CN108527304B - On-spot supervisory-controlled robot - Google Patents
On-spot supervisory-controlled robot Download PDFInfo
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- CN108527304B CN108527304B CN201810294725.4A CN201810294725A CN108527304B CN 108527304 B CN108527304 B CN 108527304B CN 201810294725 A CN201810294725 A CN 201810294725A CN 108527304 B CN108527304 B CN 108527304B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 23
- UKACHOXRXFQJFN-UHFFFAOYSA-N heptafluoropropane Chemical compound FC(F)C(F)(F)C(F)(F)F UKACHOXRXFQJFN-UHFFFAOYSA-N 0.000 claims description 21
- 239000007789 gas Substances 0.000 claims description 17
- 238000000926 separation method Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 239000001307 helium Substances 0.000 claims description 3
- 229910052734 helium Inorganic materials 0.000 claims description 3
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims description 3
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 238000002485 combustion reaction Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- YCKRFDGAMUMZLT-UHFFFAOYSA-N Fluorine atom Chemical compound [F] YCKRFDGAMUMZLT-UHFFFAOYSA-N 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 229910052731 fluorine Inorganic materials 0.000 description 2
- 239000011737 fluorine Substances 0.000 description 2
- 238000002309 gasification Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000005979 thermal decomposition reaction Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005188 flotation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000002277 temperature effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention relates to industrial monitoring equipment, in particular to an on-site monitoring robot, which comprises a base, a walking mechanism arranged at the bottom of the base and a control system arranged on the base, wherein a walking assembly comprises a central frame pivoted on the side surface of the base, a central gear in transmission connection with an output shaft, three driven gears and three rotating wheels, the driven gears are pivoted on the central frame, the driven gears are all meshed with the central gear and are uniformly distributed by taking the central gear as the center, and the three rotating wheels are respectively and fixedly connected with the three driven gears; still include the floating bag of making a video recording and coupling mechanism, make a video recording and float the lower extreme installation camera of bag, camera and controller radio signal connection, connection structure includes winch and haulage rope, and the winch is installed on the base, and haulage rope one end is connected the winch, the other end is connected and is made a video recording and float the bag. This scheme provides a monitoring robot who possesses higher shooting height in order to solve present monitoring robot for workshop receive the structural constraint to shoot highly limited problem.
Description
Technical Field
The invention relates to industrial monitoring equipment.
Background
At present, fixed cameras are mostly arranged inside and outside factory workshops or factory areas, and the safety of the factory working environment is guaranteed. Some special unmanned intelligent workshops also need monitoring devices to monitor the operation conditions of the workshops, so that the equipment is maintained and overhauled in time. However, because of the large number of large-scale devices on the site, it is difficult to monitor the site completely and accurately by using a fixed camera. Therefore, the situation that the movable monitoring robot is adopted to movably monitor the site is considered.
However, the existing mobile monitorable robot has the following problems:
some special terrains such as steps and pits are arranged at some positions in a factory area, and the existing monitoring robot cannot realize complete monitoring by turning over the special terrains.
Disclosure of Invention
The monitoring robot for the workshop aims at solving the problem that the existing monitoring robot for the workshop is limited in shooting range by terrain, and has strong crossing capability.
The field monitoring robot comprises a base, a walking mechanism arranged at the bottom of the base, and a control system arranged on the base, wherein the control system comprises a controller, a power unit, a steering unit, a camera angle adjusting unit and a wireless communication unit, the power unit is used for receiving a traveling signal sent by the controller to control the walking mechanism to move forwards and backwards, the steering unit is used for receiving a steering signal sent by the controller to drive the walking mechanism to steer, the camera angle adjusting unit is used for receiving a signal sent by the controller and driving a camera to rotate, the wireless communication unit is connected with the controller through a signal, the wireless communication unit is used for communicating with an external network, the controller is connected with the camera through a signal, the walking mechanism comprises a power part, a transmission component and a plurality of walking components, the transmission component is provided with an output shaft, and the walking components comprise a center frame pivoted on the side surface of the base, The central gear, the three driven gears and the three rotating wheels are in transmission connection with the output shaft, the driven gears are pivoted to the central frame, the driven gears are all meshed with the central gear and are uniformly distributed by taking the central gear as a center, and the three rotating wheels are respectively and fixedly connected to the three driven gears; still include the floating bag of making a video recording and coupling mechanism, make a video recording and float the lower extreme installation camera of bag, camera and controller radio signal connection, connection structure includes winch and haulage rope, and the winch is installed on the base, and haulage rope one end is connected the winch, the other end is connected and is made a video recording and float the bag.
The principle is as follows: the camera shooting device comprises a base and a walking mechanism which are the same as those in the prior art, a power unit and a steering unit of a control system control the walking mechanism to move forwards, backwards and steer, a wireless communication unit is connected with a monitoring robot and a control end, and a camera shooting angle adjusting unit enables a camera installed on the camera to rotate to shoot more angles. The picture shot by the camera is transmitted to the control end through the wireless communication unit.
The walking assembly in the scheme enables the robot to have stronger turning capability. In this scheme by power piece drive transmission assembly, transmission assembly's output shaft drive sun gear, sun gear drive driven gear, driven gear drives and rotates the wheel rotation, it drives running gear to go forward to rotate the wheel, when meetting the barrier, a running gear receives the hindrance, remaining running gear can promote the running gear who receives the hindrance, the centre frame of the running gear who is hindered this moment takes place for the base and rotates, it takes place the revolution still relatively sun gear except the rotation to rotate the wheel, it possesses stronger ability of turning over during the revolution relatively sun gear's revolution three rotates the wheel revolution. The scheme is that the camera is further installed on the camera floating bag, the camera rises and falls along with the camera floating bag, and the winch pulls the camera floating bag to fall through the traction rope.
Has the advantages that: 1. the walking assembly of the walking mechanism enables the robot to cross some special terrains, the camera floating bag can lift the robot, the dead weight of the robot is reduced, and the capacity of the robot for crossing the special terrains is enhanced.
2. The camera is arranged on the camera floating bag, so that the camera can shoot at a higher position, and the winch and the traction rope of the connecting mechanism can enable the camera to ascend or descend.
3. The base can vibrate at the in-process that removes along with the robot among the prior art and influence the shooting of camera, but this scheme can not, because be indoor environment, be in low wind speed state even windless, make a video recording and float the bag comparatively stable when floating aloft, place the camera and make a video recording and float the bag and can not take place violent shake, therefore the camera can shoot better control picture.
Further, an upper floating chamber and a lower floating chamber are arranged in the camera shooting floating bag, the upper floating chamber and the lower floating chamber are separated by an elastic separation film, gas with the relative molecular mass smaller than that of air is filled in the upper floating chamber, gas with the relative molecular mass larger than that of air is filled in the lower floating chamber, the lower floating chamber is communicated with a connecting pipe, the lower floating chamber is communicated with a gas storage tank through the connecting pipe, the gas storage tank is arranged on the base, the lower floating chamber is provided with an electromagnetic air inlet valve and an electromagnetic air outlet valve, and the electromagnetic air inlet valve and the electromagnetic air outlet valve are in signal connection with a.
Has the advantages that: the controller controls the electromagnetic air inlet valve to be opened, the gas with high density in the air storage tank is injected into the descending chamber, the space of the upper floating chamber is squeezed, the integral density of the camera floating bag is increased, the buoyancy of the camera floating bag is further reduced, the electromagnetic air outlet valve is opened in the opposite direction, the gas with the relative molecular mass smaller than that of the air in the floating chamber is increased in volume, and the buoyancy of the camera floating bag is improved. The structure of the upper floating chamber, the lower chamber and the elastic separation membrane can ensure that the volume of the camera floating bag does not change when the buoyancy changes, and the camera can be stably installed on the camera floating bag and does not deflect due to the volume change of the camera floating bag. In addition, after the buoyancy of the camera floating bag is enlarged, certain lifting force can be generated on the base, when a plurality of obstacles are crossed, the camera floating bag provides lifting force for the base, and the capability of the robot crossing the obstacles is enhanced.
Further, the wireless communication unit is arranged on the camera floating bag.
Has the advantages that: set up wireless communication unit and block thing meeting still less on the floating bag of making a video recording, stronger with the signal connection who controls the end, can carry out better communication.
Furthermore, helium is filled into the upper floating chamber, heptafluoropropane is filled into the lower floating chamber, and the electromagnetic air outlet valve is provided with a fire extinguishing nozzle.
Has the advantages that: one of the purposes of monitoring and preventing the fire by the monitoring robot is to monitor and prevent the fire, particularly in an electronic component production workshop, heptafluoropropane has relatively large molecular mass and can be filled into a descending chamber to enable a camera floating bag to quickly descend, and meanwhile, heptafluoropropane also serves as fire-fighting gas with relatively large molecular mass and can quickly descend in the air, so that when the fire is extinguished, heptafluoropropane needs to be sprayed from the upper part of a fire-starting part to well extinguish the fire, the existing fire-extinguishing robot can only spray fire-fighting liquid or fire-fighting gas from the lower part to the upper part, the power is limited, and the fire-extinguishing capability is limited.
The floating bag of making a video recording can promote heptafluoropropane higher department, and with the help of the observation of camera, but the operator remote control electromagnetism air outlet valve opens simultaneously with the electromagnetism admission valve, to the quick blowout heptafluoropropane of ignition point, under the high temperature effect, heptafluoropropane takes place chemical reaction and physical reaction. In the fire extinguishing process, a heptafluoropropane fire extinguishing agent with a certain concentration is sprayed to the protection area to uniformly fill the whole protection area, fluorine-containing free radicals generated by the thermal decomposition of heptafluoropropane and active free radicals such as H & lt + & gt, OH & lt- & gt and the like generated in a branch reaction in the combustion reaction process generate gas phase action, and a combustion chain is interrupted to inhibit the reaction in the combustion process; meanwhile, chemical chain breakage in the chemical reaction of the heptafluoropropane and a large amount of heat absorbed in the gasification process enable the ignition point to be cooled and extinguished.
Furthermore, the control system also comprises a positioning unit and a path recording unit, wherein the positioning unit is used for determining the current position of the robot and sending a position signal to the controller, the path recording unit is in signal connection with the controller, and the path recording unit is used for recording the position signal of the patrol route of the robot. Has the advantages that: the scheme is that a positioning unit for recording the current position of the robot is arranged, then a path recording unit is used for recording a patrol route of the robot, and the path recording unit and the positioning unit send a signal controller, so that the robot can patrol according to the recorded path and can patrol according to a preset route under the condition of no-man control.
Furthermore, the control system further comprises a voice recording unit and a voice comparison unit, wherein the voice recording unit is used for recording the sound of normal operation of equipment in the workshop, the voice comparison unit is used for comparing the sound acquired on site in the workshop with the sound recorded by the voice recording unit and sending a comparison result to the controller, and the controller sends the comparison result to the control end of the robot through the wireless communication unit. Has the advantages that: whether the equipment normally operates is judged, voice comparison can be performed besides video monitoring, the robot can perform voice comparison on all the equipment in the patrol process, comparison results are sent to the control end, and whether the equipment normally operates is judged by staff at the control end.
Further, the winch is fixed on the sliding platform, the sliding platform is longitudinally connected to the base in a sliding mode, a rack is arranged on the base, a gear is meshed with the rack, a worm wheel is coaxially fixed on the gear, a worm is meshed with the worm, the worm is connected with a sliding motor, the worm wheel, the worm, the sliding motor and the gear are all installed on the sliding platform, and the sliding motor is connected with the controller in a signal mode. Has the advantages that: in order to enhance the climbing ability of the robot, the local gravity of the robot can be changed by changing the lifting point of the camera floating bag to the base, in the scheme, the sliding platform can change the traction point of the winch to the sliding platform in the longitudinal direction, for example, when the front half part of the base needs to climb over an obstacle, the sliding platform slides to the front half part of the base, the weight of the front half part is reduced, and the gravity center position of the whole body is changed, so that the front half part of the base can be better climbed, when the rear half part of the base needs to climb over the obstacle, the sliding platform slides backwards in the same way, and at the moment, the rear half part of the base can be better climbed. In order to avoid that the base reversely drives the sliding platform due to too large reaction force, the transmission system of the sliding motor driving gear is provided with the worm gear, and the sliding platform is stabilized by utilizing the self-locking capacity of the worm gear.
Drawings
Fig. 1 is a schematic diagram of an embodiment of a field monitoring robot according to the present invention.
Fig. 2 is a schematic diagram of the internal structure of the image floating bag in fig. 1.
Fig. 3 is a schematic structural diagram of a walking assembly in the walking mechanism in fig. 1.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the fire extinguishing system comprises a base 100, a walking mechanism 200, a camera floating bag 300, a floating chamber 330, a descending chamber 340, a camera 310, a connecting mechanism 400, a central gear 410, a driven gear 420, a rotating wheel 430, a central frame 440, an air storage tank 510, a connecting pipe 520, a fire extinguishing nozzle 530, a winch 610 and a hauling rope 620.
The embodiment is basically as shown in the attached figure 1: a field monitoring robot comprises a base 100, a walking mechanism 200 installed at the bottom of the base 100, a control system arranged on the base 100, a camera floating bag 300 and a connecting mechanism 400.
The control system comprises a controller, a power unit, a steering unit, a camera angle adjusting unit and a wireless communication unit, wherein the power unit is used for receiving an advancing signal sent by the controller to control the traveling mechanism 200 to advance and retreat, the steering unit is used for receiving a steering signal sent by the controller, the steering unit is used for receiving the steering signal to drive the traveling mechanism 200 to steer, the camera angle adjusting unit is used for receiving a signal sent by the controller and driving the camera 310 to rotate, the wireless communication unit is in signal connection with the controller, and the wireless communication unit is used for being communicated with an external network. The controller is in signal connection with the camera 310. The control system further comprises a positioning unit and a path recording unit, wherein the positioning unit is used for determining the current position of the robot and sending a position signal to the controller, the path recording unit is in signal connection with the controller, and the path recording unit is used for recording the position signal of a patrol route of the robot. The control system further comprises a voice recording unit and a voice comparison unit, the voice recording unit is used for recording the sound of the equipment in the workshop in normal operation, the voice comparison unit is used for comparing the sound collected on site in the workshop with the sound of the voice recording unit in normal operation and sending a comparison result to the controller, and the comparison result is sent to the control end of the robot through the wireless communication unit.
As shown in fig. 3, the traveling mechanism 200 includes a power member, a transmission assembly and a set of traveling assemblies, the transmission assembly has an output shaft, the traveling assemblies include a central frame 440 pivoted to the side of the base 100, a central gear 410 drivingly connected to the output shaft, three driven gears 420 and three rotating wheels 430, the driven gears 420 are pivoted to the central frame 440, the driven gears 420 are all meshed with the central gear 410 and evenly distributed with the central gear 410 as the center, and the three rotating wheels 430 are respectively and fixedly connected to the three driven gears 420; the camera 310 is installed to the lower extreme of the floating bag 300 of making a video recording, and camera 310 and controller radio signal are connected, and connection structure includes winch 610 and haulage rope 620, and winch 610 installs on base 100, and haulage rope 620 one end is connected winch 610, and the other end is connected floating bag 300 of making a video recording.
As shown in fig. 2, the wireless communication unit is disposed on the camera floating bag 300. An upper floating chamber 330 and a lower chamber 340 are arranged in the camera floating bag 300, the upper floating chamber 330 and the lower chamber 340 are separated by an elastic separation film, helium is filled in the upper floating chamber 330, heptafluoropropane is filled in the lower chamber 340, the lower chamber 340 is communicated with a connecting pipe 520, the lower chamber 340 is communicated with a gas storage tank 510 through the connecting pipe 520, the gas storage tank 510 is installed on the base 100, an electromagnetic air inlet valve and an electromagnetic air outlet valve are arranged in the lower chamber 340, and the electromagnetic air inlet valve and the electromagnetic air outlet valve are both in signal connection with a controller. The electromagnetic air outlet valve is provided with a fire extinguishing nozzle 530.
The controller controls the electromagnetic air inlet valve to be opened, heptafluoropropane in the air storage tank 510 is injected into the descending chamber 340, the space of the upper floating chamber 330 is extruded, the integral density of the camera floating bag 300 is increased, and further the buoyancy of the camera floating bag 300 is reduced. By adopting the structure of the upper floating chamber 330, the lower chamber 340 and the elastic separation membrane, the volume of the camera floating bag 300 can not change excessively when the buoyancy changes, and the camera 310 can be stably installed on the camera floating bag 300 and can not deflect due to the volume change of the camera floating bag 300. Meanwhile, after the buoyancy of the camera floating bag 300 is increased, a certain lifting force can be generated for the base 100, and when a large obstacle is crossed, the buoyancy provided by the camera floating bag 300 for the base 100 can enhance the capacity of the walking mechanism 200 for crossing the obstacle.
To further enhance the rollover capability of the walking mechanism 200, the point of attack at which the camera flotation bladder 300 lifts the base 100 may be varied. Winch 610 is fixed in on the slide bracket, and slide bracket longitudinal sliding connects on base 100, is equipped with the rack on base 100, and the rack toothing has the gear, and the gear coaxial fixation has the worm wheel, the worm wheel meshing has the worm, and the worm is connected with sliding motor, worm wheel, worm, sliding motor and gear are all installed on slide bracket, sliding motor signal connection the controller.
The sliding platform can longitudinally change the traction point of the winch 610 to the sliding platform, for example, when the front half of the base 100 is about to climb over an obstacle, the sliding platform slides towards the front half of the base 100, so as to reduce the weight of the front half, and simultaneously change the position of the center of gravity of the whole, so that the front half of the base 100 is better climbed, and when the rear half of the base 100 is about to climb over an obstacle, the sliding platform slides backwards in the same way, and at the moment, the rear half of the base 100 is better climbed. In order to avoid that the reaction force of the base 100 is too large and the sliding platform is driven reversely, a worm gear is arranged in a transmission system of the sliding motor driving gear, and the sliding platform is stabilized by utilizing the self-locking capacity of the worm gear.
In order to enhance the communication capability, a wireless communication unit is disposed on the camera floating bag 300. The obstacles around the floating wireless communication unit can be reduced, the signal connection with the control end is stronger, and better communication can be carried out.
One of the purposes of monitoring by a monitoring robot aims at monitoring and preventing fire, particularly in an electronic component production workshop, heptafluoropropane has relatively large molecular weight, can be filled into the descending chamber 340 to enable the camera floating bag 300 to quickly descend, and can quickly descend in the air as fire-fighting gas, so that when fire is extinguished, heptafluoropropane needs to be sprayed from the upper part of a fire-starting position to well extinguish the fire, the camera floating bag 300 can lift the heptafluoropropane to a higher position, an operator can remotely control the electromagnetic air outlet valve and the electromagnetic inlet valve to be simultaneously opened by means of observation of the camera 310, the heptafluoropropane is quickly sprayed to the fire-starting position, and under the action of high temperature, the heptafluoropropane undergoes chemical reaction and physical reaction. In the fire extinguishing process, a heptafluoropropane fire extinguishing agent with a certain concentration is sprayed to the whole protection area uniformly, fluorine-containing free radicals generated by the thermal decomposition of heptafluoropropane and active free radicals such as H & lt + & gt, OH & lt- & gt and the like generated in a branch reaction in the combustion reaction process generate gas phase action, and a combustion chain is interrupted so as to inhibit the reaction in the combustion process; meanwhile, chemical chain breakage in the chemical reaction of the heptafluoropropane and a large amount of heat absorbed in the gasification process enable the ignition point to be cooled and extinguished.
The control system also comprises a positioning unit and a path recording unit, wherein the positioning unit is used for determining the current position of the robot and sending a position signal to the controller, and the path recording unit is used for recording the position signal of the patrol route of the robot and is in signal connection with the controller. The scheme is that a positioning unit for recording the current position of the robot is arranged, then a path recording unit is used for recording a patrol route of the robot, and the path recording unit and the positioning unit send a signal controller, so that the robot can patrol according to the recorded path and can patrol according to a preset route under the condition of no-man control.
In the aspect of operation of the monitoring equipment, the control system further comprises a voice recording unit and a voice comparison unit, wherein the voice recording unit is used for recording the sound of normal operation of the equipment in the workshop, and the voice comparison unit is used for comparing the sound acquired on site in the workshop with the sound of normal operation of the equipment of the voice recording unit and sending a comparison result to the control end. Whether equipment normally operates is judged, voice comparison can be conducted except through video monitoring, the robot can conduct voice comparison on all the equipment in the patrol process, fixed sound waves can be sent out according to certain frequency when the equipment normally operates, certain noise can be sent out when the equipment fails, and the equipment can be clearly found out through comparison of the sound waves. The robot can stop for a certain time beside the fixed equipment, and a comparison result is obtained by comparing the waveforms of the sound waves. And sending the comparison result to the control end, and judging whether the equipment normally operates by the staff at the control end.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (6)
1. The utility model provides an on-spot supervisory-controlled robot, includes the base, installs in the running gear of base bottom, sets up the control system on the base, control system includes controller, power pack, turns to the unit, makes a video recording angle adjusting unit and wireless communication unit, power pack is used for receiving the signal control running gear's that advances and retreat of advancing that the controller sent, turn to the unit and be used for receiving the turn to signal that the controller sent, turn to the unit and receive turn to signal drive running gear and turn to, make a video recording angle adjusting unit and be used for receiving the signal that the controller sent and drive the camera rotation, wireless communication unit signal connection controller, wireless communication unit are used for communicateing external network, controller signal connection camera, its characterized in that: the walking mechanism comprises a power part, a transmission assembly and a plurality of walking assemblies, the transmission assembly is provided with an output shaft, the walking assemblies comprise a center frame pivoted on the side surface of the base, a central gear in transmission connection with the output shaft, three driven gears and three rotating wheels, the driven gears are pivoted on the center frame, the driven gears are all meshed with the central gear and are uniformly distributed by taking the central gear as the center, and the three rotating wheels are respectively and fixedly connected with the three driven gears; the camera is mounted at the lower end of the camera floating bag and is in wireless signal connection with the controller, the connecting structure comprises a winch and a traction rope, the winch is mounted on the base, one end of the traction rope is connected with the winch, and the other end of the traction rope is connected with the camera floating bag;
the camera shooting floating bag is characterized in that an upper floating chamber and a lower floating chamber are arranged in the camera shooting floating bag, the upper floating chamber and the lower floating chamber are separated by an elastic separation film, gas with relative molecular mass smaller than air is filled in the upper floating chamber, gas with relative molecular mass larger than air is filled in the lower floating chamber, the lower floating chamber is communicated with a connecting pipe, the lower floating chamber is communicated with a gas storage tank through the connecting pipe, the gas storage tank is arranged on a base, the lower floating chamber is provided with an electromagnetic air inlet valve and an electromagnetic air outlet valve, and the electromagnetic air inlet valve and the electromagnetic air outlet valve are in signal.
2. The on-site monitoring robot of claim 1, wherein: the wireless communication unit is arranged on the camera floating bag.
3. The on-site monitoring robot of claim 1, wherein: helium is filled into the upper floating chamber, heptafluoropropane is filled into the lower descending chamber, and the electromagnetic air outlet valve is provided with a fire extinguishing nozzle.
4. The on-site monitoring robot of claim 3, wherein: the control system further comprises a positioning unit and a path recording unit, wherein the positioning unit is used for determining the current position of the robot and sending a position signal to the controller, the path recording unit is in signal connection with the controller, and the path recording unit is used for recording the position signal of a patrol route of the robot.
5. The on-site monitoring robot of claim 1, wherein: the control system further comprises a voice recording unit and a voice comparison unit, the voice recording unit is used for recording the sound of normal operation of equipment in the workshop, the voice comparison unit is used for comparing the sound collected on site in the workshop with the sound recorded by the voice recording unit and sending a comparison result to the controller, and the controller sends the comparison result to the control end of the robot through the wireless communication unit.
6. The on-site monitoring robot of claim 1, wherein: the winch is fixed on the sliding platform, the sliding platform is longitudinally connected to the base in a sliding mode, a rack is arranged on the base, a gear is meshed with the rack, a worm wheel is coaxially fixed on the gear, a worm is meshed with the worm, the worm is connected with a sliding motor, the worm wheel, the worm, the sliding motor and the gear are all installed on the sliding platform, and the sliding motor is connected with the controller through signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810294725.4A CN108527304B (en) | 2018-03-30 | 2018-03-30 | On-spot supervisory-controlled robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810294725.4A CN108527304B (en) | 2018-03-30 | 2018-03-30 | On-spot supervisory-controlled robot |
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| CN108527304A CN108527304A (en) | 2018-09-14 |
| CN108527304B true CN108527304B (en) | 2021-03-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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