CN110394809A - A kind of municipal administration greening robot with guiding mechanism - Google Patents
A kind of municipal administration greening robot with guiding mechanism Download PDFInfo
- Publication number
- CN110394809A CN110394809A CN201910669903.1A CN201910669903A CN110394809A CN 110394809 A CN110394809 A CN 110394809A CN 201910669903 A CN201910669903 A CN 201910669903A CN 110394809 A CN110394809 A CN 110394809A
- Authority
- CN
- China
- Prior art keywords
- driving
- constrictor
- robot
- control
- planting technique
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The present invention relates to a kind of, and robot is afforested in the municipal administration with guiding mechanism, including planting technique robot and cloud control server, the planting technique robot includes identifying system, driving system, control system and operating system, the operating system includes fuselage and the manipulator for being set to fuselage side, the identifying system includes several sensors being set in planting technique robot, the driving system includes the traveling wheel being set to below planting technique robot and the drive system for driving traveling wheel to be driven, the control system and cloud control server pass through the mutual communication connection of 5G signal, the cloud server can check identifying system by control system, concrete operations are carried out to operating system and control the driving path of driving system.
Description
Technical field
The present invention relates to the dresses that urban engineering project field, the greening of especially a kind of pair urban road both sides are built
It sets.
Background technique
Municipal afforestation project is that an indispensable construction project, existing construction method generally comprise in urban construction
Construction traffic and construction personnel the construction section among both sides of the road or road, but usually to be accounted in process of construction
With a part of lane, if some drivers are absent minded not to carry out lane change in advance, it is easy to cause to scratch and cause road
Blocking, or even can also certain threat be brought to the safety of construction personnel in the road, it often will appear landscaping personnel by vehicle
It wounds or dead news.So how to guarantee that the safety of construction and convenience become one of urgent problem.
Summary of the invention
The present invention provides what the greening of a kind of pair of urban road both sides was built to solve the deficiency of above-mentioned technology
Device.
In order to solve the above-mentioned technical problem, including planting technique robot and cloud control server, the greening kind
Planting robot includes identifying system, driving system, control system and operating system, and the operating system includes fuselage and sets
It is placed in the manipulator of fuselage side, the identifying system includes several sensings being set in planting technique robot
Device, the driving system include the traveling wheel being set to below planting technique robot and the drive for driving traveling wheel to be driven
By the mutual communication connection of 5G signal, the cloud server can lead to for dynamic system, the control system and cloud control server
Control system is crossed to check to identifying system, concrete operations are carried out to operating system and control the traveling road of driving system
Diameter.
With the above structure, landscaping personnel is replaced using planting technique robot, one can protect landscaping personnel
Accident will not occur in construction, two come since planting technique machine human body type's target is larger, and traffic also can more early be found
Target solves the problems, such as personnel's construction risk and traffic blocking problem to lane change in advance.And robot includes traveling
System can help robot to carry out traveling construction in greenbelt side using driving system, and manipulator can then help robot
Implement corresponding construction movement, such as plantation nursery stock or pollard, sensor then may help to user preferably manipulate it is green
Change planting machines people, and some emergency cases of processing.And newest 5G technology is utilized, it is special using the technology of low delay high-speed
Point, controller can accurately control robot and be acted accordingly, can thus apply substantially instead of construction personnel scene
Work.
As a further improvement of the present invention, the driving system further includes pilot unit and motor, and the guiding is single
The pressing piece that member includes the fitting part being fitted and connected with greenbelt step and is always bonded fitting part to greenbelt step, institute
Stating traveling wheel includes a pair of of the directive wheel for being relatively arranged on a pair of driving wheels at rear and being relatively arranged on front, described two
It is provided with first connecting rod between directive wheel, the second connecting rod, the first connecting rod are provided between described two driving wheels
Top is additionally provided with sliding bar, and the sliding groove for sliding bar sliding, described sliding bar one end and first are provided on the fuselage
Connecting rod fixed setting, the other end are connect with sliding machine body, and the sliding bar can control directive wheel to rotate along sliding groove, described
Drive system driving motor controls driving wheel and moves forward or back, and the directive wheel can control the movement side of planting technique robot
To.
With the above structure, we will often find that during traveling, operator is not only wanted in use
The driving trace for operating robot will also operate robot and carry out corresponding plantation movement, so often will appear driving trace
Deviate greenbelt, to planting machines people occur drive on major trunk roads or wipe with greenbelt to touch, so that operator
Member can not operate the driving trace of greening robot well.So inventor just contemplates a path guide apparatus.The road
Diameter guiding device mainly utilizes greenbelt itself all to have a step, is pressed at fitting part always using pressing piece, and
Pressing piece links with the sliding bar on directive wheel again, when greening structure with the level changes, it is meant that path needs
It changes, and fitting part will follow the variation in this path to drive directive wheel at this time, to make the traveling road of robot
Diameter changes automatically, and such setting is not only simple in structure, and does not need that manpower and material resources is spent to remove research automation Pathfinding system,
Corresponding distance can also be kept between greenbelt always, ensure that safety and stability.
As a further improvement of the present invention, the fitting part is that square is bonded block, and sets in square fitting block
It is equipped with square fitting space, square fitting space is bonded to each other with greenbelt step when in use, the square
Fitting block is connected with directive wheel.
With the above structure, square fitting block can substantially match with greenbelt step, be bonded effect compared with
Good, pressing piece can also easily press to the fitting block.
As a further improvement of the present invention, it is provided with pressing piece between the square fitting block and directive wheel, it is described
Pressing piece one end is bonded block with square and is fixedly connected, and the other end is fixedly connected with the sliding bar above directive wheel.
With the above structure, sliding bar slides in sliding groove so that directive wheel is swung, first square
Type is bonded block can be always to step side applied force, when the construction of step edge changes, and square is bonded block will be with
Construction shape continue to pressure so that be arranged in square fitting block on pressing piece also with square be bonded
The application pressure of block is deviated, and the sliding bar being further driven on directive wheel slides in sliding groove, so that directive wheel
It is deflected, so there is no need to other software programs just to play guiding role.
As a further improvement of the present invention, the pressing piece includes compressed spring and constrictor, the constrictor packet
The first constrictor and the second constrictor are included, cavity is provided in first constrictor, second constrictor is set to sky
It is intracavitary, and compressed spring is socketed on outside the second constrictor and in compressive state, the compressing force direction of the compressed spring
Space is bonded toward square.
With the above structure, it is provided with constrictor in pressing piece, and constrictor includes the first constrictor and the
Two constrictors, the second constrictor are arranged in the first constrictor again, apply pressure to fitting block by compressed spring, work as generation
When offset, the second constrictor will be bonded block because of square and change to the laminating degree of step, thus the application of spring
Power can also change, and the applied force that the second constrictor just will receive spring at this time is skidded off out of first constrictor, so that top is arrived
Square is bonded on block, so that square fitting block can be fitted in always on greening step.
As a further improvement of the present invention, the manipulator includes mechanical arm, and rotation on the robotic arm is arranged
Mechanism, and the gripping unit that is fixedly connected with rotating mechanism and trimming unit, the gripping unit includes can be mutually to grabbing
Hold center against holding block, the trimming unit is pruning shear, and the control system can control respectively holding block and support to center
By realizing that grasp motion, control pruning shear carry out trimming movement, the control system also rotation-controlled mechanism is on the robotic arm
Rotation is carried out to switch gripping unit and trim the use state of unit.
With the above structure, due to two work main in greening construction process be the new sapling of plantation and
Leaf is trimmed, can be very good to implement this two work using gripping unit and trimming unit, and control system can control
Rotating mechanism switches over to switch the two units according to actual need of work.
Detailed description of the invention
Fig. 1 show this patent left side view；
Fig. 2 show this patent front view；
Fig. 3 show this patent right, side view；
Fig. 4 show this patent left side view；
Fig. 5 show this patent pressing piece internal structure perspective view of the explosion.
Specific embodiment
As Figure 1-Figure 5, including planting technique robot 1 and cloud control server, the planting technique machine
People 1 include identifying system, driving system 11, control system and operating system 12, the operating system 12 include fuselage 121 with
And it is set to the manipulator 122 of 121 side of fuselage, if the identifying system includes being set in planting technique robot
Dry sensor, the driving system 11 include the traveling wheel 111 and driving traveling being set to below planting technique robot
The drive system being driven is taken turns, the control system and cloud control server pass through the mutual communication connection of 5G signal, described
Cloud server can check identifying system by control system, carry out concrete operations to operating system and control is gone
Sail the driving path of system.Using planting technique robot replace landscaping personnel, one come can protect landscaping personnel construction when
Accident will not occur, two come since planting technique machine human body type's target is larger, traffic also can more early find target to
Lane change in advance solves the problems, such as personnel's construction risk and traffic blocking problem.And robot includes driving system, is utilized
Driving system can help robot to carry out traveling construction in greenbelt side, and it is corresponding that manipulator can then help robot to implement
Construction movement, such as plantation nursery stock or pollard, sensor then may help to user and preferably manipulate planting technique machine
People, and some emergency cases of processing.And newest 5G technology is utilized, using the technical characterstic of low delay high-speed, controller
Robot can accurately be controlled to be acted accordingly, can thus replace construction personnel's site operation substantially.
The driving system 11 further includes pilot unit 112 and motor, and the pilot unit 112 includes and greenbelt platform
The fitting part 1121 that rank is fitted and connected and the pressing piece 1122 for being always bonded fitting part 1121 to greenbelt step, the row
Sailing wheel 111 includes a pair of of the directive wheel 1112 for being relatively arranged on a pair of driving wheels 1111 at rear and being relatively arranged on front,
It is provided with first connecting rod 1113 between described two directive wheels 1112, the second connection is provided between described two driving wheels
Bar is additionally provided with sliding bar 1115 above the first connecting rod 1113, is provided on the fuselage and slides for sliding bar 1115
Sliding groove 1116, described 1115 one end of sliding bar and first connecting rod be fixedly installed, and the other end is connect with sliding machine body, described
Sliding bar 1115 can control directive wheel to rotate along sliding groove 1116, drive system driving motor control driving wheel advance or
It retreats, the directive wheel 1112 can control the direction of motion of planting technique robot.We, which will often find that, in use is expert at
During sailing, operator will not only operate the driving trace of robot, and it is dynamic also to operate the corresponding plantation of robot progress
Make, so often will appear driving trace deviation greenbelt, thus occur planting machines people drive on major trunk roads or with
Greenbelt wipe and is touched, so that operator can not operate the driving trace of greening robot well.So inventor just thinks
To a path guide apparatus.The path guide apparatus mainly utilizes greenbelt itself all to have a step, using applying
Casting die 1122 always presses to fitting part 1121, and pressing piece 1122 links with the sliding bar 1115 on directive wheel, when
When afforesting structure with the level and changing, it is meant that path needs to change, and fitting part 1121 will follow this at this time
The variation in a path drives directive wheel 1112, so that the driving path of robot be made to change automatically, such setting is not only
Structure is simple, does not need that manpower and material resources is spent to remove research automation Pathfinding system, can also keep phase between greenbelt always
The distance answered ensure that safety and stability.
The fitting part 1121 is that square is bonded block, and square fitting space is provided in square fitting block,
Square fitting space is bonded to each other with greenbelt step when in use, and the square fitting block and directive wheel linkage connect
It connects.Square fitting block can substantially match with greenbelt step, and fitting effect is preferable, and pressing piece 1122 can also be convenient
It presses to the fitting block.Pressing piece 1117, the pressing piece are provided between the square fitting block and directive wheel
1117 one end are bonded block with square and are fixedly connected, and the other end is fixedly connected with the sliding bar 1115 above directive wheel.Sliding bar
1115 slide in sliding groove and directive wheel can be made to swing, and square type fitting block can always apply step side first
Power, when the construction of step edge changes, square fitting block will continue to pressure with the shape of construction, thus
It is deviated so that the pressing piece that square is bonded on block is arranged in also with the application pressure of square fitting block, further band
Sliding bar on action-oriented wheel slides in sliding groove, so that directive wheel is deflected, so there is no need to other soft
Part program just plays guiding role.
The pressing piece 1122 includes compressed spring 11221 and constrictor 11224, and the constrictor includes being set to
The first constrictor 11224 and the second constrictor 11225 in pressing piece 1122 are provided in first constrictor 11224
Cavity, second constrictor 11225 are set in cavity, and compressed spring 11224 is resisted against the second constrictor side simultaneously
And be in compressive state, the compressing force direction of the compressed spring 11224 is bonded space toward square.Compression is provided in pressing piece
Bar 11224, and constrictor 11224 includes the first constrictor 11225 and the second constrictor 11226, the second constrictor 11226
It is arranged in the first constrictor 11225 again, pressure is applied to fitting block by compressed spring, when shifting, the second pressure
Contracting bar 11226 will be bonded block because of square and change to the laminating degree of step, so that the applied force of spring can also be sent out
Changing, the applied force that the second constrictor 11226 just will receive spring at this time is skidded off out of first constrictor 11226, to push up
Onto square fitting block, so that square fitting block can be fitted in always on greening step.
The manipulator 122 includes mechanical arm 1221, and the rotating mechanism 1222 on mechanical arm 1221 is arranged in, and
The gripping unit 1223 and trimming unit 1224 being fixedly connected with rotating mechanism 1222, the gripping unit 1223 includes can phase
Mutually to the center of grasping against holding block 1223, the trimming unit 1224 is pruning shear 1224, and the control system can distinguish
Holding block is controlled to center against grasp motion is realized, pruning shear 1224 is controlled and carries out trimming movement, the control system may be used also
Control rotating mechanism carried out on mechanical arm 1221 rotation to switch gripping unit 1223 and trim unit 1224 use shape
State.Since two work main in greening construction process is the new sapling of plantation and trimming leaf, using gripping unit
And trimming unit can be very good to implement this two work, and control system can control rotating mechanism to switch the two lists
Member, and switched over according to actual need of work.
Claims (6)
1. a kind of municipal administration greening robot with guiding mechanism, it is characterised in that: controlled including planting technique robot and cloud
Control server, the planting technique robot include identifying system, driving system, control system and operating system, the behaviour
It include fuselage and the manipulator for being set to fuselage side as system, the identifying system includes being set to planting technique machine
Several sensors on device people, the driving system include traveling wheel and the driving being set to below planting technique robot
The drive system that traveling wheel is driven, the control system and cloud control server pass through the mutual communication connection of 5G signal,
The cloud server can check identifying system by control system, carry out concrete operations and control to operating system
The driving path of driving system processed.
2. the municipal administration greening robot according to claim 1 with guiding mechanism, it is characterised in that: the driving system is also
Including pilot unit and motor, the pilot unit includes the fitting part being fitted and connected with greenbelt step and always will patch
The pressing piece that component is bonded to greenbelt step, the traveling wheel include being relatively arranged on a pair of driving wheels at rear and opposite
It is set to a pair of of directive wheel in front, is provided with first connecting rod between described two directive wheels, between described two driving wheels
It is provided with the second connecting rod, is additionally provided with sliding bar above the first connecting rod, is provided on the fuselage sliding for sliding bar
The sliding groove of shifting, described sliding bar one end and first connecting rod are fixedly installed, and the other end is connect with sliding machine body, the sliding bar
Controllable directive wheel is rotated along sliding groove, and the drive system driving motor control driving wheel moves forward or back, the guiding
Take turns the direction of motion of controllable planting technique robot.
3. the municipal administration greening robot according to claim 2 with guiding mechanism, it is characterised in that: the fitting part is straight
Angular fitting block, and square fitting space is provided in square fitting block, square fitting space is when in use
It is bonded to each other with greenbelt step, the square fitting block is connected with directive wheel.
4. the municipal administration greening robot according to claim 3 with guiding mechanism, it is characterised in that: the square fitting
Pressing piece is provided between block and directive wheel, described pressing piece one end is bonded block with square and is fixedly connected, the other end and guiding
The sliding bar of wheel top is fixedly connected.
5. the municipal administration greening robot according to claim 4 with guiding mechanism, it is characterised in that: the pressing piece includes
Compressed spring and constrictor, the constrictor include the first constrictor and the second constrictor, are set in first constrictor
It is equipped with cavity, second constrictor is set in cavity, and compressed spring is socketed on outside the second constrictor and in pressure
The compressing force direction of contracting state, the compressed spring is bonded space toward square.
6. the municipal administration greening robot according to claim 5 with guiding mechanism, it is characterised in that: the manipulator
Including mechanical arm, rotating mechanism on the robotic arm is set, and the gripping unit and trimming that are fixedly connected with rotating mechanism
Unit, the gripping unit include can mutually to grasping center against holding block, the trimming unit be pruning shear, the control
System processed can control holding block to center against grasp motion is realized respectively, control pruning shear and carry out trimming movement, the control
System also rotation-controlled mechanism carries out rotation on the robotic arm to switch gripping unit and trim the use state of unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910669903.1A CN110394809A (en) | 2019-07-24 | 2019-07-24 | A kind of municipal administration greening robot with guiding mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910669903.1A CN110394809A (en) | 2019-07-24 | 2019-07-24 | A kind of municipal administration greening robot with guiding mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110394809A true CN110394809A (en) | 2019-11-01 |
Family
ID=68325882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910669903.1A Pending CN110394809A (en) | 2019-07-24 | 2019-07-24 | A kind of municipal administration greening robot with guiding mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110394809A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1437842A (en) * | 2002-12-21 | 2003-08-27 | 张茂华 | Combined universal antomatic green trimmer |
| US20090062974A1 (en) * | 2007-09-03 | 2009-03-05 | Junichi Tamamoto | Autonomous Mobile Robot System |
| CN202178988U (en) * | 2011-06-28 | 2012-04-04 | 上海外国语大学附属大境中学 | Robot for afforesting work |
| CN104705078A (en) * | 2013-12-17 | 2015-06-17 | 山东科技职业学院 | Walking type roadside green belt cropper |
| CN206932746U (en) * | 2017-05-08 | 2018-01-30 | 冯展咏 | Gardens trimmer guider |
| KR20190008716A (en) * | 2017-07-17 | 2019-01-25 | (주)선운이앤지 | Robot system for maintaining substation facilities |
| CN208836599U (en) * | 2018-08-03 | 2019-05-10 | 王香才 | A kind of greenbelt Multifunctional trimming platform |
-
2019
- 2019-07-24 CN CN201910669903.1A patent/CN110394809A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1437842A (en) * | 2002-12-21 | 2003-08-27 | 张茂华 | Combined universal antomatic green trimmer |
| US20090062974A1 (en) * | 2007-09-03 | 2009-03-05 | Junichi Tamamoto | Autonomous Mobile Robot System |
| CN202178988U (en) * | 2011-06-28 | 2012-04-04 | 上海外国语大学附属大境中学 | Robot for afforesting work |
| CN104705078A (en) * | 2013-12-17 | 2015-06-17 | 山东科技职业学院 | Walking type roadside green belt cropper |
| CN206932746U (en) * | 2017-05-08 | 2018-01-30 | 冯展咏 | Gardens trimmer guider |
| KR20190008716A (en) * | 2017-07-17 | 2019-01-25 | (주)선운이앤지 | Robot system for maintaining substation facilities |
| CN208836599U (en) * | 2018-08-03 | 2019-05-10 | 王香才 | A kind of greenbelt Multifunctional trimming platform |
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| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191101 |
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| WD01 | Invention patent application deemed withdrawn after publication |