CN108393897A - A kind of danger detects trolley - Google Patents
A kind of danger detects trolley Download PDFInfo
- Publication number
- CN108393897A CN108393897A CN201810160265.6A CN201810160265A CN108393897A CN 108393897 A CN108393897 A CN 108393897A CN 201810160265 A CN201810160265 A CN 201810160265A CN 108393897 A CN108393897 A CN 108393897A
- Authority
- CN
- China
- Prior art keywords
- control cabinet
- car body
- transmission mechanism
- image acquisition
- arm
- 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.)
- Withdrawn
Links
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
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- 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
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of danger detects trolley, including car body, and car body is internally provided with transmission mechanism, wheel is installed on transmission mechanism, the top of car body is provided with image acquisition units, and car body is internally provided with control cabinet, and control cabinet is electrically connected with transmission mechanism and image acquisition mechanism；Transmission mechanism is equipped in car body, seal isolation plate is provided with above transmission mechanism, the top of seal isolation plate is fixed with control cabinet, control cabinet stand-by power supply and wireless transmitter, there is control cabinet independent current source, control cabinet stand-by power supply to be powered operation in the case of independent current source failure or not enough power supply；Control cabinet and wireless transmitter electrical connection, wireless transmitter are wirelessly communicated with operating personnel.The trolley is wirelessly communicated with operating personnel, and has image acquisition units, and operating personnel can obtain field operation situation in time, and carry out thinking to control, and assist people carries out more efficient, reliable operation.
Description
Technical field：
The present invention relates to intelligent robot technology fields, and in particular to a kind of danger detects trolley.
Background technology：
Robot for eliminating exploding and danger is also known as " dangerous school assignment robot ", is used to earliest in severe toxicity, nuclear radiation etc. is extremely endangered
Under dangerous environment, every operation is completed instead of the mankind.Since it can replace the mankind to carry out dangerous operation, sent out rapidly
Exhibition.Great attention with various countries to public utilities such as national security, social securities, characterized by anti-terror explosive removing and rescue of getting rid of the danger
Robot for eliminating exploding and danger research and development it is very rapid.According to the weight and size classes of current robot, can be roughly classified into big
Humanoid robot and small/micro robot.
Traditional large-scale robot for eliminating exploding and danger Mission Capability is high, but volume is big, and weight is high, especially large and medium-sizedly
The traveling part of face mobile robot mostly uses wheel-leg combined type, and rear portion possesses sufficiently large counterweight, causes huge structure and answers
It is miscellaneous, the overweight stability for being unfavorable for robot when crossing stair in rear portion；Small scale robot causes landform to adapt to due to small
Ability is poor, and work capacity is insufficient, and serious impact is had during going downstairs or step, is easy to happen and topples.
Existing robot for eliminating exploding and danger is all to concentrate multiple functions in one, however in different tasks, needs to make
Function is different.Lead to have the idle of some functions, in case of surprisingly, robot is destroyed, and idle function does not have
It plays a role and just damages together.Therefore, the present invention targetedly devises a kind of main danger for executing task of detecting
Detect trolley.
Invention content：
The purpose of the present invention provides a kind of danger and detects trolley, with body aiming at the deficiencies in the prior art
Small, light-weight, the advantages such as mobility strong of product.
The technology solution of the present invention is as follows：
A kind of danger detects trolley, including car body, and car body is internally provided with transmission mechanism, is equipped on transmission mechanism
Wheel, the top of car body are provided with image acquisition units, and car body is internally provided with control cabinet, control cabinet and transmission mechanism and
Image acquisition mechanism is electrically connected；It is equipped with transmission mechanism in car body, seal isolation plate is provided with above transmission mechanism, seals
The top of isolation board is fixed with control cabinet, control cabinet stand-by power supply and wireless transmitter, and control cabinet has independent current source, control
Case stand-by power supply is powered operation in the case of independent current source failure or not enough power supply；Control cabinet and wireless transmitter are electrically connected
It connects, wireless transmitter is wirelessly communicated with operating personnel；
Image acquisition mechanism includes the mounting base being fixed on above car body, and mounting base is L-type, including bottom plate and solid with bottom plate
Surely the vertical plate connected, wherein be provided with wobble drive component above bottom plate, wobble drive component includes servo motor, servo
Speed reducer is connected with by shaft coupling on the output shaft of motor, the output shaft of speed reducer is fixedly connected with worm screw, the top of worm screw
It is provided with the turbine engaged with worm screw, turbine is fixedly connected with swinging axle；Cannulated sleeve is fixed on vertical plate, cannulated sleeve
Inside, which passes through, has swinging axle, image holder to be fixedly connected with swinging axle by connecting flange；
Image holder includes swing arm, and swing arm has the first arm and the second arm being oppositely arranged, the first arm and the second arm
First end be each attached on swinging axle；The second end of first arm and the second arm is hingedly connected with mounting plate, on mounting plate
Portion is provided with rotatable drive, and the upper end of rotatable drive is fixed with image acquisition part；Wherein, it is provided with below mounting plate small
Gear is provided with gear wheel on the outside of cannulated sleeve, between pinion gear and gear wheel transmission be provided with connection belt, connect belt
It is connect with mounting plate by connecting bracket, gear wheel is sequentially connected with pitching driving motor；
Rotatable drive is the rotation gear for being rotatably installed in mounting plate top, rotates upper end and the image acquisition part of gear
It is fixedly connected, the side for rotating gear is provided with and the rotation intermeshing driving wheel of gear, driving wheel and electric rotating machine transmission
Connection；Image acquisition part includes protection babinet, protects and is provided with headlamp above babinet, protects being internally provided with for babinet micro-
Holder is adjusted, fine-tuning stent upper end is provided with video camera；There is fine-tuning stent X to move mould to mobile module, Y-direction movement module, Z
Group.
Further include the mounting bracket that manipulator for explosion eliminating includes several fonts, the lower part of mounting bracket is connected with turntable, turntable with
Upper cover plate is fixedly connected, and the top of mounting bracket is provided with vertical supporting, and the upper end of vertical supporting is hinged with swing part, swing part
Upper end is connected with robot carriage, and Multi-freedom-degreemanipulator manipulator is provided on robot carriage, and Multi-freedom-degreemanipulator manipulator is hidden in machine
In protective cover above tool hand bearing, and protective cover can be stretched out and carry out explosive operation, Multi-freedom-degreemanipulator manipulator has power supply box；
The side of mounting bracket is provided with vibrating motor, and vibrating grid is provided with above vibrating motor, and the middle part of vibrating grid is engraved structure,
Four frames of engraved structure are provided with rotating brushes, and rotating brushes can clear up Multi-freedom-degreemanipulator manipulator.
The beneficial effects of the present invention are：
It is wirelessly communicated with operating personnel, and there are image acquisition units, operating personnel can be showed in time
Field handling situations, go forward side by side pedestrian in order to control, more efficient process field condition.
Description of the drawings：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of image acquisition units；
Fig. 3 is the structural schematic diagram of wobble drive component；
Fig. 4 is the structural schematic diagram of manipulator for explosion eliminating.
Specific implementation mode：
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, below in conjunction with the accompanying drawings to this hair
Bright specific implementation mode is described in detail.
A kind of danger detects trolley comprising car body 1, car body 1 are internally provided with transmission mechanism, pacify on transmission mechanism
Equipped with wheel 2, the top of car body 1 is provided with image acquisition units 4 and manipulator 3, and car body 1 is internally provided with control cabinet 14,
Control cabinet 14 is electrically connected with transmission mechanism, wheel 2, image acquisition mechanism 4 and manipulator 3.
Car body 1 includes the lower under casing and upper cover plate of chimeric setting up and down, and lower under casing content is equipped with transmission mechanism, transmission mechanism
Top be provided with seal isolation plate, the top for sealing off plate is fixed with control cabinet 14, control cabinet stand-by power supply 13, wireless hair
Emitter 11 and operating area, control cabinet 14 have independent current source, and control cabinet stand-by power supply 13 is in independent current source failure or electricity
Operation is powered in the case of insufficient；Control cabinet 14 and wireless transmitter electrical connection, wireless transmitter 11 and operating personnel without
Line communicates；The front and rear sides of car body 1 are respectively arranged with close to switch 10, close to switch 10 and control cabinet wireless telecommunications.
Image acquisition mechanism 4 includes being fixed on mounting base 41 above car body, and mounting base 41 is L-type, including bottom plate and with
The vertical plate that bottom plate is fixedly connected, wherein wobble drive component 40 is provided with above bottom plate, wobble drive component 40 includes servo
Motor 401, is connected with speed reducer on the output shaft of servo motor 401 by shaft coupling, and the output shaft of speed reducer and worm screw 402 are solid
Fixed connection, the top of worm screw 401 are provided with the turbine engaged with worm screw 402, and turbine is fixedly connected with swinging axle 403；Vertical plate
On be fixed with cannulated sleeve, the inside of cannulated sleeve, which passes through, swinging axle, and image holder is solid by connecting flange 404 and swinging axle
Fixed connection.
Image holder includes swing arm 42, and swing arm 42 has the first arm 421 and the second arm 422 being oppositely arranged, and first
The first end of arm 421 and the second arm 422 is each attached on swinging axle；The second end of first arm 421 and the second arm 422 is hinged
It is connected with mounting plate 44,44 top of mounting plate is provided with rotatable drive 45, and the upper end of rotatable drive 45 is fixed with image and adopts
Collection portion.
Wherein, the lower section of mounting plate 44 is provided with pinion gear, is provided with gear wheel on the outside of cannulated sleeve, pinion gear and big
Transmission is provided with connection belt 43 between gear 431, and connection belt 43 is connect by connecting bracket with mounting plate 44, gear wheel
431 are sequentially connected with pitching driving motor.
Rotatable drive 45 is the rotation gear 461 for being rotatably installed in 44 top of mounting plate, rotate gear 461 upper end with
Image acquisition part is fixedly connected, and the side of rotation gear 461 is provided with and rotation 461 intermeshing driving wheel 45 of gear, drive
Driving wheel 45 is sequentially connected with electric rotating machine.
Image acquisition part includes protection babinet 47, and the top of protection babinet 47 is provided with headlamp, protects the interior of babinet 47
Portion is provided with fine-tuning stent 46, and 46 upper end of fine-tuning stent is provided with video camera 48；Fine-tuning stent 46 has X to mobile module, Y-direction
Mobile module, Z move module.
Manipulator 3 includes the mounting bracket 33 of several fonts, and the lower part of mounting bracket 33 is connected with turntable 35, turntable 35 with it is upper
Cover board is fixedly connected, and the top of mounting bracket 33 is provided with vertical supporting, and the upper end of vertical supporting is hinged with swing part 34, swing part
34 upper end is connected with robot carriage 31, and Multi-freedom-degreemanipulator manipulator, Multi-freedom-degreemanipulator manipulator are provided on robot carriage 31
It is hidden in the protective cover 30 of 31 top of robot carriage, and protective cover can be stretched out and carry out explosive operation, multi freedom degree mechanical
Hand has power supply box 32.
The side of mounting bracket 33 is provided with vibrating motor 36, and the top of vibrating motor 36 is provided with vibrating grid 37, vibrating grid
37 middle part is engraved structure, and four frames of engraved structure are provided with rotating brushes 38, and rotating brushes 38 can be to multiple degrees of freedom machine
Tool hand is cleared up.
In carrying out explosive operation process, robot enters explosive Active workings, due to being provided with barrier inductive switch,
It can carry out barrier evacuation, and image acquisition units square on the car body, which are arranged, can carry out multi-faceted movement, swing, rotation
Turn, so that handling situations accurately to be recorded to and be passed to operating personnel, to operating personnel's wirelessly Communication Control
Case, so that control cabinet carries out Operation control.
Claims (2)
1. a kind of danger detects trolley, which is characterized in that including car body (1), car body (1) is internally provided with transmission mechanism,
Wheel (2) is installed, the top of car body (1) is provided with image acquisition units (4), the inside setting of car body (1) on transmission mechanism
There are control cabinet (14), control cabinet (14) to be electrically connected with transmission mechanism and image acquisition mechanism (4)；It is equipped in car body (1)
Transmission mechanism is provided with seal isolation plate above transmission mechanism, and the top for sealing off plate is fixed with control cabinet (14), control
There is independent current source, control cabinet stand-by power supply (13) to exist for case stand-by power supply (13) and wireless transmitter (11), control cabinet (14)
It is powered operation in the case of independent current source failure or not enough power supply；Control cabinet (14) and wireless transmitter electrical connection, wirelessly
Transmitter (11) is wirelessly communicated with operating personnel；
Image acquisition mechanism (4) includes the mounting base (41) being fixed on above car body, and mounting base (41) is L-type, including bottom plate and
The vertical plate being fixedly connected with bottom plate, wherein wobble drive component (40), wobble drive component (40) packet are provided with above bottom plate
It includes servo motor (401), speed reducer, the output shaft of speed reducer is connected with by shaft coupling on the output shaft of servo motor (401)
It is fixedly connected with worm screw (402), the turbine engaged with worm screw (402), turbine and swinging axle is provided with above worm screw (401)
(403) it is fixedly connected；Cannulated sleeve is fixed on vertical plate, the inside of cannulated sleeve, which passes through, has swinging axle, image holder to pass through
Connecting flange (404) is fixedly connected with swinging axle；
Image holder includes swing arm (42), and swing arm (42) has the first arm (421) being oppositely arranged and the second arm (422),
The first end of first arm (421) and the second arm (422) is each attached on swinging axle；First arm (421) and the second arm (422)
The second end is hingedly connected with mounting plate (44), and mounting plate (44) top is provided with rotatable drive (45), rotatable drive
(45) upper end is fixed with image acquisition part；Wherein, it is provided with pinion gear below mounting plate (44), is set on the outside of cannulated sleeve
It is equipped with gear wheel, transmission, which is provided with, between pinion gear and gear wheel (431) connects belt (43), and connection belt (43) passes through connection
Holder is connect with mounting plate (44), and gear wheel (431) is sequentially connected with pitching driving motor；
Rotatable drive (45) is the rotation gear (461) for being rotatably installed in mounting plate (44) top, rotates the upper of gear (461)
End is fixedly connected with image acquisition part, and the side of rotation gear (461) is provided with and rotation gear (461) intermeshing driving
It takes turns (45), driving wheel (45) is sequentially connected with electric rotating machine；Image acquisition part includes protection babinet (47), protection babinet (47)
Top is provided with headlamp, and protection babinet (47) is internally provided with fine-tuning stent (46), and fine-tuning stent (46) upper end is provided with
Video camera (48)；There is fine-tuning stent (46) X to move module to mobile module, Y-direction movement module, Z.
2. danger as described in claim 1 detects trolley, which is characterized in that further include manipulator for explosion eliminating (3) include a few words
The lower part of the mounting bracket (33) of type, mounting bracket (33) is connected with turntable (35), and turntable (35) is fixedly connected with upper cover plate, peace
The top for shelving (33) is provided with vertical supporting, and the upper end of vertical supporting is hinged with swing part (34), the upper end of swing part (34)
It is connected with robot carriage (31), Multi-freedom-degreemanipulator manipulator is provided on robot carriage (31), Multi-freedom-degreemanipulator manipulator is hidden
In protective cover (30) above robot carriage (31), and protective cover can be stretched out and carry out explosive operation, multi freedom degree mechanical
Hand has power supply box (32)；The side of mounting bracket (33) is provided with vibrating motor (36), and vibrating motor is provided with above (36)
The middle part of vibrating grid (37), vibrating grid (37) is engraved structure, and four frames of engraved structure are provided with rotating brushes (38), rotate hair
Brush (38) can clear up Multi-freedom-degreemanipulator manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810160265.6A CN108393897A (en) | 2018-02-26 | 2018-02-26 | A kind of danger detects trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810160265.6A CN108393897A (en) | 2018-02-26 | 2018-02-26 | A kind of danger detects trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108393897A true CN108393897A (en) | 2018-08-14 |
Family
ID=63095657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810160265.6A Withdrawn CN108393897A (en) | 2018-02-26 | 2018-02-26 | A kind of danger detects trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108393897A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292015A (en) * | 2018-09-04 | 2019-02-01 | 东莞理工学院 | A kind of full landform multifunctional barrier-crossing rescue robot |
| CN111152235A (en) * | 2020-01-17 | 2020-05-15 | 深圳信息职业技术学院 | Mobile multi-arm cooperative detection robot |
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| CN102657512A (en) * | 2012-05-11 | 2012-09-12 | 浙江工业大学 | Image acquisition equipment applied to corneal topography instrument |
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| CN106240662A (en) * | 2016-08-24 | 2016-12-21 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN106426289A (en) * | 2016-11-11 | 2017-02-22 | 北京中电科电子装备有限公司 | Cleaning manipulator system with self-rotation end face |
| CN107121093A (en) * | 2017-06-13 | 2017-09-01 | 电子科技大学 | A kind of gear measurement device and measuring method based on active vision |
| CN107225598A (en) * | 2017-03-04 | 2017-10-03 | 安徽智联投资集团有限公司 | It is a kind of to be easy to mobile mechanical arm |
| CN107263440A (en) * | 2017-08-15 | 2017-10-20 | 湖州佳创自动化科技有限公司 | A kind of outdoor self-powered mobile robot |
| CN206611528U (en) * | 2016-12-28 | 2017-11-03 | 珠海迈科智能科技股份有限公司 | It is a kind of that there is the Intelligent set top box with IP Camera |
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| CN1106913C (en) * | 2000-11-17 | 2003-04-30 | 三星光州电子株式会社 | Movable robot and its path regulating method |
| CN102657512A (en) * | 2012-05-11 | 2012-09-12 | 浙江工业大学 | Image acquisition equipment applied to corneal topography instrument |
| CN204125805U (en) * | 2014-10-08 | 2015-01-28 | 上海工程技术大学 | A kind of robot scaling equipment for track detecting |
| WO2016081948A1 (en) * | 2014-11-22 | 2016-05-26 | Miller Kenneth C | Suspended automation system |
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| CN105459081A (en) * | 2016-01-14 | 2016-04-06 | 任曲波 | Corrosion preventing and explosion preventing multifunctional thermal imaging detecting rescue robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180814 |
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| WW01 | Invention patent application withdrawn after publication |