CN112454361A

CN112454361A - Security robot with intelligent catching rope

Info

Publication number: CN112454361A
Application number: CN202011315892.6A
Authority: CN
Inventors: 张秀平
Original assignee: Zhangzhou Meizu Industrial Design Co ltd
Current assignee: Zhangzhou Meizu Industrial Design Co ltd
Priority date: 2020-11-22
Filing date: 2020-11-22
Publication date: 2021-03-09

Abstract

The invention discloses a security robot with an intelligent catching rope, which comprises: the robot comprises a robot body, wherein a high-definition camera and a transparent protective cover are arranged at the top of the robot body; the robot comprises a robot body, a catching rope mounting disc, a plurality of catching rope mounting grooves and a plurality of supporting columns, wherein the catching rope mounting disc is internally provided with a plurality of catching rope mounting grooves for mounting catching rope components and is rotatably mounted on the supporting columns through bearings; the air pump is installed at the bottom in the robot body, and the output end of the air pump is sequentially connected with the second air storage tank, the first air storage tank and the catching rope ejection cylinder body through air pipes. According to the invention, the catching rope mounting disc is rotated, and the catching rope assembly is automatically filled, so that a plurality of targets can be quickly and continuously caught in an emergency state, and the catching and patrolling efficiency of the security robot is improved.

Description

Security robot with intelligent catching rope

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a security robot with an intelligent capturing rope.

Background

With the maturity and popularization of the robot technology, robots are also increasingly applied to patrol security work. At present, in the process of patrolling, in order to capture suspicious people encountered in the patrolling process, a disposable capturing rope structure is usually installed on the patrolling robot, when the patrolling robot faces a plurality of suspicious people, the capturing rope can only be launched once to capture, a plurality of targets cannot be captured continuously, and if the capturing rope is lost, the capturing function of the robot is temporarily and completely lost until a worker replaces a new capturing rope, so that the capturing efficiency is low.

Disclosure of Invention

The invention aims to provide a security robot with an intelligent capturing rope, which aims to solve the problems that a plurality of targets cannot be captured continuously and the capturing efficiency is low.

In order to achieve the purpose, the invention provides the following technical scheme: a security robot containing a smart capture rope, comprising:

the high-definition camera and the transparent protective cover are arranged at the top of the robot body, the transparent protective cover covers the high-definition camera, and a sensor group and a warning lamp are installed on the front side of the top of the robot body;

the robot comprises a robot body, a catching rope mounting disc, a plurality of catching rope mounting grooves, a support column and a first motor, wherein the catching rope mounting disc is internally provided with a plurality of catching rope mounting grooves for mounting catching rope components and is rotatably mounted on the support column through a bearing;

the air pump is installed at the bottom in the robot body, the output end of the air pump is sequentially connected with the second air storage tank, the first air storage tank and the catching rope ejection cylinder body through air pipes, and an air cylinder rod of the catching rope ejection cylinder body is aligned with the end opening of the inner side of the catching rope mounting groove.

Preferably, a retainer ring is further fixedly clamped on the robot body and covers the catching rope mounting disc.

Preferably, the lower surface of the catching rope mounting disc is integrally provided with a gear ring, and the gear ring is meshed with the output end of the first motor.

Preferably, the lower surface of catching rope mounting disc is close to the edge integration and is provided with the contact, robot body surface mounting who catches rope mounting disc below has proximity switch.

Preferably, the catching rope mounting groove and the cylinder rod are distributed along a radius direction.

Preferably, the catching rope ejection cylinder body is movably provided with two cylinder rods, each cylinder rod is fixedly provided with a limit stop, the cylinder rods are sleeved with reset springs, the cylinder rods are movably arranged in the protecting sleeve, and the protecting sleeve is fixed on the supporting column.

Preferably, the catching rope mounting grooves are communicated with each other, the catching rope assembly comprises steel balls and a fiber rope, the two ends of the fiber rope are respectively fixed with one steel ball, the steel balls are fixed in a pre-adsorption mode through magnets arranged in the catching rope mounting grooves, and the fiber rope is stored in an area between the catching rope mounting grooves.

Preferably, it includes two stand pipes, two to catch the rope and penetrate the pipe through catching rope activity chamber intercommunication between the stand pipe, the incident end of catching the rope and penetrating the pipe be provided with the arc spout and with catch rope mounting disc edge sliding fit, the stand pipe distributes along same direction of radius with catching the rope mounting groove, the outside both sides of catching rope and penetrating the pipe incident end are rotated through the connecting pin and are connected in the supporting seat that sets up on the robot body, it is connected with the internal thread sleeve to catch rope and penetrate tub exit end bottom rotation, through the threaded connection threaded rod in the internal thread sleeve, the output at the second motor is fixed to the threaded rod, the second motor rotates and installs on the robot body.

Preferably, the robot body still installs speaker and control chip, high definition digtal camera, sensor group, warning light, speaker, air pump, first motor, second motor and the built-in power supply module of robot body and power control module are connected to the control chip electricity respectively, sensor group includes distance sensor, speedtransmitter.

The invention has the technical effects and advantages that: according to the invention, the catching rope mounting disc is rotated, and the catching rope assembly is automatically filled, so that a plurality of targets can be quickly and continuously caught in an emergency state, and the catching and patrolling efficiency of the security robot is improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a security robot with an intelligent capturing rope according to the present invention;

FIG. 2 is a schematic diagram of an internal structure of a security robot including an intelligent capturing rope according to the present invention;

FIG. 3 is an enlarged schematic structural diagram of the area A in FIG. 2 of the security robot with the intelligent capturing rope according to the present invention;

FIG. 4 is a schematic diagram of a top view of a capturing rope mounting plate of a security robot with an intelligent capturing rope according to the present invention;

FIG. 5 is an enlarged schematic structural diagram of a security robot including an intelligent capturing rope at the position B in FIG. 4 according to the present invention;

FIG. 6 is a schematic diagram of a capturing rope assembly of the security robot with an intelligent capturing rope according to the present invention;

FIG. 7 is a schematic view of a three-dimensional structure of a capturing rope mounting plate of a security robot with an intelligent capturing rope according to the present invention;

FIG. 8 is a schematic view of a top view of an ejection tube of a capturing rope of a security robot with an intelligent capturing rope according to the present invention;

FIG. 9 is a schematic view of a bottom view of a capturing rope ejection tube of a security robot with an intelligent capturing rope according to the present invention;

FIG. 10 is a schematic view of a connection structure of a capturing rope ejection tube and a second motor of the security robot with an intelligent capturing rope according to the present invention;

FIG. 11 is a schematic diagram of a circuit of a security robot with an intelligent capturing rope according to the present invention.

In the figure: 1. a high-definition camera; 2. a transparent protective cover; 3. a retainer ring; 4. a robot body; 5. a sensor group; 6. a warning light; 7. a catch cord launch tube; 701. a guide tube; 702. a capture rope activity cavity; 703. an arc-shaped chute; 8. a speaker; 9. a control chip; 10. a support pillar; 11. a catching rope mounting disc; 1101. a catching rope mounting groove; 1102. a contact; 1103. a ring gear; 12. a first motor; 13. a first gas storage tank; 14. a second gas tank; 15. an air pump; 16. an air tube; 17. a proximity switch; 18. the catching rope launches the cylinder body; 1801. a limit stop block; 1802. a return spring; 1803. a protective sleeve; 1804. a cylinder rod; 19. a supporting seat; 20. a catch line assembly; 2001. a steel ball; 2002. a fiber rope; 21. an internally threaded sleeve; 22. a threaded rod; 23. a second motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 11, a security robot including an intelligent capturing rope includes:

the robot comprises a robot body 4, wherein a high-definition camera 1 and a transparent protective cover 2 are arranged at the top of the robot body 4, the high-definition camera 1 is covered by the transparent protective cover 2, and a sensor group 5 and a warning lamp 6 are arranged on the front surface of the top of the robot body 4;

it can be understood that the robot body 4 is similar to a patrol robot or a common security robot in the prior art, and a rechargeable lithium battery pack is installed in the robot body to provide energy for the whole system so as to patrol in a preset area. The head of the device is provided with a high-definition camera 1, an automatic rotating holder is adopted for installation, surrounding conditions are periodically scanned, image information is collected, and the bottom of the device is provided with a power control module which can rotate for 360 degrees to adjust the advancing direction. Control chip 9 is integrated in this robot body 4's inside, and by the control of control chip 9, the high definition digtal camera 1 at its top sends the image information who gathers to control chip 9 and handles, and then judges whether have personnel in the image information, and judge whether personnel are legal personnel, if not legal personnel, then judge based on the image information personnel's shank for the height value in the region of robot body 4 place, and according to the inclination of height value adjustment seizure rope jet-out pipe 7 makes and catches rope subassembly 20 and twine the preset region of personnel's shank.

The robot comprises a catching rope mounting disc 11, wherein a plurality of catching rope mounting grooves 1101 for mounting catching rope assemblies 20 are formed in the catching rope mounting disc 11, the catching rope mounting disc 11 is rotatably mounted on a supporting column 10 through a bearing, the supporting column 10 is positioned at the middle upper part of a robot body 4, a first motor 12 for driving the catching rope mounting disc 11 to rotate is arranged at the bottom of the catching rope mounting disc 11, and the first motor 12 is mounted on the robot body 4;

specifically, the catching rope mounting plate 11 can be driven to rotate by the driving of the first motor 12, so that the catching rope mounting groove 1101 on which the catching rope assembly 20 is loaded is adjusted to be aligned with the catching rope discharge pipe 7 for the next catching.

The air pump 15 is installed at the bottom in the robot body 4, the output end of the air pump 15 is sequentially connected with the second air storage tank 14, the first air storage tank 13 and the catching rope ejecting cylinder 18 through an air pipe 16, and an air cylinder rod 1804 of the catching rope ejecting cylinder 18 is aligned with the end opening of the inner side of the catching rope installing groove 1101.

The air pump 15 is used for pumping air into the second air storage tank 14 for storage, the second first air storage tank 13 is connected with the catching rope ejection cylinder 18 through the air pipe 16, the catching rope ejection cylinder 18 is started by air by controlling the on-off of an electromagnetic valve on the air pipe 16, and the catching rope assembly 20 is pushed out through the air cylinder rod 1804 for target catching.

Specifically, a check ring 3 is further clamped and fixed on the robot body 4, and the check ring 3 covers the catching rope mounting disc 11. The catching rope mounting plate 11 can be protected by the retainer ring 3.

It can be understood that the lower surface of the catching rope mounting disc 11 is integrally provided with a gear ring 1103, the gear ring 1103 is meshed with the output end of the first motor 12, the lower surface of the catching rope mounting disc 11 is integrally provided with a contact 1102 near the edge, and the surface of the robot body 4 below the catching rope mounting disc 11 is provided with a proximity switch 17. Under control chip 9's control, drive first motor 12 and drive ring gear 1103, thereby rotate catching rope mounting disc 11, and simultaneously, utilize contact 1102 to trigger proximity switch 17, carry out signal feedback to contact 1102's position through proximity switch 17, thereby utilize control chip 9 to stop catching rope mounting disc 11, rope mounting disc 11 is caught in accurate location, and simultaneously, can calculate the surplus number of times of can catching according to proximity switch 17's the number of times of triggering, proximity switch 17 is once every triggering, then think that the transmission of catching rope subassembly 20 in proper order has been accomplished.

It is understood that the capture rope mounting slots 1101 and the cylinder rods 1804 are radially spaced apart in this application to facilitate smooth ejection of the capture rope assembly 20.

It is understood that in other embodiments, two cylinder rods 1804 are movably mounted on the catching rope ejecting cylinder 18, a limit stop 1801 is fixed on each cylinder rod 1804, a return spring 1802 is sleeved on each cylinder rod 1804, the cylinder rods 1804 are movably arranged in the protecting sleeves 1803, and the protecting sleeves 1803 are fixed on the supporting column 10. After the cylinder rod 1804 launches, open the last pressure release solenoid valve of first gas holder 13, wait that first gas holder 13 atmospheric pressure is the same with atmospheric pressure, reset spring 1802 can push cylinder rod 1804 and reset for next launch.

Specifically, the catching rope mounting grooves 1101 are communicated with each other, the catching rope assembly 20 includes steel balls 2001 and fiber ropes 2002, the steel balls 2001 are fixed to both ends of each fiber rope 2002, the steel balls 2001 are fixed in advance by magnets arranged in the catching rope mounting grooves 1101, the fiber ropes 2002 are accommodated in the regions between the catching rope mounting grooves 1101, the steel balls 2001 can be pre-positioned in the catching rope mounting grooves 1101, and the excess fiber ropes 2002 are accommodated in the regions between the catching rope mounting grooves 1101 without affecting the ejection of the steel balls 2001.

When the device is specifically arranged, the catching rope ejection tube 7 comprises two guide tubes 701, the two guide tubes 701 are communicated with each other through a catching rope moving cavity 702, an arc-shaped chute 703 is arranged at the incident end of the catching rope ejection tube 7 and is in sliding fit with the edge of the catching rope mounting disc 11, so that the gap is favorably reduced, the catching rope assembly 20 is favorably ejected, the guide tubes 701 and the catching rope mounting groove 1101 are distributed along the same radius direction, two sides of the outer part of the incident end of the catching rope ejection tube 7 are rotatably connected with a supporting seat 19 arranged on the robot body 4 through connecting pins, an internal thread sleeve 21 is rotatably connected to the bottom of the emergent end of the catching rope ejection tube 7, a threaded rod 22 is connected in the internal thread sleeve 21 through threads, the threaded rod 22 is fixed at the output end of a second motor 23, the second motor 23 is rotatably mounted on the robot body 4, the second motor 23 is controlled through a control chip 9, the catching rope ejection tube 7 can be pushed, therefore, the catching rope assembly 20 can be rapidly ejected to the specified height range of the human body to catch the suspicious people.

It can be understood that, speaker 8 and control chip 9 are still installed to robot 4, and high definition digtal camera 1, sensor group 5, warning light 6, speaker 8, air pump 15, first motor 12, second motor 23 and robot 4 built-in power supply module and power control module are connected respectively to control chip 9 electricity, sensor group 5 includes distance sensor, speedtransmitter, and distance sensor and speedtransmitter are used for gathering auxiliary data, like distance between robot 4 and the human body, the moving speed of robot 4, can also send out the police dispatch newspaper when catching through warning light 6, speaker 8.

The working principle is as follows: in the patrol process of a set area, firstly, image information of surrounding people is collected through the high-definition camera 1 and transmitted to the control chip 9 for processing, whether suspicious people exist is judged, if the suspicious people exist, auxiliary data are collected through the sensor group 5, the shooting angle required by the catching rope shooting pipe 7 is calculated according to the distance between the robot body 4 and a human body and the moving speed of the robot body 4, then the control chip 9 is used for driving the second motor 23 to adjust the pitching angle of the catching rope shooting pipe 7, after the adjustment is finished, the electromagnetic valve on the air pipe 16 is controlled to be opened, gas in the first air storage tank 13 is introduced into the catching rope shooting cylinder 18 to drive the air cylinder rod 1804 to rapidly extend out, so that the catching rope component 20 is pushed out, and flies to the suspicious people to be bound and caught along the angle of the catching rope shooting pipe 7.

After the catching rope assembly 20 finishes one ejection, the control chip 9 starts the first motor 12 to rotate the catching rope mounting disc 11 until the contact 1102 triggers the proximity switch 17, the proximity switch 17 sends a control signal to the control chip 9, and the first motor 12 stops rotating, so that the catching rope mounting groove 1101 filled with the catching rope assembly 20 is rotated to a position between the catching rope ejection tube 7 and the catching rope ejection cylinder 18 for the next ejection.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a security protection robot that rope is caught to intelligence which characterized in that: the method comprises the following steps:

the robot comprises a robot body (4), wherein a high-definition camera (1) and a transparent protection cover (2) are arranged at the top of the robot body (4), the high-definition camera (1) is covered by the transparent protection cover (2), and a sensor group (5) and a warning lamp (6) are arranged on the front surface of the top of the robot body (4);

the robot comprises a catching rope mounting disc (11), wherein a plurality of catching rope mounting grooves (1101) for mounting catching rope assemblies (20) are formed in the catching rope mounting disc (11), the catching rope mounting disc (11) is rotatably mounted on a supporting column (10) through a bearing, the supporting column (10) is located at the middle upper part of a robot body (4), a first motor (12) for driving the catching rope mounting disc (11) to rotate is arranged at the bottom of the catching rope mounting disc (11), and the first motor (12) is mounted on the robot body (4);

the air pump (15), the air pump (15) is installed bottom in the robot body (4), the output of air pump (15) connects gradually second gas holder (14), first gas holder (13) and catches rope and launch cylinder body (18) through trachea (16), catch the cylinder pole (1804) of rope and launch cylinder body (18) with catch the medial extremity mouth alignment of rope mounting groove (1101).

2. The security robot with the intelligent capturing rope according to claim 1, characterized in that: the robot is characterized in that a check ring (3) is further clamped and fixed on the robot body (4), and the check ring (3) covers the catching rope mounting disc (11).

3. The security robot with the intelligent capturing rope according to claim 1, characterized in that: the lower surface integration of catching rope mounting disc (11) is provided with ring gear (1103), ring gear (1103) with the output meshing of first motor (12).

4. The security robot with the intelligent capturing rope according to claim 1, characterized in that: the lower surface of catching rope mounting disc (11) is close to the integration of edge and is provided with contact (1102), robot body (4) surface mounting who catches rope mounting disc (11) below has proximity switch (17).

5. The security robot with the intelligent capturing rope according to claim 1, characterized in that: the catching rope mounting groove (1101) and the cylinder rod (1804) are distributed along the radius direction.

6. The security robot with the intelligent capturing rope according to claim 1, characterized in that: two air cylinder rods (1804) are movably mounted on the catching rope ejection cylinder body (18), a limit stop (1801) is fixed on each air cylinder rod (1804), a reset spring (1802) is sleeved on each air cylinder rod (1804), the air cylinder rods (1804) are movably arranged in a protecting sleeve (1803), and the protecting sleeve (1803) is fixed on a supporting column (10).

7. The security robot with the intelligent capturing rope according to claim 1, characterized in that: the catching rope mounting grooves (1101) are communicated with each other, the catching rope assembly (20) comprises steel balls (2001) and fiber ropes (2002), the steel balls (2001) are fixed to two ends of each fiber rope (2002), the steel balls (2001) are fixed in a pre-adsorption mode through magnets arranged in the catching rope mounting grooves (1101), and the fiber ropes (2002) are stored in the area between the catching rope mounting grooves (1101).

8. The security robot with the intelligent capturing rope according to claim 1, characterized in that: the catching rope ejection pipe (7) comprises two guide pipes (701), the two guide pipes (701) are communicated through a catching rope moving cavity (702), the incident end of the catching rope ejection pipe (7) is provided with an arc-shaped chute (703) and is in sliding fit with the edge of the catching rope mounting disc (11), the guide pipe (701) and the catching rope mounting groove (1101) are distributed along the same radius direction, the two sides of the outer part of the incident end of the catching rope ejection pipe (7) are rotationally connected with a supporting seat (19) arranged on the robot body (4) through a connecting pin, the bottom of the emergent end of the catching rope emergent pipe (7) is rotationally connected with an internal thread sleeve (21), a threaded rod (22) is connected in the internal thread sleeve (21) through threads, the threaded rod (22) is fixed at the output end of a second motor (23), and the second motor (23) is rotatably arranged on the robot body (4).

9. The security robot with the intelligent capturing rope according to claim 1, characterized in that: speaker (8) and control chip (9) are still installed in robot (4), high definition digtal camera (1), sensor group (5), warning light (6), speaker (8), air pump (15), first motor (12), second motor (23) and robot (4) built-in power supply module and power control module are connected to control chip (9) electricity respectively, sensor group (5) are including distance sensor, speedtransmitter.