lead-acid battery is divided into 6 pieces, the specified electricity of every piece of baby battery
Press the lead-acid battery for 12 volts, the ampere-hour of rated voltage capacity 15 of every piece of baby battery, the length difference of every piece of baby battery
For 149mm, 102mm, 100mm.
The described inside of video camera 11 carries charge coupling device imaging sensor, and charge coupling device image sensing
Device is rearranged by photosensitive pixel, and each pixel is exactly a MOS capacitor (being mostly photodiode), and it is in P
Type Si substrate tables, 1 bias voltage is added between substrate and metal electrode, just form 1 MOS capacitor；Thrown when there is 1 beam light
When being mapped in MOS capacitor, photon passes through transparency electrode and oxide layer, and into p-type Si substrates, the electronics of valence band is in substrate
The energy for absorbing photon is leapt into conduction band；Photon enter caused by substrate electron transition formed electron-hole pair, electronics-
Hole to the both ends of electrode in the presence of extra electric field, moving respectively；Here it is signal charge；Charge coupling device image
Sensor is CCD camera (Charge Coupled Device), and light is transformed into electricity by its charge coupling device imaging sensor
Lotus, data signal is converted into by analog-digital converter chip, data signal is stored after overcompression by the flash of camera internal
Device or built-in hard disk card preserve, thus data easily can be transferred to computer, and by means of the processing of computer
Means, change image as needed；Each pixel is exactly a MOS capacitor (being mostly photodiode), and it is in p-type
The SiO2 that 1 thickness degree is about 1000A~1500A is generated with the method for oxidation on Si substrate surfaces, then one is deposited on SiO2 surfaces
Metal level (polysilicon), these signal charges are stored in " potential well " formed by electrode.
Beneficial effect of the present invention：
First, the present invention is erected above manipulator with CCD camera, is taken a picture with CCD and is accurately shot objective direction, greatly
Small, consequently facilitating plant equipment captures object, the present invention have also been devised crawler belt to adapt to field work in the bottom of vehicle,
The Ground Operation in wilderness field can be practically applicable to, vehicle can command behind the scenes again in addition, while can also be by pilot steering.Vehicle
Facilitate occasion of the field without alternating current with dc source, front of the invention is provided with anticollision radar, avoid striking trees,
The barriers such as stone.
2nd, the present invention has wide popularizing application prospect, can be widely applied to complete construction material, machinery zero
The automation crawl of part, chemical industry raw and auxiliary material etc., so as to improve automatization level.It is contemplated that the present invention may be use with ripe tomato
Win.
Brief description of the drawings
It is mechanism total figure in Fig. 1：
In Fig. 1：Sensor 1, traveling controller 2, driving wheel 3, crawler belt 4, Athey wheel 5, bottom plate 6, Manipulator Controller 7,
Lift 8, hinge 9, servo motor B 10, video camera 11, manipulator 12, elevating lever 13, servomotor A14, seat 15, direction
Handle 16, battery 17, remote control 18, horizontal pendulum lever 19, connecting rod 22.
Fig. 2 is the concrete structure diagram of manipulator 12
In Fig. 2：Manipulator base 30, rotary shaft A31, supporting plate 32, rotary shaft B33, encoder 34, electric rotating machine 35, evil spirit
Square fast 36, mechanical finger 37, manipulator rotating base 38, rotary shaft C39.
Fig. 3 is the detailed structure view of lift 8
In Fig. 3：Direct current hydraulic motor 40, hydraulic stem 41, upper bottom surface 42, moving lever 43, transverse axis 44, supporting slider 45, under
Bottom surface 46, chute 47
Fig. 4 is the transmission diagram that servomotor 10 drives horizontal pendulum lever 19
In Fig. 4：Servomotor 10, gear 20, horizontal pendulum lever 19, fixing axle 21
Embodiment
As shown in figure 1, when field has goods to need snatch, the present invention is reached the field place.It is distant with remote control 18
Control the present invention, the present invention under the driving of remote control 18 can be crawled object advance, retreat, rotation, machine of the invention
Tool equipment also carries lift 8, is easy to the elevated position of manipulator 12, and the present invention devises horizontal pendulum lever 19, can cause machine
Tool hand 12 significantly increases in the scope of activities of some horizontal plane.The driving wheel 3 of the present invention is driven by motor, motor driven
Powered by battery 17.Around driving wheel 3 and Athey wheel 5, described crawler belt 4 is cut with scissors described crawler belt 4 for metallic pin
Endless-track (up to the present the crawler belt is one of most solid crawler belt of machinery industry), crawler belt 4 is by creeper tread and crawler belt pin bank
Into crawler belt 4 is driven by driving wheel 3, and the inside of driving wheel 3 is provided with motor；Described bottom plate 6 is arranged on the top of crawler belt 4,
The described profile of bottom plate 6 is welded for the carbon steel plate of cuboid, and bottom plate 6 is the cuboid of hollow carton shape, described
Base plate interior 6 places traveling controller 2, and described controller 2 carries digital signal processing chip, the control of described controller 2
Circuit processed is by control chip, chip drives system, AD sampling systems, power model, power model drive system, hardware protection system
System, position detecting system, bus Support Capacitor composition；Controller 2 is for controlling the advance of the whole vehicle of the present invention, falling
Move back, turn round, stop, accelerate, controlling tumbler to be arranged on the right of handle-bar 16 when artificial drive (can certainly be by distant
The actions such as the advance and retroversion controlling device 18 to control).The top of bottom plate 6 is provided with Manipulator Controller 7, Manipulator Controller 7
Top is provided with lift 8, and the top of lift 8, which is provided with one, can adjust height metal pole, and metal poles top is provided with
Hinge 9, left end and the hinge 9 of described connecting rod 22 link, and the lower section of described connecting rod 22 is provided with elevating lever 13, under elevating lever 13
Side is provided with servomotor A14；Servomotor A14 under the commander of remote control 18, can drive elevating lever 13 rise or under
Drop, it is possible to drivening rod 22 rises or declined, and rises or declines so as to driving mechanical hand 12, so the present invention can be with
The scope of crawl is with regard to bigger.The right-hand member of described connecting rod 22 is mounted with servo motor B 10, and servo motor B 10 passes through output shaft
Band moving gear 20, gear 20 drive the semicircle rack of the left end of horizontal pendulum lever 19, described horizontal pendulum lever 19 and fixing axle
21 composition gaps coordinate so that horizontal pendulum lever 19 rotates horizontally around fixing axle 21；Described gear 20 and semicircle rack
Wheel tooth module is 2mm, and pressure angle is 20 degree；The right-hand member chain welding manipulator 12 of horizontal pendulum lever 19, is provided with above manipulator 12
Video camera 11；Sensor 1 is installed in the described right-hand member of bottom plate 6, be provided with above the described right-hand member of bottom plate 6 seat 15 with
Handle-bar 16 drives in order to whole equipment, and in order to save space, described battery 17 is arranged on the lower section of seat 15, whole
Individual equipment can also be by the remote control of remote control 18.
The described lower section of elevating lever 13 is provided with rack, and little gear is provided with described servomotor A14 output shaft, small
Gear engages with the rack of the lower section of elevating lever 13, and the rotor inside described servomotor A14 is permanent magnet, driver control
Three-phase electric forming electromagnetic field, rotor rotate in the presence of this magnetic field, while the encoder feedback signal that servomotor A14 is carried
To driver, driver compared with desired value, adjusts the angle that rotor rotates, servomotor A14 essence according to value of feedback
Degree is consistent with the precision of encoder.After servomotor A14 receives the climb command of remote control 18, servomotor A14's is defeated
The little gear installed on shaft just drives the rack of the lower section of elevating lever 13 to move upwards, also just raises the position of connecting rod 22 in order to machine
Tool hand 12 captures the goods of eminence.
Remote control 18 cooperates with Manipulator Controller 7 to be coordinated the rise for carrying out control machinery hand 12, decline, rotates horizontally, grabs
Take object, decontrol object.Described remote control 18 is made up of infrared transmitting tube, infrared receiving terminal, display charactron, button；It is distant
Control device 18 uses focus control mode, and using MSP430 single-chip microcomputers as master controller, remote control 18 uses infrared light as carrier, transmitting
Control encoded signal, by robot reception signal and the remote control mode of decoding；The control software of described remote control 18 is to use C
Language is worked out to complete the coding of remote signal and modulation function.
In order to prevent apparatus of the present invention from striking other objects, sensor 1 is installed in the described right-hand member of bottom plate 6.It is described
Sensor 1 with alarm display module, the receiving module based on CX20106A chips, using chip processor AT89S51 as survey
Controller away from module, using 4kbit Flash as flash memory, 1288 byte inner RAM, 2 16 digit counters, 6
Interrupt source.
Described controller 7 with program counter, command register, command decoder, clock, SS line, when
Sequence control signal forms part；Described battery 17 is lead-acid battery, and lead-acid battery is divided into 6 pieces, the specified electricity of every piece of baby battery
Press the lead-acid battery for 12 volts, the ampere-hour of rated voltage capacity 15 of every piece of baby battery, the length difference of every piece of baby battery
For 149mm, 102mm, 100mm.
The present invention just installs to precisely capture the accurate information in the object being crawled place orientation above manipulator 12
Video camera 11, so that where where video camera 11 is with regard to shooting real-time condition for manipulator 12.Described video camera 11
Inside carries charge coupling device imaging sensor, and charge coupling device imaging sensor is rearranged by photosensitive pixel
, each pixel is exactly a MOS capacitor (being mostly photodiode), and it is in p-type Si substrate tables, in substrate and metal
Electrode is asked plus 1 bias voltage, just forms 1 MOS capacitor；When there is 1 beam light to project in MOS capacitor, photon
Through transparency electrode and oxide layer, into p-type Si substrates, the electronics in valence band leaps to the energy for absorbing photon in substrate
Conduction band；Photon enters electron transition caused by substrate and forms electron-hole pair, effect of the electron-hole pair in extra electric field
Under, moved respectively to the both ends of electrode；Here it is signal charge；Charge coupling device imaging sensor is CCD camera (Charge
Coupled Device), light is transformed into electric charge by its charge coupling device imaging sensor, is turned by analog-digital converter chip
Changing data signal into, data signal is preserved after overcompression by the flash memory or built-in hard disk card of camera internal, thus
Data easily can be transferred to computer, and by means of the processing means of computer, change image as needed；
Each pixel is exactly a MOS capacitor (being mostly photodiode), and it is with the method for oxidation on p-type Si substrate surfaces
The SiO2 that 1 thickness degree is about 1000A~1500A is generated, then a metal level (polysilicon) is deposited on SiO2 surfaces, these signals electricity
Lotus is stored in " potential well " formed by electrode.
As shown in Fig. 2 Fig. 2 is the concrete structure diagram of manipulator 12, the right-hand member chain welding manipulator 12 of horizontal pendulum lever 19, in machine
The top of tool hand 12 is provided with video camera 11；Described manipulator 12 is by manipulator base 30, rotary shaft A31, supporting plate 32, rotary shaft
B33, encoder 34, electric rotating machine 35, magic square are fast 36, mechanical finger 37, manipulator rotating base 38, rotary shaft C39 composition；Support
Plate 32 is arranged on the top of manipulator base 30 by central shaft, and supporting plate 32 forms gap with central shaft and coordinated, and supporting plate 32 can be along
Horizontal plane is rotated by 360 °, and under the commander of remote control 18, all component levels of the top of supporting plate 32 can be caused to rotate, this hair
It is big that bright manipulator space flexibly operates the free degree.Rotary shaft A31 is arranged on supporting plate 32, manipulator rotating base 38 and supporting plate 32
It is welded as a whole, manipulator rotating base 38 is arranged below 8 than 32 thick 0.5~0.6mm of supporting plate, manipulator rotating base 38
The pit of~15 storing lubricating greases, in order to which two contact surfaces are in good lubricating status；Rotary shaft A31 and rotary shaft B33
Between be provided with the connecting rods of three titanium alloys, the light intensity of the connecting rod quality very high longevity that can substantially improve manipulator of titanium alloy
Life so that the present invention has unexpected technique effect；With the company of two titanium alloys between rotary shaft B33 and rotary shaft C39
Bar connects；Rotary shaft A31, rotary shaft B33 and rotary shaft C39 end are mounted on micro servo motor to drive three axles to transport
Turn, micro servo motor is controlled by the control of remote control 18 or by the controlling switch on the side of handle-bar 16.Rotation
One end of motor 35 is provided with encoder 34；The other end of electric rotating machine 35 is provided with magic square fast 36, magic square fast 36 and the machine on both sides
Tool finger 37 is connected, and the mechanical finger 37 of both sides is made up of two sections, and magic square fast 36 inside mechanical finger 37 with being provided with metal
Spring and linkage, in order to which mechanical finger 37 flexibly captures or put down object, commander of the manipulator 1 in remote control 18
Under, rotary shaft A31, rotary shaft B33, rotary shaft C39 can be driven to rotate so as to drive whole robot movement；Electric rotating machine 35
One end encoder 34 is installed；The other end of electric rotating machine 35 is provided with magic square fast 36, magic square fast 36 and the mechanical finger on both sides
37 connections.Control of the electric rotating machine 35 by encoder 34.Described encoder 34 is increment of rotation formula encoder, i.e. encoder
34, which often turn over a unit angle, is issued by a pulse signal, and then encoder 34 is finely divided to it, copped wave goes out frequency more
High pulse, as A phases, B phases, Z phases export.
As shown in figure 3, Fig. 3 is the detailed structure view of lift 8 in the present invention, the purpose of lift 8 is big in the present invention
The range of movement of manipulator 12 is raised or reduced to amplitude so that crawl scope significantly increases, while also causes crawl object
The space of plant equipment revolution further increases afterwards, that is, expands the use range of the present invention.Described lift 8 is by direct current hydraulic pressure
Motor 40, hydraulic stem 41, upper bottom surface 42, moving lever 43, transverse axis 44, supporting slider 45, bottom surface 46, chute 47 form；Wherein
Direct current hydraulic motor 40 is arranged in 46 fixing axles of bottom surface, and Vertical Lift liquid is provided with the output shaft of direct current hydraulic motor 40
Compressing cylinder, hydraulic stem 41 are arranged on by shaft coupling on the output shaft of Vertical Lift hydraulic jack, and moving lever 43 is in arranged crosswise, with
Rise beneficial to moving lever 43.Horizontally disposed transverse axis 44, the top installation of moving lever 43 are also equipped between moving lever 43 simultaneously
There is upper bottom surface 42；Upper bottom surface 42 and bottom surface 46 are that the trade mark is 50Ti35V15Cr titanium alloy materials, and the material is that the U.S. is newest
High strength titanium alloy material is found out, its mechanical strength is very high.Two chutes 47 are installed on the right of bottom surface 46, it is sliding
Groove 47 opens up T-shaped, while the lower end of supporting slider 45 is provided with T-flange in order to form prismatic pairs with two chutes 47, is moving
The microchannels of lithium base grease storage are additionally provided with dynamic pair, in order to which chute 47 is lubricated in time.The present invention uses direct current
Hydraulic motor 40 raises that speed is fast, improves the service efficiency of the present invention.When unlatching direct current hydraulic motor 40, direct current hydraulic motor 40
Hydraulic stem 41 is driven to rise, hydraulic stem 41 drives transverse axis 44, and transverse axis 44 drives moving lever 43 to rise, and the can of moving lever 43 drives
Upper bottom surface 42 rises, and whole lift 8 just rises.The direction of motion is just opposite with afore-mentioned when lift 8 declines.
As shown in figure 4, Fig. 4 is the transmission diagram that servomotor 10 drives horizontal pendulum lever 19.Servo motor B 10 passes through output
Shaft driven gear 20, gear 20 drive the semicircle rack of the left end of horizontal pendulum lever 19, and described horizontal pendulum lever 19 is with fixing
Axle 21 forms gap and coordinated so that horizontal pendulum lever 19 rotates horizontally around fixing axle 21；Described gear 20 and semicircle rack
Wheel tooth module be 2mm, pressure angle is 20 degree；The right-hand member chain welding manipulator 12 of horizontal pendulum lever 19.Horizontal pendulum lever 19 designs
It is arranged horizontally and with horizontal hunting, just can substantially expands the range of movement of manipulator 12, improves manipulator crawl of the present invention
Spatial dimension.Gear is designed as between gear 20 and horizontal pendulum lever 19 engages make it that gearratio is accurate, that is, make
Manipulator 12 under " assistance " of video camera 11 grasping movement more it is accurate in place.
To sum up, the field automation crawl electromechanical equipment of the carrying camera device designed by the present invention, can reach out of office
Outside, have in the adverse circumstances such as pool to complete the automatic of the materials such as construction material, machine components, chemical industry raw and auxiliary material, crops
Change crawl work.
Claims (9)
1. carry the field automation crawl electromechanical equipment of camera device, it is characterised in that the equipment is by sensor (1), walking
Controller (2), driving wheel (3), crawler belt (4), Athey wheel (5), bottom plate (6), Manipulator Controller (7), lift (8), hinge
(9), servo motor B (10), video camera (11), manipulator (12), elevating lever (13), servomotor A (14), seat (15), side
To handle (16), battery (17), remote control (18), horizontal pendulum lever (19), gear (20), fixing axle (21), connecting rod (22)
Composition；For described crawler belt (4) around driving wheel (3) and Athey wheel (5), described crawler belt (4) is metallic pin hinge
Formula crawler belt, crawler belt (4) are made up of creeper tread and track pin, and crawler belt (4) is driven by driving wheel (3), are installed inside driving wheel (3)
There is motor；Described bottom plate (6) is arranged on above crawler belt (4), and described bottom plate (6) profile is the carbon steel plate of cuboid
It is welded, described base plate interior (6) places traveling controller (2), and described controller (2) carries digital signal processor core
Piece, the control circuit of described controller (2) is by control chip, chip drives system, AD sampling systems, power model, power
Module drive system, hardware protection system, position detecting system, bus Support Capacitor composition；The top installation of bottom plate (6) is organic
Tool hand controls (7), lift (8) is installed above Manipulator Controller (7), one is provided with above lift (8) can be with
Height metal pole is adjusted, metal poles top is provided with hinge (9), and left end and the hinge (9) of described connecting rod (22) link, institute
Elevating lever (13) is installed below the connecting rod (22) stated, servomotor A (14) is installed below elevating lever (13)；Described connecting rod
(22) right-hand member is mounted with servo motor B (10), and servo motor B (10) is by exporting shaft driven gear (20), gear (20) band
The semicircle rack of dynamic horizontal pendulum lever (19) left end, described horizontal pendulum lever (19) form gap with fixing axle (21) and coordinated
So that horizontal pendulum lever (19) rotates horizontally around fixing axle (21)；The wheel tooth module of described gear (20) and semicircle rack
It is 2mm, pressure angle is 20 degree；Horizontal pendulum lever (19) right-hand member chain welding manipulator (12), it is provided with and takes the photograph above manipulator (12)
Camera (11)；Sensor (1) is installed in described bottom plate (6) right-hand member, seat is installed above described bottom plate (6) right-hand member
Chair (15) is with handle-bar (16) in order to which whole equipment drives, and in order to save space, described battery (17) installation is present
The lower section of chair (15), whole equipment can also be by remote control (18) remote controls.
2. the field automation crawl electromechanical equipment according to claim 1 for carrying camera device, it is characterised in that：It is described
Elevating lever (13) below be provided with rack, little gear is installed, little gear and liter on described servomotor A (14) output shaft
Rack engagement below bar (13) drops, and rotor internal described servomotor A (14) is permanent magnet, the three-phase of driver control
Electric forming electromagnetic field, rotor rotate in the presence of this magnetic field, at the same the encoder feedback signals that carry of servomotor A (14) to
Driver, driver compared with desired value, adjust the angle that rotor rotates, servomotor A (14) essence according to value of feedback
Degree is consistent with the precision of its supporting encoder.
3. the field automation crawl electromechanical equipment according to claim 1 for carrying camera device, it is characterised in that：It is described
Manipulator (12) by manipulator base (30), rotary shaft A (31), supporting plate (32), rotary shaft B (33), encoder (34), rotation
Motor (35), magic square fast (36), mechanical finger (37), manipulator rotating base (38), rotary shaft C (39) compositions；Supporting plate (32)
It is arranged on by central shaft above manipulator base (30), supporting plate (32) forms gap with central shaft and coordinated, and supporting plate (32) can edge
360 degree of dampening Plane Rotation, rotary shaft A (31) are arranged on supporting plate (32), and manipulator rotating base (38) welds with supporting plate (32)
An entirety is connected in, manipulator rotating base (38) is than supporting plate (32) 0.5~0.6mm of thickness, and manipulator rotating base (38) is below
Pit provided with 8~15 storing lubricating greases；The company of three titanium alloys is provided between rotary shaft A (31) and rotary shaft B (33)
Bar；It is connected between rotary shaft B (33) and rotary shaft C (39) with the connecting rod of two titanium alloys；Rotary shaft A (31), rotary shaft B (33)
Micro servo motor is mounted on rotary shaft C (39) end to drive three axle operatings；One end peace of electric rotating machine (35)
Equipped with encoder (34)；Electric rotating machine (35) other end is provided with magic square soon (36), magic square fast (36) and the mechanical finger on both sides
(37) connect, the mechanical finger (37) of both sides is made up of two sections, and magic square fast (36) inside mechanical finger (37) with being provided with gold
Belong to spring and linkage.
4. the field automation crawl electromechanical equipment according to claim 3 for carrying camera device, it is characterised in that：It is described
Encoder (34) be increment of rotation formula encoder, i.e., encoder (34) often turns over a unit angle and is issued by pulse letter
Number, encoder (34) and then it is finely divided, copped wave goes out the higher pulse of frequency.
5. the field automation crawl electromechanical equipment according to claim 1 for carrying camera device, it is characterised in that：It is described
Lift (8) by direct current hydraulic motor (40), hydraulic stem (41), upper bottom surface (42), moving lever (43), transverse axis (44), support
Slide bar (45), bottom surface (46), chute (47) composition；Wherein direct current hydraulic motor (40) is arranged on (46) fixations of bottom surface
On axle, Vertical Lift hydraulic jack is installed on direct current hydraulic motor (40) output shaft, hydraulic stem (41) is arranged on by shaft coupling
On the output shaft of Vertical Lift hydraulic jack, moving lever (43) is in arranged crosswise, while is also equipped with level between moving lever (43)
The transverse axis (44) of arrangement, upper bottom surface (42) is installed at the top of moving lever (43)；Upper bottom surface (42) and bottom surface (46) are board
Number it is 50Ti35V15Cr titanium alloy materials；Two chutes (47) are installed on the right of bottom surface (46), chute (47), which opens up, is in
It is T-shaped, while supporting slider (45) lower end is provided with T-flange in order to form prismatic pair with two chutes (47), in prismatic pair
The microchannels of lithium base grease storage are additionally provided with, in order to which chute (47) is lubricated in time.
6. the field automation crawl electromechanical equipment according to claim 1 for carrying camera device, it is characterised in that：It is described
Remote control (18) be made up of infrared transmitting tube, infrared receiving terminal, display charactron, button；Remote control (18) is controlled using concentration
Molding formula, using MSP430 single-chip microcomputers as master controller, remote control (18) use infrared light for carrier, emission control encoded signal,
By robot reception signal and the remote control mode of decoding；The control software of described remote control (18) be using C language work out come
Complete the coding and modulation function of remote signal.
7. the field automation crawl electromechanical equipment according to claim 1 for carrying camera device, it is characterised in that：It is described
Sensor (1) with alarm display module, the receiving module based on CX20106A chips, using chip processor AT89S51 as
The controller of range finder module, using 4kbit Flash as flash memory, 1288 byte inner RAM, 2 16 digit counters, 6
Individual interrupt source.
8. the field automation crawl electromechanical equipment according to claim 1 for carrying camera device, it is characterised in that：It is described
Controller (7) with program counter, command register, command decoder, clock, SS line, timing control signal
Form part；Described battery (17) is lead-acid battery, and lead-acid battery is divided into 6 pieces, and every piece of baby battery rated voltage is 12 volts
Special lead-acid battery, the ampere-hour of rated voltage capacity 15 of every piece of baby battery, the length of every piece of baby battery be respectively 149mm,
102mm、100mm。
9. the field automation crawl electromechanical equipment according to claim 1 for carrying camera device, it is characterised in that：It is described
Video camera (11) inside carry charge coupling device imaging sensor, and charge coupling device imaging sensor is by photosensitive
What pixel rearranged, each pixel is exactly a MOS capacitor, and it is in p-type Si substrate tables, between substrate and metal electrode
Plus 1 bias voltage, 1 MOS capacitor is just formed；When there is 1 beam light to project in MOS capacitor, photon is through thoroughly
Prescribed electrode and oxide layer, into p-type Si substrates, the energy for absorbing photon is leapt to conduction band by the electronics in valence band in substrate；
Photon enters electron transition caused by substrate and forms electron-hole pair, and electron-hole pair divides in the presence of extra electric field
Do not moved to the both ends of electrode.
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| CN201711094760.3A CN107745752B (en) | 2017-10-30 | 2017-10-30 | Outdoor automatic grabbing electromechanical equipment with camera device |
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| CN201711094760.3A CN107745752B (en) | 2017-10-30 | 2017-10-30 | Outdoor automatic grabbing electromechanical equipment with camera device |
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| CN107745752B CN107745752B (en) | 2024-02-06 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108391041A (en) * | 2018-05-07 | 2018-08-10 | 广东电网有限责任公司 | Wear-type high-definition camera instrument |
| CN108656098A (en) * | 2018-07-02 | 2018-10-16 | 芜湖易迅生产力促进中心有限责任公司 | A kind of robot leg telescoping mechanism |
| CN111017054A (en) * | 2019-12-24 | 2020-04-17 | 中国人民解放军空军勤务学院 | Good-protection-performance object supporting robot |
| CN114055217A (en) * | 2022-01-14 | 2022-02-18 | 苏州德扬数控机械有限公司 | Digit control machine tool convenient to change anchor clamps |
| CN114684286A (en) * | 2022-06-01 | 2022-07-01 | 岩石(徐州)空间信息技术有限公司 | Multistage magnetofluid damping load-reducing and shock-absorbing type all-dimensional land surveying vehicle |
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