CN109822544A - Robot is disposed in production monitoring - Google Patents
Robot is disposed in production monitoring Download PDFInfo
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- CN109822544A CN109822544A CN201910252953.XA CN201910252953A CN109822544A CN 109822544 A CN109822544 A CN 109822544A CN 201910252953 A CN201910252953 A CN 201910252953A CN 109822544 A CN109822544 A CN 109822544A
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- robot
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Abstract
The invention discloses production monitorings to dispose robot, belongs to robotic technology field.The present invention includes the image information that remote control unit receives information and image acquisition units acquisition that pressure test module is monitored by a data transmission module, remote control unit includes for controlling the control unit of robot body mechanical arm movement and controlling the walking unit of robot body route, robot body is by head, body portion, ground-engaging element and mechanical arm body composition, wherein robot body can also be by by " V " type frame, " work " type pedestal, the direction that the steering module of turntable and trundle composition carries out robot advance is adjusted, and it is equipped with the camera and pressure sensor for outwardly acquiring information, the tour that robot is completed in operation control is carried out eventually by remote control module, supervision and simple operations.
Description
Technical field
The invention belongs to robotic technology fields, dispose robot more particularly to production monitoring.
Background technique
Currently, robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run pre-
The program of first layout, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace
The work of human work, such as production industry, construction industry, or dangerous work, the more dangerous work of special military project class
Environment is mostly replaced using robot, continues then to be far superior to without the work and detection of fatigue relative to being able to carry out for robot
The direct detection of staff.
Summary of the invention
The purpose of the present invention is to provide production monitorings to dispose robot, carries out operation by remote control module and has controlled
At the tour, supervision and simple operations of robot, increase the personal safety of staff.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions:
The present invention is that robot is disposed in production monitoring, including remote control unit receives pressure by a data transmission module
The image information for information and the image acquisition units acquisition that test module is monitored, the remote control unit includes for controlling
The control unit of robot body mechanical arm processed movement and the walking unit for controlling robot body route, robot body by
Head, body portion, ground-engaging element and mechanical arm body composition, the ground-engaging element include " work " type pedestal, " V " type frame and front-wheel
Seat, the same end of the both side plate of " work " type pedestal is hinged with a front-wheel seat, is in addition mounted on one on both ends and each front-wheel seat
Trundle is equipped with a turntable on the middle bar of " work " type pedestal, is connected between the turntable and two wheel mounts by " V " type frame,
The both ends of " V " type frame are respectively equipped with short slab end and long slab end, and short slab end and long slab end are connected with a front-wheel seat, " V " type
In the shaft hole matching opened at the middle part bent angle of a frame rectangular shaft set on turntable, a drive is additionally provided on " work " type pedestal
Device is moved, is connected between the trundle installed on the driver and " work " type pedestal by a drive rod.
Further, be equipped on the head first camera of circle and one circle second camera, the first camera and
Second camera is alternately fixed.
Further, the mechanical arm body successively includes first rotating shaft, sunpender, the second shaft and pawl by tail end to pawl end
Portion, one end of first rotating shaft are rotatably assorted on the projecting shaft set by body portion side, and the other end of the first rotating shaft is equipped with
One sunpender, and the surface of claw is equipped with third camera.
Further, the body portion includes extending part and base portion, and a telescopic rod is at least equipped on the bottom plate of base portion, should
Telescopic rod includes ball-screw, tapered roller bearing and top cylinder, the cycle surface of ball-screw bearing and tapered roller bearing
One end face of the welding of inner ring end face, the outer ring of tapered roller bearing and top cylinder is welded, push up cylinder other end and extending part it is interior
Top surface welding.
Further, several conduits are provided on the lateral wall of the extending part, the inner surface wall of base portion is equipped with matches with conduit
The sliding block of conjunction.
Further, the head fits are on extending part top plate in opened circular hole.
Further, the remote control unit is connected with a display module, and remote control unit also has myoelectricity with one
The controller of sensor is connected.
The invention has the following advantages:
Head of the present invention is equipped with multiple filming apparatus, comprehensive in inspection can adopt to progress image around robot
Collection, and can be positioned by dual camera, guarantee the accuracy until when being handled using robot, increases plant area
Control and monitoring, and can also be handled by remote control robot in inspection, effectively ensure staff's
Personal safety, body portion also can be carried out stretching, extension, increase the applicability of the robot body.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram of robot body；
Fig. 2 is the structure structural schematic diagram in body portion；
Fig. 3 is the structural schematic diagram of ground-engaging element；
Fig. 4 is the structural schematic diagram of " V " type frame；
Fig. 5 is the structural schematic diagram of the driver of walking structure, drive rod；
Fig. 6 is the structural schematic diagram of mechanical arm；
Fig. 7 is the control system figure of robot body；
In attached drawing, parts list represented by the reference numerals are as follows:
The head 1-, 2- body portion, 3- ground-engaging element, 4- mechanical arm body, the first camera of 101-, 102- second camera,
201- extending part, 202- base portion, 203- telescopic rod, 204- tapered roller bearing, 205- ball-screw, 206- push up cylinder, 301- " V "
Type frame, 302- " work " type pedestal, 303- turntable, 304- front-wheel seat, 305- trundle, 306- short slab end, 307- long slab end, 308-
Axis hole, 309- driver, 310- drive rod, 401- first rotating shaft, 402- sunpender, the second shaft of 403-, 404- third camera,
405- claw.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " aperture ", "upper", "lower", " thickness ", "top", " in ",
Indicating positions or the positional relationship such as " length ", "inner", " surrounding ", are merely for convenience of description of the present invention and simplification of the description, without
It is that the component of indication or suggestion meaning or element must have a particular orientation, is constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
It please refers to shown in Fig. 1-7, the present invention is that robot is disposed in production monitoring, and robot body is by head 1, body portion 2, row
It walks component 3 and mechanical arm body 4 forms, wherein mechanical arm body 4 is equipped with the two sides that a pair is separately mounted to body portion 2.
Wherein, first camera of circle 101 and a circle second camera 102, the first camera 101 are installed on head 1
It is alternately fixed with second camera 102, wherein the cooperation of head 1 is in body portion 2 on 201 top plate of extending part in opened circular hole.
There are four preferred first camera 101 and second camera 102 are all provided with, adjacent two first camera 101 or phase
For angle at 45 °, camera is looped around the perimeter surface on head 2, can be in robot body in factory between adjacent two second cameras 102
Video shooting is carried out to device when tour, the image information through shooting is transferred to master station, and master station then carries out picture
Anomaly analysis, and there are also human attendances to supervise photographing information on master station；
The first camera 101 preferably is opened when robot body is walked and monitored, if master station detects exception information
Second camera 102 will be then opened rapidly, and three-dimensional imaging is carried out by binocular stereo vision method and determine the position of the exception,
It is first and then to be pre-processed to image to being shot again to the exception when abnormal position determines, by the background of image
Removal, smooth, filtering, denoising, carry out image segmentation later, can pass through threshold values, pixel, region growth or side edge detection
Formula is split, and is carried out feature extraction, Stereo matching later and is finally determined target.
Then needing robot to carry out operation in dangerous working environment to avoid accident.
Firstly, robot needs to have independent ambulation ability, specific as in Figure 3-5, which is used
Ground-engaging element based on roller type, the route of the walking is the compiling of system, and the camera institute being equipped with by head
The vision system of formation carries out obstacle and monitoring；Specific ground-engaging element 3 includes " work " type pedestal 302,301 He of " V " type frame
Front-wheel seat 304, the same end of the both side plate of " work " type pedestal 302 are hinged with a front-wheel seat 304, are equipped on front-wheel seat 304 small
Wheel 305 is also equipped with a trundle 305 with the other both ends of " work " type pedestal 302 at the non-contact end of front-wheel seat 305, forms
Ground-engaging element 3 of the one front-wheel controlling party to rear wheel drive；
Set steering module is to be equipped with one turn on the middle bar of " work " type pedestal 302 on the specific ground-engaging element 3
Disk 303 is connected between the turntable 303 and two wheel mounts by " V " type frame 301, and the both ends of " V " type frame 301 are respectively equipped with short
Plate end 306 and long slab end 307, short slab end 306 and long slab end 307 are connected with a front-wheel seat 304, to turn by long short slab end
The angle that two front-wheel seats 304 rotate under the drive that a private takes motor of disk 303 is identical, the middle part bent angle place of " V " type frame 301
The axis hole 308 opened cooperates in a set rectangular shaft on turntable 303, which is arranged in " work " type pedestal 302
Upper surface,
It is additionally provided with a driver 309 on " work " type pedestal 302, is installed on the driver 309 and " work " type pedestal 302 small
It is connected between wheel 305 by a drive rod 310, the driver 309 and drive rod 310 are then mounted on " work " type pedestal 302
Lower surface, wherein the drive rod by a driving shaft, at least a pair of of geared worm and two follow bevel gears form, driving shaft with
Driver 309 is that a motor is connected, and still there are two an angular wheel i.e. worm screw, worm screw difference for conjunction on the refined penguin driving shaft
It is engaged with two geared worms, the output end of each geared worm is then engaged with follow bevel gear, and follow bevel gear is passing through one
Axis is connected with trundle, forms one by motor-driven running gear.
Wherein, mechanical arm body 4 successively includes first rotating shaft 401, sunpender 402,403 and of the second shaft by tail end to pawl end
Claw 405, one end of first rotating shaft 401 are rotatably assorted on the projecting shaft set by 2 side of body portion, first rotating shaft 401 it is another
End is equipped with a sunpender 402, and the surface of claw 405 is equipped with third camera 404, includes remote control unit and passes through a data
Transmission module receives the image information of the information that pressure test module is monitored and image acquisition units acquisition, and long-range control is single
Member includes the control unit for controlling the movement of robot body mechanical arm, sets that there are two rotatable shafts to increase on the mechanical arm
The working range of the big mechanical arm, remote control unit are connected with a display module, and remote control unit also has myoelectricity with one
The controller of sensor is connected, and staff is long-range by controller by the picture fed back on display module, that is, display
It manipulates the mechanical arm and carries out crawl and the workpiece pressure in firer's part manufacturing process, occasionally effectively workpiece can be avoided to explode
Brought injury.
Wherein, body portion 2 includes extending part 201 and base portion 202, and there are three be in equilateral triangle for installation on the bottom plate of base portion 202
The telescopic rod 203 of arrangement, the telescopic rod 203 include ball-screw 205, tapered roller bearing 205 and top cylinder 206, ball-screw
The cycle surface of 205 bearings and the inner ring end face of tapered roller bearing 205 are welded, the outer ring of tapered roller bearing 205 and top cylinder
206 end face welding, the inner top surface of the other end and extending part 201 of pushing up cylinder 206 welds, preferably in ball-screw 205
End be equipped with one and the plectane that is slidably matched of top cylinder 206, the height of the robot body is adjusted by extending part 201.
Wherein, several conduits are provided on the lateral wall of extending part 201, the inner surface wall of base portion 202 is equipped with to be cooperated with conduit
Sliding block.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (7)
1. robot is disposed in production monitoring, it is characterised in that: remote control unit receives pressure by a data transmission module and surveys
The image information for information and the image acquisition units acquisition that die trial block is monitored, the remote control unit includes for controlling
The control unit of robot body mechanical arm movement and the walking unit for controlling robot body route, robot body is by head
Portion (1), body portion (2), ground-engaging element (3) and mechanical arm body (4) composition, the ground-engaging element (3) include " work " type pedestal
(302), " V " type frame (301) and front-wheel seat (304), the same end of the both side plate of " work " type pedestal (302) are hinged with a front-wheel seat
(304), it is in addition mounted on a trundle (305) on both ends and each front-wheel seat (304), the middle bar of " work " type pedestal (302)
On a turntable (303) are installed, connect between the turntable (303) and two wheel mounts by " V " type frame (301), " V " type
The both ends of frame (301) are respectively equipped with short slab end (306) and long slab end (307), and short slab end (306) and long slab end (307) are with one
Front-wheel seat (304) is connected, and the axis hole (308) opened at the middle part bent angle of " V " type frame (301) cooperates the institute on turntable (303)
If a rectangular shaft on, a driver (309) are additionally provided on " work " type pedestal (302), the driver (309) and " work " type pedestal
(302) it is connected between the trundle (305) installed on by a drive rod (310).
2. robot is disposed in production monitoring according to claim 1, which is characterized in that be equipped with one on the head (1)
The first camera (101) and circle second camera (102) are enclosed, the first camera (101) and second camera (102) are alternately solid
It is fixed.
3. robot is disposed in production monitoring according to claim 1, which is characterized in that the mechanical arm body (4) is by tail
Holding pawl end successively includes first rotating shaft (401), sunpender (402), the second shaft (403) and claw (405), first rotating shaft
(401) one end is rotatably assorted on the projecting shaft set by body portion (2) side, the other end installation of the first rotating shaft (401)
Have a sunpender (402), and the surface of claw (405) is equipped with third camera (404).
4. robot is disposed in production monitoring according to claim 1, which is characterized in that the body portion (2) includes extending part
(201) and base portion (202) telescopic rod (203) at least, is installed on the bottom plate of base portion (202), which includes
Ball-screw (205), tapered roller bearing (205) and top cylinder (206), the cycle surface and circular cone of ball-screw (205) bearing
The inner ring end face of roller bearing (205) is welded, and the outer ring of tapered roller bearing (205) and an end face on top cylinder (206) are welded, top
The other end of cylinder (206) and the inner top surface of extending part (201) weld.
5. robot is disposed in production monitoring according to claim 4, which is characterized in that the outside of the extending part (201)
Several conduits are provided on wall, the inner surface wall of base portion (202) is equipped with the sliding block cooperated with conduit.
6. robot is disposed in production monitoring according to claim 1, which is characterized in that head (1) cooperation exists
On extending part (201) top plate in opened circular hole.
7. robot is disposed in production monitoring according to claim 1, which is characterized in that the remote control unit and one is shown
Show that module is connected, remote control unit is also connected with a controller with myoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910252953.XA CN109822544A (en) | 2019-03-29 | 2019-03-29 | Robot is disposed in production monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910252953.XA CN109822544A (en) | 2019-03-29 | 2019-03-29 | Robot is disposed in production monitoring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109822544A true CN109822544A (en) | 2019-05-31 |
Family
ID=66874562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910252953.XA Withdrawn CN109822544A (en) | 2019-03-29 | 2019-03-29 | Robot is disposed in production monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109822544A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114501189A (en) * | 2022-04-04 | 2022-05-13 | 天津市拓甫网络科技开发有限公司 | Industrial sensor data acquisition terminal |
-
2019
- 2019-03-29 CN CN201910252953.XA patent/CN109822544A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114501189A (en) * | 2022-04-04 | 2022-05-13 | 天津市拓甫网络科技开发有限公司 | Industrial sensor data acquisition terminal |
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Application publication date: 20190531 |