CN112841163B - Mouse catching robot for communication machine room - Google Patents
Mouse catching robot for communication machine room Download PDFInfo
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- CN112841163B CN112841163B CN202110106139.4A CN202110106139A CN112841163B CN 112841163 B CN112841163 B CN 112841163B CN 202110106139 A CN202110106139 A CN 202110106139A CN 112841163 B CN112841163 B CN 112841163B
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- mouse
- clamping jaw
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- robot
- arm
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M23/00—Traps for animals
Abstract
The invention relates to a mouse catching robot for a communication machine room, which comprises a machine body with crawler wheels, wherein a catching device with a mouse storage cavity is arranged at the lower part of the machine body, a detection camera, a laser radar and a mechanical arm are arranged on the machine body, a clamping jaw device for clamping a small animal baffle is arranged at the working end of the mechanical arm, and a power supply device, a control panel and an industrial personal computer are also arranged in the machine body. The robot can automatically capture mice in a communication machine room, avoids machine room equipment from being damaged by the mice, can automatically cross over the small animal baffle installed on a door of the machine room, and patrols and captures the mice between the machine rooms.
Description
Technical Field
The invention relates to a mouse catching robot for a communication machine room.
Background
Various important devices such as a power supply, a signal transceiver, transmission equipment, a server and the like are placed in the communication room, and a large number of data cables and power cables are also arranged in the communication room due to power supply and data transmission among the devices. Once a mouse enters the machine room and bites down the devices, the loss which is difficult to predict is brought. The animal baffle is often installed at the gate to current computer lab to put the mouse in some regions in the computer lab and glue, nevertheless this kind of mode belongs to passive form and guards against, still is difficult to avoid equipment to be bitten by the mouse bad.
Disclosure of Invention
The invention aims to provide a mouse catching robot for a communication machine room, which can automatically catch mice in the communication machine room, prevent machine room equipment from being damaged by the mice, and automatically cross a small animal baffle arranged on a machine room door to patrol and catch the mice among the machine rooms.
The technical scheme of the invention is as follows: the utility model provides a mouse catches robot for communication computer lab, is including the fuselage that has the athey wheel, the lower part of fuselage is provided with the trapping apparatus who has the mouse and store the chamber, is provided with detection camera, laser radar and arm on the fuselage, the work end of arm is provided with the clamping jaw device that is used for cliping the toy baffle, still is provided with power supply unit, control panel and industrial computer in the fuselage.
Furthermore, the crawler wheels comprise a pair of driving wheels and a pair of driven wheels which are arranged on the machine body, the driving wheels and the driven wheels which are positioned on the same side are connected through a connecting plate, the driving wheels and the driven wheels are coated with crawler belts, and the driving wheels are driven by a motor.
Further, trapping apparatus is including setting up left grid tray and the right grid tray on the front side opening of mouse storage chamber, the upper and lower part of left grid tray and right grid tray one end rotates with the opening respectively and is connected, the mouse is stored the intracavity and is provided with the drive mechanism that drive left grid tray and right grid tray realized opening and close.
Further, the driving mechanism comprises cylindrical bosses arranged on the left grid plate and the right grid plate, connecting rods are hinged to the cylindrical bosses respectively, a driving motor is arranged in the mouse storage cavity, a driving rod is fixed to the output end of the driving motor, and two ends of the driving rod are hinged to the other end of the corresponding connecting rod respectively.
Further, the arm includes with set up the articulated seat articulated first rocking arm mutually on the fuselage, be provided with the rotatory arm motor of drive first rocking arm on the articulated seat, the other end of first rocking arm articulates there is the second rocking arm that is rotatory and be the L type by the drive of two arm motors.
Furthermore, the clamping jaw device comprises a clamping jaw mounting seat which is arranged on the working end of the mechanical arm and is driven to rotate by a clamping jaw motor, clamping plates with the upper parts matched with the clamping jaw mounting seat in a sliding mode are respectively arranged on the front side and the rear side of the clamping jaw mounting seat, and a thrust mechanism which drives the two clamping plates to move oppositely to clamp the small animal baffle is arranged on the clamping jaw mounting seat.
Further, thrust mechanism is including setting up the main ejector pad between two splint, the upper end and the vertical spacing groove sliding fit that sets up on the clamping jaw mount pad of main ejector pad, the upper end of main ejector pad still articulates there is a pair of connecting rod, the upper end of connecting rod articulates respectively has a thrust plate that is located the splint outside, the lower part and the clamping jaw mount pad of thrust plate rotate to be connected, and the lower extreme of thrust plate and the lateral surface looks butt of splint.
Furthermore, four clamping jaw sliding shafts are transversely arranged on the front side and the rear side of two sides of the clamping jaw mounting seat, and four holes are respectively formed in the upper parts of the two clamping plates and are in sliding fit with the corresponding clamping jaw sliding shafts.
Furthermore, the lower parts of the thrust plates are respectively connected with the clamping jaw mounting seats in a rotating mode through supporting shafts.
Furthermore, the detection camera is arranged at the upper part of the front side of the machine body, and the laser radar is arranged at the top of the machine body; the top of the machine body is provided with an upper cover, the upper cover is provided with a debugging port, the debugging port is covered with a debugging port cover plate, and the machine body is further provided with two carrying handles.
Compared with the prior art, the invention has the following advantages: this a mouse is caught robot for communication computer lab can be automatically patrolled the work in the computer lab, can initiatively catch behind the discovery mouse, avoids computer lab equipment to be damaged by the mouse to this robot can cross the toy baffle of installing on the computer lab door through the diaxon arm is automatic, patrols and catches the mouse between each computer lab, realizes going and the mouse is caught between a plurality of computer lab, can effectively avoid the phenomenon emergence that takes place equipment in the computer lab and is bitten bad by the mouse and take place.
The design of the mouse catching robot clamping jaw device for the communication machine room can achieve the clamping effect through the gravity and downward pressure of the robot.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the jaw apparatus of the present invention in a state of gripping a small animal baffle;
FIG. 3 is a schematic diagram of a closed state of the capturing device according to the present invention;
FIG. 4 is a schematic view of the open state of the catching device according to the present invention;
FIG. 5 is a schematic view of the structure of the catching device of the present invention;
FIG. 6 is a cross-sectional schematic view of the jaw apparatus of the present invention (natural unclamped condition);
FIG. 7 is a schematic view of the clamping jaw arrangement of the present invention in a clamped condition;
FIG. 8 is a schematic view of the steps of the robot of the present invention flipping over the small animal apron;
in the figure: 1-small animal baffle 10-body 11-detection camera 12-laser radar 13-driving wheel 14-driven wheel 15-connecting plate 16-crawler 17-upper cover 18-debugging port cover plate 19-carrying handle 20-catching device 21-left grid plate 22-right grid plate 23-cylindrical boss 24-connecting rod 25-driving motor 26-driving rod 27-mouse storage cavity 30-mechanical arm 31-hinge seat 32-first rotating arm 33-first arm motor 34-second arm motor 35-second rotating arm 40-clamping jaw device 41-clamping jaw motor 42-clamping jaw mounting seat 43-clamping plate 44-main pushing block 45-limiting groove 46-connecting rod 47-thrust plate 48-clamping jaw sliding shaft 49-supporting shaft.
Detailed Description
In order to make the aforementioned features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below, but the present invention is not limited thereto.
Refer to fig. 1 to 8
The utility model provides a mouse catches robot for communication computer lab, is including the fuselage 10 that has the athey wheel, the lower part of fuselage is provided with trapping apparatus 20 that has mouse storage chamber 27, is provided with on the fuselage and detects camera 11, lidar 12 and arm 30, the work end of arm is provided with the clamping jaw device 40 that is used for cliping toy baffle 1 to realize the robot through arm and clamping jaw mechanism cooperation and cross the toy baffle. And a power supply device for each electrical equipment, a control panel and an industrial personal computer for controlling each mechanism, a detection camera, a laser radar mechanical arm and the like are also arranged in the machine body.
In this embodiment, in order to provide supporting force and power for the robot, the track wheels include a pair of driving wheels 13 and a pair of driven wheels 14 mounted on the body, the driving wheels and the driven wheels on the same side are connected through a connecting plate 15, and the driving wheels and the driven wheels are covered with tracks 16. The driving wheel is driven by a motor and is responsible for providing power, the driven wheel is responsible for providing supporting force, and the crawler belt is meshed with the driving wheel and the driven wheel.
In this embodiment, trapping apparatus is including setting up left grid tray 21 and right grid tray 22 on the front side opening of mouse storage chamber, the upper and lower part of left grid tray and right grid tray one end rotates with the opening respectively and is connected, mouse storage chamber is intracavity is provided with the drive mechanism that drive left grid tray and right grid tray realized opening and close.
In this embodiment, the driving mechanism includes cylindrical bosses 23 disposed on the left grid plate and the right grid plate, the cylindrical bosses are respectively hinged with a connecting rod 24, a driving motor 25 is disposed in the mouse storage cavity, a driving rod 26 is fixed on an output end of the driving motor, and two ends of the driving rod are respectively hinged with the other end of the corresponding connecting rod. The driving motor 25 is arranged on the top surface of the mouse storage cavity, and the rotation of the output shaft of the driving motor can drive the driving rod to rotate left, so that the two connecting rods are driven to do reciprocating motion, and the opening and the closing of the catcher are controlled in such a way.
In this embodiment, one end of the left grid plate and one end of the right grid plate are respectively connected with the machine body in a rotating manner, and the movable ends of the left grid plate and the right grid plate are opened, so that the fence cross bars on the left grid plate and the right grid plate can be staggered when the left grid plate and the right grid plate are closed.
In this embodiment, the mechanical arm includes a first rotating arm 32 hinged to a hinge seat 31 disposed on the body, and an arm motor 33 for driving the first rotating arm to rotate is disposed on the hinge seat, and the first rotating arm can be driven to rotate by taking an output shaft of the arm motor as a rotation center. The other end of the first rotating arm is hinged with a second rotating arm 35 which is driven by a two-arm motor 34 to rotate and is in an L shape, and the second rotating arm can be driven to rotate by taking an output shaft of the two-arm motor as a rotation center. The clamping jaw device is arranged at the other end of the second rotating arm. The first rotating arm and the second rotating arm are respectively composed of two arm rods so as to improve the strength and the stability.
In this embodiment, the clamping jaw device includes a clamping jaw mounting base 42 which is mounted at the other end of the second rotating arm and is driven to rotate by a clamping jaw motor 41, and the clamping jaw device can be driven to rotate by taking an output shaft of the clamping jaw driving motor as a rotation center. The front side and the rear side of the clamping jaw mounting seat are respectively provided with a clamping plate 43 with the upper part matched with the clamping plate in a sliding way, and the clamping jaw mounting seat is provided with a thrust mechanism for driving the two clamping plates to move oppositely to clamp the small animal baffle.
In this embodiment, thrust mechanism is including setting up the main ejector pad 44 between two splint, the upper end and the vertical spacing groove 45 sliding fit who sets up on the clamping jaw mount pad of main ejector pad, the upper end of main ejector pad still articulates there is a pair of connecting rod 46, the upper end of connecting rod articulates respectively has a thrust plate 47 that is located the splint outside, the lower part and the clamping jaw mount pad of thrust plate rotate to be connected, and the lower extreme of thrust plate and the lateral surface looks butt of splint.
In this embodiment, the both sides design of main ejector pad has the arch, just in time blocks the spacing inslot on the clamping jaw mount pad, can be relative spacing groove and do sliding motion.
In this embodiment, four clamping jaw sliding shafts 48 are transversely arranged on the front and rear sides of the two sides of the clamping jaw mounting seat, four holes are respectively formed in the upper portions of the two clamping plates and are in sliding fit with the corresponding clamping jaw sliding shafts, and the two clamping plates perform sliding motion relative to the clamping jaw sliding shafts.
In this embodiment, the lower portion of the thrust plate is rotatably connected to the jaw mounting base through the support shaft 49, and the thrust plate can rotate relative to the support shaft.
Under normal conditions, the state of splint is as shown in fig. 6, and main ejector pad can be located the part of spacing groove under the effect of self gravity, and then drives the motion of connecting rod and thrust plate, makes thrust plate can't provide the thrust in the horizontal direction for splint, and splint are in the lax state. As shown in fig. 7, when the clamping jaw device is driven by the mechanical arm to tightly press the small animal baffle from top to bottom, the main pushing block slides upwards on the limiting groove due to the reaction force of the small animal baffle, at this time, the connecting rod and the thrust plate move under the driving of the main pushing block, the other side of the thrust plate tightly presses on the clamping plate, so that the small animal baffle is tightly clamped by the two clamping plates, and the clamping plate is clamped more tightly as the downward force applied to the clamping plate is larger.
In this embodiment, the detection camera is arranged at the upper part of the front side of the body, and the laser radar is arranged at the top of the body; the top of the machine body is provided with an upper cover 17, the upper cover is provided with a debugging port, the debugging port is covered with a debugging port cover plate 18, and the machine body is further provided with two carrying handles 19. The debugging port can be convenient for when the robot breaks down or takes out the mouse in the mouse storage cavity, and the carrying handle can be convenient for the carrying and the transportation of the robot.
Principle of operation
The robot is provided with a laser radar, autonomous path planning and positioning in a machine room are realized in a laser positioning navigation mode, and a detection camera installed at the front end of the robot is responsible for identifying mice in the machine room in real time and judging the distance information of the mice from the robot.
During normal work, trapping apparatus is the open mode, and the robot can be in the tour that the computer lab was not stopped, in case discover the mouse, will carry out local path planning to the adjustment functioning speed is quick, and the face is opened towards the mouse, judges when the mouse is located the catching distance when detecting the camera, and trapping apparatus can be closed fast, traps the mouse in the mouse storage chamber.
When the robot finishes the patrol of one machine room and needs to go to another machine room for patrol, the robot firstly starts to a certain position at the front end of the small animal baffle plate, then executes the turning action, turns over the small animal baffle plate and arrives at the other machine room.
As shown in fig. 8, when the robot moves to the front of the small animal baffle, the robot controls the mechanical arm to clamp the clamping plate on the small animal baffle, and then the robot folds automatically. As shown in the rightmost drawing of fig. 8, the weight of the entire robot is now applied to the small animal apron. The clamping jaw device can be tightly clamped on the small animal baffle plate due to the principle of the design, then the clamping jaw motor works, the robot turns to the other time of the small animal baffle plate, and the machine slowly unfolds again. The robot can finish the crossing action of the small animal baffle, and after the crossing action is finished, the front end of the robot is positioned on one side far away from the small animal baffle, so that the patrol and mouse capture work of the next machine room can be directly started.
The above description is only a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various forms of the rat catching robot for a communication room may be designed without inventive labor according to the teachings of the present invention, and all equivalent changes, modifications, substitutions and alterations made in the scope of the present invention as claimed should fall within the spirit and scope of the present invention.
Claims (8)
1. A mouse catching robot for a communication machine room comprises a machine body with crawler wheels, and is characterized in that a catching device with a mouse storage cavity is arranged at the lower part of the machine body, a detection camera, a laser radar and a mechanical arm are arranged on the machine body, a clamping jaw device for clamping a small animal baffle is arranged at the working end of the mechanical arm, and a power supply device, a control panel and an industrial personal computer are further arranged in the machine body; the clamping jaw device comprises a clamping jaw mounting seat which is arranged on the working end of the mechanical arm and is driven to rotate by a clamping jaw motor, clamping plates with the upper parts matched with the clamping jaw mounting seat in a sliding way are respectively arranged on the front side and the rear side of the clamping jaw mounting seat, and a thrust mechanism for driving the two clamping plates to move oppositely to clamp the small animal baffle is arranged on the clamping jaw mounting seat; thrust mechanism is including setting up the main ejector pad between two splint, the upper end and the vertical spacing groove sliding fit who sets up on the clamping jaw mount pad of main ejector pad, the upper end of main ejector pad still articulates there is a pair of connecting rod, the upper end of connecting rod articulates respectively has a thrust plate that is located the splint outside, the lower part and the clamping jaw mount pad of thrust plate rotate to be connected, and the lower extreme of thrust plate and the lateral surface looks butt of splint.
2. A mouse catching robot for communication room according to claim 1 wherein said crawler wheels comprise a pair of driving wheels and a pair of driven wheels mounted on the body, the driving wheels and the driven wheels on the same side are connected via a connecting plate, and the driving wheels and the driven wheels are covered with crawler belts, said driving wheels being driven by a motor.
3. A mouse catching robot for communication machine room according to claim 1 or 2, characterized in that the catching device comprises a left grid plate and a right grid plate arranged on the opening of the front side of the mouse storage cavity, the upper and lower parts of one end of the left grid plate and the right grid plate are respectively connected with the opening in a rotating way, and a driving mechanism for driving the left grid plate and the right grid plate to open and close is arranged in the mouse storage cavity.
4. The mouse catching robot for the communication machine room as claimed in claim 3, wherein the driving mechanism comprises cylindrical bosses disposed on the left grid plate and the right grid plate, the cylindrical bosses are respectively hinged with a connecting rod, the mouse storage chamber is provided with a driving motor, an output end of the driving motor is fixed with a driving rod, and two ends of the driving rod are respectively hinged with the other end of the corresponding connecting rod.
5. The mouse catching robot for the communication room as claimed in claim 1, wherein the robot arm comprises a first rotating arm hinged to a hinge base provided on the body, the hinge base is provided with an arm motor for driving the first rotating arm to rotate, and the other end of the first rotating arm is hinged to a second rotating arm which is driven to rotate by a second arm motor and is L-shaped.
6. A mouse catching robot for communication machine room according to claim 1 is characterized in that four jaw sliding shafts are transversely arranged on the front and back sides of the two sides of the jaw mounting seat, and four holes are respectively arranged on the upper parts of the two clamping plates and are in sliding fit with the corresponding jaw sliding shafts.
7. A mouse catching robot for communication room according to claim 1 or 6 characterized in that the lower part of the thrust plate is rotatably connected with the jaw mounting base through a support shaft, respectively.
8. A mouse catching robot for communication room according to claim 1 wherein the detecting camera is installed at the upper part of the front side of the body, the laser radar is installed at the top of the body; the top of the machine body is provided with an upper cover, the upper cover is provided with a debugging port, the debugging port is covered with a debugging port cover plate, and the machine body is further provided with two carrying handles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110106139.4A CN112841163B (en) | 2021-01-26 | 2021-01-26 | Mouse catching robot for communication machine room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110106139.4A CN112841163B (en) | 2021-01-26 | 2021-01-26 | Mouse catching robot for communication machine room |
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| Publication Number | Publication Date |
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| CN112841163A CN112841163A (en) | 2021-05-28 |
| CN112841163B true CN112841163B (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110106139.4A Active CN112841163B (en) | 2021-01-26 | 2021-01-26 | Mouse catching robot for communication machine room |
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| CN109533051A (en) * | 2018-11-29 | 2019-03-29 | 北京理工大学 | A kind of convertible stair climbing robot with foldable swing arm |
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| CN211642746U (en) * | 2020-01-16 | 2020-10-09 | 聊城鑫泰机床有限公司 | Robot for automatically drawing bottom, receiving materials, overturning and boxing parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7654348B2 (en) * | 2006-10-06 | 2010-02-02 | Irobot Corporation | Maneuvering robotic vehicles having a positionable sensor head |
| WO2012143935A2 (en) * | 2011-04-20 | 2012-10-26 | Chandran V V | Domestic rat trap |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007135578A (en) * | 2005-11-23 | 2007-06-07 | Hiroshi Wada | Mouse trap which is not conventional mouse trap |
| JP3133079U (en) * | 2007-04-18 | 2007-06-28 | 三協精器工業株式会社 | Trap |
| CN106170370A (en) * | 2013-11-19 | 2016-11-30 | 普罗特克萨安全有限公司 | The robotic vehicle remotely controlled |
| CN107771032A (en) * | 2015-04-13 | 2018-03-06 | 于尔根·布赫施塔勒 | For supporting the device of bait |
| CN104908627A (en) * | 2015-05-29 | 2015-09-16 | 山东鲁能智能技术有限公司 | Transformer substation patrol robot transportation device and method |
| CN106489903A (en) * | 2016-10-25 | 2017-03-15 | 徐洪恩 | A kind of intelligent substation mousing robot |
| CN107750622A (en) * | 2017-11-14 | 2018-03-06 | 黄德懿 | A kind of picking machine |
| CN109533051A (en) * | 2018-11-29 | 2019-03-29 | 北京理工大学 | A kind of convertible stair climbing robot with foldable swing arm |
| CN110679583A (en) * | 2019-10-14 | 2020-01-14 | 广东电网有限责任公司 | Patrol mouse trapping robot and control method thereof |
| CN211642746U (en) * | 2020-01-16 | 2020-10-09 | 聊城鑫泰机床有限公司 | Robot for automatically drawing bottom, receiving materials, overturning and boxing parts |
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| CN112841163A (en) | 2021-05-28 |
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