CN201544223U - Cash transport robot with function of guarding - Google Patents
Cash transport robot with function of guarding Download PDFInfo
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- CN201544223U CN201544223U CN2009201378765U CN200920137876U CN201544223U CN 201544223 U CN201544223 U CN 201544223U CN 2009201378765 U CN2009201378765 U CN 2009201378765U CN 200920137876 U CN200920137876 U CN 200920137876U CN 201544223 U CN201544223 U CN 201544223U
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Abstract
The utility model discloses a cash transport robot with the function of guarding, mainly comprising a safe, a mobile carrier and an arm communication control box. A manipulator system on the top surface of the arm communication control box is internally provided with a vidicon, a microphone, an infrared aiming device, a conducting liquid spray tube, a fuel spray tube, an air gun, a capsaicin spray tube and the like; the spray tubes in the manipulator system are respectively connected into a conducting liquid box, a fuel box and a capsaicin box in the arm communication control body through pipelines; all motors and electromagnetic valves of the manipulator system and lines of a motor of the mobile carrier are respectively connected with an audio-video control circuit board and a single-chip computer system board; and the audio-video control circuit board is further connected with the vidicon and the microphone and controlled by a remote monitor center and a cash transport van control console through a 3G network and a wireless network. Therefore, a controller can enable the robot to shoot bullets and spray liquid, flame and capsaicin with high voltage electricity to launch an offensive through controlling the motion of the robot and starting the arm system.
Description
1, technical field:
The present invention relates to a kind of robot, relate in particular to a kind of bank note transporting robot of keeping library facility that has, belong to the robot application field.
2, background technology:
Present stage, in order to take precautions against the fund security in bank's fortune paper money process, except relying on traditional mode to also have many people to design many anti-snatch bank note transporting boxes transporting by escort personnel, as, application number: the paper money transfer method of 03149896.6 anti-robbery bank bank note transporting box, 200510054953.7 1 kinds of safety and device etc., the product of these designs mainly plays auxiliary effect, and they can't substitute the working method that escort personnel is escorted by gun fully.Because the quality of escort personnel is uneven, the work of transporting of fund must be fixed a point, regularly be carried out to armoured van again in several bank outlets, target is very definite, robber in such cases all is again to initiate suddenly to attack within several meters of distance escort personnels, so looks to escort personnel not gear to actual circumstances by the purpose that this approach of quick-reaction capability is used to reach effective strick precaution very much.And what escort personnel was now used is shotgun, and this rifle is executed the task in bigger usually each site of bank of flow of the people, in case as easy as rolling off a logly in use hurt the pedestrian.The fund security of bank is except in the process of escorting, because the safety measure in the existing storehouse is to adopt large-scale safety cabinet to add that safety defense monitoring system and several keep the storehouse personnel and realize, the robber that such precautionary measures also are not enough to tackle reliably internal work personnel or robber robs when storehouse.
3, summary of the invention:
The present invention is directed to the deficiencies in the prior art and defective, a kind of bank note transporting robot of keeping library facility that has is provided, make its in bank fortune paper money process or with deposits funds in storehouse, can both take precautions against by bank note transporting robot with intelligence and attack weapon, thus the safety of support personnel and fund.
The utility model mainly comprises safety box, mobile vehicle, and weapon Control on Communication case constitutes.It is characterized in that: safety box is connected with mobile vehicle by the four jiaos of interior set hooks in bottom, and the buckle that is provided with the safety box end face behind the felt pad that the underrun of weapon Control on Communication case is provided with is connected with lock.
Wherein safety box mainly comprises: outer case, hook, jet pipe and nozzle etc.Their connected mode is: the putting position according to cash and bill on cabinet wall is provided with many nozzles, is connected with articulation on being located at the outer case top side location by pipeline between nozzle.The safety box end face is provided with conductive seat, and the conductive pole on this conductive seat and the weapon Control on Communication case bottom surface is on the same upright position, and the bottom surface of safety box is provided with conductive pole, and this conductive pole is on the same upright position with the conductive seat that is located on the mobile vehicle end face.Protect between conductive seat and the bottom surface and the conductive pole of end face of casing and be connected by the circuit that is hidden in cabinet wall.Be provided with hook in four angles of safety box, this hook bottom is a hook, and the top is a right angle of 90 degree, what wrap this right angle is the sector space of the horizontal direction that is provided with in the outer case, and the right angle on the hook is connected with casing by spring in this space.Four right angles of hook are provided with hole on casing face outward, be provided with shutter between this hole and casing face, and shutter connects by push rod, and push rod is connected with lock on being installed in casing.
Weapon Control on Communication case mainly comprises: (this mechanical arm system is mainly by mechanical upper arm for mechanical arm system, the machinery underarm, the motor of band screw rod, large fluted disc, transmission tube, helical spring, the limit switch of turn-taking, conduction liquid jet pipe, fuel nozzle, the capsicim jet pipe, air gun, video camera, microphone, the wide-angle imaging machine, infrared sight, ignition constitutes), the alarm song circuit board, the overvoltage protector array, high-voltage generator, the audio frequency and video control circuit board, the GPS terminating machine, the combined type fan nozzle, the SCM system plate, infrared ray sensor, ultrasonic sensor, the doppler radar device, fuel tank, lead electrohydraulic box, the capsicim case, the dye liquor case, high-pressure air tank tank, air compressor, lithium ion battery, outer case, formations such as loudspeaker; Their connected mode is: mechanically the bottom position in arm one end is provided with the capsicim jet pipe, on the capsicim jet pipe, be provided with fuel nozzle, this fuel nozzle is other to be provided with and self supporting ignition and electrode, is provided with two conduction liquid jet pipes of being made by electrically non-conductive material at a distance of 5-10 centimetre of level on fuel nozzle.Medium position is provided with video camera and infrared sight, is provided with the protection window of being made by bulletproof glass before the camera lens of video camera.The place, below of tip position is provided with air gun, the gun barrel rear portion of this air gun is being connected on the high-pressure air tank tank through behind the magnetic valve, below high-pressure air tank tank, be provided with microphone, above air gun, be provided with the wide-angle imaging machine, be respectively equipped with ultrasonic detector and pyroscan in the both sides of wide-angle imaging machine.The other end of machinery upper arm connects a fluted disc, and the centre point of this fluted disc is connected with mechanical underarm, and the upper end of mechanical underarm is provided with the motor of band screw rod, and the screw rod on the motor of this band screw rod carries out being connected of power with the fluted disc of mechanical upper arm.The other end of machinery underarm is connected with the centre point of fluted disc, and this fluted disc vertically is located on the centre point of outer case inner top surface large fluted disc, and the tooth on the fluted disc is connected with screw rod, and the motor of connecting screw rod is fixed on the bottom of mechanical underarm.The tooth that is located on the outer case inner top surface large fluted disc carries out being connected of power with the screw rod that is located at the side, and the motor that is connected with this screw rod is fixed in the outer case.Be connected with transmission tube below the large fluted disc centre point, these transmission tube two ends are fastened in the outer case through bearing, are provided with turn-take limit switch and helical spring between the bearing at two ends from top to bottom.The limit switch of turn-taking mainly is to be made of the transmission tube screw thread that is provided with and the nut, shift fork, the microswitch that are enclosed within on the screw thread, one end of nut is fixed in the outer case by fixed bar, the other end of nut is connected with an end of shift fork, the other end of this shift fork is located at two microswitches up and down between two plectrums, and the microswitch of this limit switch of turn-taking links to each other with the circuit of the motor that is located at the outer case inner top surface.Ring end is fixed on the transmission tube in helical spring, and fixing point is other to be provided with a hole, and helical spring outer ring end is fixed in the outer case.Audio frequency and video control circuit board that is provided with on the helical spring side and GPS terminating machine and SCM system plate all are to be lifted in the outer case after insulation is handled with spring, are provided with shock sensor and alarm song circuit board and lithium ion battery below these circuit boards.Be provided with at the upper position place of the other end of outer case and lead electrohydraulic box, fuel tank, capsicim case, dye liquor case, air compressor, below these casings, be provided with high-voltage generator.Being located at the interior conduction liquid jet pipe of mechanical upper arm and the pipeline of fuel nozzle and capsicim jet pipe all is to be connected with flexible pipe more respectively with after magnetic valve is connected, flexible pipe passes from the hole that the transmission tube medium position is reserved after passing the inner chamber of mechanical upper arm and mechanical underarm again, and be located at each self-corresponding leading in electrohydraulic box and fuel tank and the capsicim case in the outer case from being connected respectively to them again after interior ring begins to be lashed to outer shroud along helical spring radian, leading in the electrohydraulic box wherein by two mutually insulateds, and constitute with the container of casing insulation, these three casings are added and are located at other dye liquor case, all be provided with on the tip position of each container in these four casings all be provided with in addition in filling opening and Pressure gauge and each container root pipeline by pressure valve separately after more respectively be located at other air compressor and link to each other.Fuel tank and each container of leading electrohydraulic box are all exported four pipelines in addition, these four pipelines respectively be located at outer case in the magnetic valve group of combined type fan nozzle of upper inside wall position, four sides be connected.The combined type fan nozzle is made of two-layer up and down, wherein lower floor be on the end of two pipelines respectively with after many pipelines are in parallel, the conduction nozzle for liquid that many in parallel pipeline enclosures diverge to into flat more mutually and handle through insulation on two pipelines, upper strata are to constitute with the fuel nozzle that again other end of many pipelines is arranged in flat after many pipelines are in parallel respectively on the end of pipeline.The high-voltage generator that is located in the outer case is made as three tunnel outputs; one the tunnel be anodal output wherein, it contact with the end face of safety box by behind magnetic valve and the conductive pole, the two tunnel is both positive and negative polarity output, anodal will passing through behind the overvoltage protector array again in negative pole is connected to two containers of leading electrohydraulic box wherein in addition.After dye liquor case in the outer case passes through pipeline elder generation and magnetic valve is connected, be connected on the Active Interface of outer case bottom.Be located at the magnetic valve on the air gun trigger and the magnetic valve on the gun barrel in the mechanical upper arm, magnetic valve on the conduction liquid jet pipe, magnetic valve on the capsicim jet pipe, magnetic valve on the fuel nozzle, ignition, video camera, microphone, the wide-angle imaging machine, infrared sight, ultrasonic sensor, infrared ray sensor and two motors that have screw rod that are located on the mechanical underarm, their circuit is after the inner chamber of arm and mechanical underarm pierces into transmission tube from machinery respectively, pass and be lashed on the outer shroud from interior ring along helical spring radian from the hole that the transmission tube stage casing is reserved again, in these circuits: 1) circuit of wide-angle imaging machine and video camera and microphone links to each other with the audio frequency and video input of audio frequency and video control circuit board; 2) circuit of the magnetic valve on the magnetic valve on the magnetic valve on the air gun gun barrel and the trigger, the magnetic valve on the conduction liquid jet pipe, the magnetic valve on the fuel nozzle, ignition, the capsicim jet pipe is all and be unified into two the tunnel in the mechanical upper arm: the circuit of wherein leading up to is connected with the control instruction output module of audio frequency and video control circuit board, and the circuit on another road is all wanted first and is connected with the latch of SCM system plate respectively behind overdrive circuit again; 3) on the mechanical underarm circuit of two motors and the circuit that is located at microswitch in the outer case all will be earlier through behind the overvoltage protector array again and be unified into two the tunnel: wherein one the tunnel links to each other with the control instruction output module of audio frequency and video control circuit board, and another road all will be connected with the latch of SCM system plate behind overdrive circuit.Be located in the antenna groups of weapon Control on Communication case end face antenna respectively be located at outer case in audio-video signal transmitter module, wireless signal receiver module, network wireless signal receiving module, the audio, video data compressed transmissions module of audio frequency and video control circuit board link to each other with the GPS terminating machine.The singlechip chip pin of the SCM system plate in the keyboard that is located at weapon Control on Communication case end face and LCDs and the outer case is connected.The outlet line that is located at alarm song circuit board in the outer case links to each other with the loudspeaker that is located at the side.The circuit of motor, alarm song circuit board that is located at the magnetic valve on magnetic valve, high-voltage generator input and the output on the dye liquor case, air compressor in the outer case is with the circuit of the infrared sight of the outer ring end of helical spring and be unified into two the tunnel: the circuit of wherein leading up to links to each other with the control instruction output module of audio frequency and video control circuit board, and the circuit that has the motor with magnetic valve and air compressor to be connected in the circuit on another road will first be connected with the latch of other circuit with the SCM system plate behind overdrive circuit again.The ultrasonic sensor that is located at wide-angle imaging machine both sides is connected with the latch of far-infrared sensor with the SCM system plate.Being located in the mobile vehicle crawler belt link tester of motor crosses the conductive seat and the conductive pole that are provided with in weapon Control on Communication case and safety box and the mobile vehicle circuit is connected in the outer case; these be connected to circuit in the outer case all will be earlier through behind the overvoltage protector array again and be unified into two-way: wherein one the tunnel links to each other with the control instruction output module of audio frequency and video control circuit board, is connected with the latch of SCM system plate behind another Lu Yaojing overdrive circuit again.Be located at around the outer case bottom ultrasonic sensor and infrared ray sensor respectively be located at outer case in the latch of SCM system plate be connected.The magnetic valve group that is located on the interior combined type fan nozzle of outer case is all passed through to link to each other with the latch of SCM system plate behind the drive circuit.The doppler radar device that is located at the outer case bottom is through being connected with the singlechip chip pin of SCM system plate respectively with the circuit of two luminance detection that are located at the outer case bottom behind the signal amplifier.The shock sensor that is located in the outer case is connected with the pin of the singlechip chip of SCM system plate.The audio frequency and video of audio frequency and video control circuit board are counted on the audio input end of input and also are parallel with the single line road, this circuit be connected with the latch of SCM system plate again after the alarm song circuit board is connected.The supply module of audio frequency and video control circuit board links to each other with GPS terminating machine and audio, video data compressed transmissions module with lithium ion battery respectively, and the power supply of audio, video data compressed transmissions module is in parallel with the power supply of audio-video signal transmitter module, control instruction output module, audio frequency and video video module, network wireless signal receiving module, wireless signal receiver module respectively.
The audio frequency and video control circuit board is to utilize 3G (WCDMA, TD-SCDMA, CDMA2000) network to carry out the transmission of audio frequency and video and control instruction.The audio frequency and video control circuit board contains audio-video signal transmitter module, control instruction output module, audio frequency and video video module, network wireless signal receiving module, wireless signal receiver module, audio frequency and video input, audio, video data compression module, audio, video data transmitter module; The audio, video data compression module is connected with the audio, video data transmitter module of wireless-transmission network and constitutes audio, video data compressed transmissions module; The audio frequency and video input is connected with audio frequency and video picture recording module and audio-video signal transmitter module with audio, video data compressed transmissions module respectively; The instruction output end of network wireless signal receiving module and wireless signal receiver module links to each other by keyboard chord with the instruction input of control instruction output module respectively, and the signal detection output of the radio frequency of network wireless signal receiving module detection output and wireless signal receiver module links to each other by the latch of circuit with the SCM system plate; The instruction output end of control instruction output module is connected with the pin of the latch of SCM system plate through circuit.The power supply of control instruction output module is in parallel with the power supply of audio-video signal transmitter module, control instruction output module, audio frequency and video video module, network wireless signal receiving module, wireless signal receiver module respectively.
Be connected with brilliant shake circuit, reset circuit, voltage-stablizer, two luminance detection on the singlechip chip pin of SCM system plate, all pass through two doppler radar devices, shock sensor, keyboard, LCDs and seven latch after the signal amplifier connection.
The beneficial effects of the utility model are: video camera in the mechanical upper arm and microphone and wide-angle imaging machine send to audio/video information image and acoustic information around the bank note transporting robot in the console of remote control center and armoured van simultaneously by audio, video data compressed transmissions module and the audio-video signal transmitter module that is located at the audio frequency and video control circuit board in the weapon Control on Communication case.The operating personnel of remote control center and armoured van just can send instruction by console according to the information that transmit at the scene, this instruction receives through the antenna sets of weapon Control on Communication box top, the signal that receives is respectively through being transported to motors all in the bank note transporting robot mechanical arm system and magnetic valve and infrared sight by the control instruction output module again behind the network wireless signal receiving module of the audio frequency and video control circuit board in the outer case and the wireless signal receiver module, with the magnetic valve group that is transported to the combined type fan nozzle in the outer case, and high-voltage generator, dye liquor case magnetic valve, in the alarm song circuit board, and be transported in the motor of mobile vehicle crawler belt.Operating personnel just can travel bank note transporting robot by sending instruction to the motor in the bank note transporting robot mobile vehicle like this, with by sending instruction for intrasystem motor of robot arm and magnetic valve, the ability that this instruction makes the mechanical arm system of bank note transporting robot have monitoring and aiming and open weapon attacking; For example: when opening the high-voltage generator input, the interior conduction liquid of two containers of leading electrohydraulic box will have high-tension electricity, if open the magnetic valve on the conduction liquid jet pipe this moment, the conduction liquid of two containers of conduction liquid casing will will have high-tension electricity under the effect of air pressure liquid ejects from conduction liquid jet pipe, if open the magnetic valve of high-voltage generator output again, the high voltage electric energy that transmits out from magnetic valve is connected with safety box by conductive pole so, makes to have high-tension electricity on the safety box; If open the magnetic valve on air gun trigger and the pipeline, the gases at high pressure in the high-pressure air tank tank will be launched the bullet in the air gun; If behind the magnetic valve and ignition on the unlatching fuel nozzle, the high pressure flammable liquid in the fuel tank will outwards jet out flames after being lighted through the other electrode of fuel nozzle.Or the magnetic valve on the unlatching capsicim jet pipe, the high pressure capsicim in the capsicim case is ejected by the capsicim jet pipe.When if network signal receiver module in the audio frequency and video control circuit board and wireless signal receiver module all do not receive radio signal, signal deteching circuit is just passed to the SCM system plate with detection signal by latch in radio frequency testing circuit in the network signal receiver module and the wireless signal receiver module, the SCM system plate is just controlled bank note transporting robot automatically according to program setting and is entered the state of alert, this moment as the people when the robot, infrared ray sensor around the weapon Control on Communication casing, ultrasonic sensor, the doppler radar device just can be found out, when messenger reached the scope of setting apart from robot, the SCM system plate gave a warning by the alarm song circuit board earlier, warn invalid back by mechanical upper arm infrared ray sensor and ultrasonic sensor aims at and open conduction liquid jet pipe according to program, fuel nozzle, the capsicim jet pipe, air gun is attacked or by the magnetic valve in the combined type fan nozzle, make in the combined type fan nozzle according to program ejection capsicim and the high-tension electricity water column and the column of flame.When bank note transporting robot is engaged in national treasury when keeping the storehouse operation, ultrasonic sensor around the bank note transporting robot weapon Control on Communication case, far-infrared sensor, the doppler radar device, shock sensor, these sensors of luminance detection are handled the information conveyance around the bank note transporting robot in the SCM system plate, bank note transporting robot just can move automatically according to program set in the SCM system plate then, this moment any personnel that enter storehouse, after finding out, robot all can open the alarm song circuit board by the latch in the SCM system plate earlier, the interior audio alert signal of alarm song circuit is sent in the remote monitoring center by the audio, video data compressed transmissions module of audio frequency and video control circuit board, bank note transporting robot begins to give a warning and infrared ray sensor by mechanical upper arm and ultrasonic sensor aims at and open conduction liquid jet pipe according to program according to program then, fuel nozzle, the capsicim jet pipe, air gun is attacked, or the magnetic valve of unlatching combined type fan nozzle, make in the combined type fan nozzle according to program ejection capsicim and the high-tension electricity water column and the column of flame.
4, description of drawings:
Fig. 1 is a left elevation of the present utility model;
Fig. 2 is a right elevation of the present utility model;
Fig. 3 is an integrated circuit structured flowchart of the present utility model;
Fig. 4 is the electrical schematic diagram of audio frequency and video control circuit board of the present utility model;
Fig. 5 is the electrical circuit diagram of SCM system plate of the present utility model.
5, the specific embodiment:
Describe embodiment of the present utility model in detail below in conjunction with accompanying drawing.As shown in Figure 1, the utility model mainly comprises safety box 59 and mobile vehicle 58, it is characterized in that: safety box end face 59 end faces are provided with weapon Control on Communication case 70; Safety box 59 is connected by the set hole of hook 52 set in four jiaos of the bottoms and mobile vehicle 58 end faces, the bottom surface of weapon Control on Communication case 70 through felt pad 57 after and the buckle that is provided with of safety box 59 end faces with lock 67 and be connected.
Wherein safety box 59 putting position according to cash and bill on cabinet wall is provided with many nozzles 50,50 at this nozzle is connected with articulation 60 on being located at box top by pipeline, the top side location of safety box 59 is provided with conductive seat 32, conductive pole 31 on this conductive seat 32 and weapon Control on Communication case 70 bottom surfaces is on the same upright position, the bottom surface of safety box 59 is provided with conductive pole 61, this conductive pole 61 is on the same upright position with the conductive seat 62 that is located on mobile vehicle 58 end faces, the conductive seat 32 of the end face of safety box 59 and bottom surface and conductive pole 61 between be connected by the circuit that is hidden in cabinet wall.Be provided with hook 52 in four angles of safety box 59, this links up with 52 bottoms is hooks, the top is a right angle of 90 °, what wrap this right angle is the sector space of the horizontal direction that is provided with in the safety box 59, and the right angle on the hook is connected with casing by spring 51 in this space.Four right angles of hook are provided with shutter 71 be provided with hole 69 on the casing at outside place between this hole 69 and casing, and shutter 71 connects by push rod, and push rod is connected with lock 72 on being installed in safety box 59.
According to Fig. 1; Fig. 2; Fig. 3; Fig. 4; shown in Figure 5, weapon Control on Communication case 70 mainly comprises: (this mechanical arm system 3 is mainly by mechanical upper arm 1 for mechanical arm system 3; machinery underarm 14; the motor 13 and 15 and 24 of band screw rod; large fluted disc 25; transmission tube 73; helical spring 30; the limit switch 79 of turn-taking; conduction liquid jet pipe 6; fuel nozzle 8; capsicim jet pipe 40; air gun 2; video camera 4; microphone 9; wide-angle imaging machine 5; infrared sight 74; ignition 11 constitutes); alarm song circuit board 36; overvoltage protector array 33; high-voltage generator 28; audio frequency and video control circuit board 37; GPS terminating machine 56; combined type fan nozzle 18; SCM system plate 35; infrared ray sensor 26; ultrasonic sensor 54; doppler radar device 68; fuel tank 22; lead electrohydraulic box 23; capsicim case 21; dye liquor case 20; high-pressure gas tank 41; air compressor 55; lithium ion battery 34; loudspeaker 101; outer case 17 formations such as grade.Their connected mode is: mechanically the bottom position in arm 1 one ends is provided with capsicim jet pipe 40, on capsicim jet pipe 40, be provided with fuel nozzle 8, these fuel nozzle 8 other being provided with and self supporting ignition 11 and electrode 7, on fuel nozzle 8, be provided with two conduction liquid jet pipes of making by electrically non-conductive material 6 at a distance of 5-10 centimetre of level, medium position is provided with video camera 4 and infrared sight 74, be provided with the protection window of making by bulletproof glass before the camera lens of video camera 4, the place, below of tip position is provided with air gun 2, the gun barrel rear portion of air gun 2 is being connected on the high-pressure air tank tank 41 through behind the magnetic valve 44, below high-pressure air tank tank 41, be provided with microphone 9, the top of air gun 2 is provided with wide-angle imaging machine 5, is respectively equipped with ultrasonic detector 45 and pyroscan 53 in the both sides of wide-angle imaging machine 5; The other end of machinery upper arm 1 connects a fluted disc 12, the centre point of this fluted disc 12 is connected with mechanical underarm 14, the upper end of machinery underarm 14 is provided with the motor 13 of band screw rod, screw rod on the motor 13 of this band screw rod carries out being connected of power with the fluted disc of mechanical upper arm 1 12, the other end of machinery underarm 14 is connected with the centre point of fluted disc 16, this fluted disc 16 vertically is located on the centre point of outer case 17 inner top surface large fluted discs 25, tooth on the fluted disc 16 is connected with screw rod, and the motor 15 that is connected with this screw rod is fixed on the bottom of mechanical underarm 14; Be located on the large fluted disc 25 of outer case 17 inner top surfaces tooth be located at other screw rod and carry out being connected of power, the motor 24 that is connected with this screw rod is fixed in the outer case 17, be connected with transmission tube 73 below large fluted disc 25 centre points, these transmission tube 73 two ends are fastened in the outer case 17 through bearing, are provided with turn-take limit switch 79 and helical spring 30 between the bearing at two ends from top to bottom; The limit switch 79 of turn-taking mainly is by transmission tube 73 screw thread that is provided with and the nut that is enclosed within on this screw thread, shift fork, microswitch 29 constitutes, one end of nut is fixed in the outer case 17 by fixed bar, the other end of nut is connected with an end of shift fork, the other end of this shift fork is located between two plectrums up and down of two microswitches 29, the microswitch 29 of this limit switch 79 of turn-taking links to each other with the circuit of the motor 24 that is located at outer case 17 inner top surfaces, the interior ring end of helical spring 30 is fixed on the transmission tube 73, fixing point is other to be provided with a hole, and the outer ring end of helical spring 30 is fixed in the outer case 17.Audio frequency and video control circuit boards 37 that are provided with on helical spring 30 sides and GPS terminating machine 56 and SCM system plate 35 all are to be lifted in the outer case 17 after insulation is handled with spring.Below these circuit boards, be provided with shock sensor 100 and alarm song circuit board 36 and lithium ion battery 34.Be provided with at the upper position place of the other end of outer case 17 and lead electrohydraulic box 23, fuel tank 22, capsicim case 21, dye liquor case 20, air compressor 55, below these casings, be provided with high-voltage generator 28; Being located at the conduction liquid jet pipe 6 in the mechanical upper arm 1 and the pipeline of fuel nozzle 8 and capsicim jet pipe 40 all is to be connected with flexible pipe more respectively with after magnetic valve is connected, flexible pipe passes from the hole that transmission tube 73 medium positions are reserved after passing the inner chamber of mechanical upper arm 1 and mechanical underarm 14 again, and be located at each self-corresponding leading in electrohydraulic box 23 and fuel tank 22 and the capsicim case 21 in the outer case 17 from being connected respectively to them again after interior ring begins to be lashed to outer shroud along the radian of helical spring 30, leading in the electrohydraulic box 23 wherein by two mutually insulateds, and constitute with the container of casing insulation, these three casings are added and are located at other dye liquor case 20, all be provided with on the end face of each container in these four casings filling opening with Pressure gauge and all also be provided with the root pipeline by pressure valve separately after respectively be located at other air compressor 55 and link to each other, fuel tank 22 and each container of leading in the electrohydraulic box 23 are all exported four pipelines in addition, these four pipelines respectively be located at outer case 17 interior four sidewalls on the magnetic valve group 19 of combined type fan nozzle 18 be connected, combined type fan nozzle 18 is made of two-layer up and down, wherein lower floor be on the end of two pipelines respectively with after many pipelines are in parallel, the conduction nozzle for liquid that many in parallel pipeline enclosures diverge to into flat more mutually and handle through insulation on two pipelines, upper strata are to constitute with the fuel nozzle that again other end of many pipelines is arranged in flat after many pipelines are in parallel respectively on the end of pipeline.Being located at that high-voltage generators 28 in the outer case 17 are made as is three tunnel outputs, one the tunnel be anodal output wherein, it contacts with the end face of safety box 59 by behind magnetic valve 63 and the conductive pole, in addition two the tunnel be both positive and negative polarity output, wherein anodal will through behind the overvoltage protection array 33 again in negative pole is connected to two containers of leading electrohydraulic box 23, dye liquor case 20 in the outer case 17 is connected with magnetic valve 66 earlier by pipeline, and the other end of magnetic valve 66 is connected on the Active Interface of outer case 17 bottom surfaces by pipeline again; Be located at the magnetic valve 46 on air gun 2 triggers and the magnetic valve 44 on the gun barrel in the mechanical upper arm 1, magnetic valve 43 on the conduction liquid jet pipe 6, magnetic valve 47 on the capsicim jet pipe 40, magnetic valve 10 on the fuel nozzle 8, ignition 11, video camera 4, microphone 9, wide-angle imaging machine 5, infrared sight 74, ultrasonic sensor 45, infrared ray sensor 53 and two motors 13 and 15 that have screw rod that are located on the mechanical underarm 14, their circuit is after the inner chamber of arm 1 and mechanical underarm 14 pierces into transmission tube 73 from machinery respectively, from the hole that transmission tube 73 stage casings are reserved, pass again and be lashed on the outer shroud from interior ring along the radian of helical spring 30, in these circuits: 1) wide-angle imaging machine 5 links to each other with the audio frequency and video input of audio frequency and video control circuit board 37 by cable video incoming line 98, and video camera 4 links to each other with the audio frequency and video input of audio frequency and video control circuit board 37 by wired audio frequency and video incoming line 99 with microphone 9; 2) circuit of the magnetic valve 47 on the magnetic valve 46 on the magnetic valve 44 on air gun 2 gun barrels in the mechanical upper arm 1 and the trigger, the magnetic valve 43 on the conduction liquid jet pipe 6, the magnetic valve 10 on the fuel nozzle 8, ignition 11, the capsicim jet pipe 40 all and be unified into two the tunnel: the circuit 83 of wherein leading up to is connected with the control instruction output module 90 of audio frequency and video control circuit board 37, and the circuit on another road is connected with the 8th, 7,6,4,5,3 pin of the latch 92 of SCM system plate 35 after overdrive circuit 112 is with 111 and 110 respectively; 3) on the mechanical underarm 14 two motors 13 and 15 circuit and the circuit that is located at microswitches 29 in the outer case 17 all will be earlier through behind the overvoltage protection array 33 again and be unified into two the tunnel: wherein one the tunnel links to each other with the control instruction output module 90 of audio frequency and video control circuit board 37 through circuit 81, and another road is connected with the 5th, 6,7,8 pin of the latch 91 of SCM system plate 35 and the 1st, 2 pin of latch 92 after overdrive circuit 107 is with 108 and 109 respectively again; The antenna groups 38 interior antennas that are located at weapon Control on Communication case 70 end faces link to each other with GPS terminating machine 56 with audio-video signal transmitter module 87, wireless signal receiver module 78, network wireless signal receiving module 77, the audio, video data compressed transmissions module 75 of audio frequency and video control circuit board 37 respectively.The pin of the singlechip chip of the SCM system plate 35 in the keyboard 42 that is located at weapon Control on Communication case 70 end faces and LCDs 39 and the outer case 17 is connected; The outlet line that is located at the alarm song circuit board 36 in the outer case 17 be located at other loudspeaker 101 and link to each other, infrared sight 74 circuits that are located in the outer case 17 in the magnetic valve 63 on magnetic valve 66, high-voltage generator 28 inputs 64 and the output on the dye liquor casees 20, the air compressor circuit of 55 interior motors, alarm song circuit board 36 inputs and helical spring 30 outer ring ends together and be unified into two the tunnel: the circuit 89 of wherein leading up to links to each other with the control instruction output module 90 of audio frequency and video control circuit board 37; The circuit of motors is wanted earlier through overdrive circuit 114 in the circuit middle infrared (Mid-IR) sight 74 on another road and the air compressor 55, wants earlier behind overdrive circuit 113 to be connected with the 2nd, 5,1,3,6,4 pin of the latch 93 of SCM system plate 35 respectively with other circuit with magnetic valve 63 on high-voltage generator 28 outputs and the magnetic valve 66 on the dye liquor case 20 again; The ultrasonic sensor 45 that is located at wide-angle imaging machine 5 both sides is connected with the 1st, 2 pin of far-infrared sensor 53 with the latch 96 of SCM system plate 35; Be located at interior motor 48 of mobile vehicle 58 crawler belts and 49 link tester and cross the conductive seat 62 that is respectively equipped with on outer case 17 and safety box 59 and the mobile vehicle 58, conductive pole 61, conductive seat 32, conductive pole 31 is connected to circuit in the outer case 17, these be connected to circuits in the outer case 17 all will be earlier through behind the overvoltage protection array 33 again and be unified into two the tunnel: wherein one the tunnel links to each other with the control instruction output module 90 of audio frequency and video control circuit board 37 through circuit 82, another road all will be behind overdrive circuit 105 and 106 again with the 1st of the latch 91 of SCM system plate circuit board 35,2,3,4 pin connect; Be located at the 3rd, 5,7 of latch 96 in ultrasonic sensor 26 around outer case 17 bottoms, 26-1,26-2,26-3,26-4,26-5 and the SCM system plate circuit board 35 and be connected, be located at outer case 17 bottoms infrared ray sensor 54,54-1,54-2,54-3,54-4 all around and be connected with the 4th, 6,8 pin of the latch 96 of SCM system plate circuit board 35 and the 2nd, 4 pin of latch 97 with the 1st, 3,5 pin of latch 97; The magnetic valve group 19,19-1,19-2, the 19-3 that are located on outer case 17 interior combined type fan nozzles 18,18-1,18-2, the 18-3 link to each other with the 7th, 8 pin of the latch 93 of SCM system plate 35 and the 1st, 2,3,4,5,6 pin of latch 94 by drive circuit 115,116,117,118 backs respectively; The doppler radar device 68 that is located at outer case 17 bottoms is connected with the RA4 pin with the singlechip chip RA3 of SCM system plate 35 through signal amplifier 102 and 103 backs respectively with 68-1, and two luminance detection 27 that are located at outer case 17 bottoms and 27-1 link to each other with the BA2 pin with the RA1 of the singlechip chip of SCM system plate 35 respectively; The shock sensor 100 that is located in the outer case 17 is connected with the RA0 pin of the singlechip chip of SCM system plate 35; Also be parallel with the single line road on the audio input end of the audio frequency and video input of audio frequency and video control circuit board 37, this circuit be connected with the 8th pin of the latch 94 of SCM system plate 35 through circuit 85 again after alarm song circuit board 86 is connected; Supply module 84 in the audio frequency and video control circuit board 37 links to each other with GPS terminating machine 56 and audio, video data compressed transmissions module 75 with lithium ion battery 34 respectively.
Wireless-transmission network is not limited to and adopts 3G (WCDMA, TD-SCDMA, CDMA2000) network, can also use packet radio (GPRS) network, CDMA (CDMA1X) network or more advanced network.Audio frequency and video control circuit board 37 contains the audio frequency and video input, the audio, video data compression module, the audio, video data transmitter module, (be provided with the line input interface is video 1 872 to audio-video signal transmitter module 87, audio frequency 1 873, video 2 871), audio frequency and video video module 76 (is provided with video 1 761, audio frequency 1 762, video 2 763), wireless signal receiver module 78 (is provided with instruction output 782, signal detection output 781), network wireless signal receiving module 77 (establish network instruction output 772, radio frequency detects output 771), cable video input 98, wired audio frequency and video input 99, (be provided with air gun gun barrel magnetic valve is 909 to control instruction output module 90, air gun trigger magnetic valve 908, conduction liquid nozzle solenoid 907, fuel nozzle magnetic valve 906, ignition 905, capsicim nozzle solenoid 904, dye liquor case magnetic valve 903, high-voltage generator magnetic valve 902, high-voltage generator input 901, instruction input 910, network instruction input 911, motor 48 is just changeing 912, motor 48 counter-rotatings 913, motor 49 is just changeing 914, motor 49 counter-rotatings 915, motor 13 is just changeing 916, motor 13 counter-rotatings 917, motor 15 is just changeing 918, motor 15 counter-rotatings 919, motor 24 is just changeing 920, motor 24 counter-rotatings 921, enabled instruction output 922, alarm song circuit board 923, the motor 924 of air compressor, infrared sight 925); The audio, video data compression module links to each other with the audio, video data transmitter module and forms audio frequency and video audio, video data transmitter module 75 (be provided with line and be input as video 1 751, audio frequency 1 752, video 2 753, video 3 754); The audio frequency and video input is connected with audio frequency and video picture recording module 76 and audio-video signal transmitter module 87 with audio, video data compressed transmissions module 75 respectively; The network instruction output 772 of network wireless signal receiving module 77 and the instruction output end 782 of wireless signal receiver module 78 link to each other by keyboard chord with the network instruction input 911 of control instruction output module 90 and wireless instructions input 910 respectively, and the signal detection output 781 that the radio frequency of network wireless signal receiving module 77 detects output 771 and wireless signal receiver module 78 is connected with 8 pins with the 7th of the latch 97 of SCM system plate 35 with 80 by circuit 65 respectively.The instruction output end of control instruction output module 90 is connected with the 6th pin of the latch 97 of SCM system plate 35 through circuit 88; Audio, video data compressed transmissions module 75 and network wireless signal receiving module 77 carry out transfer of data through the equipment of 3G network and remote monitoring center, network wireless signal receiving module 77 is subjected to the regulation and control of remote monitoring center, and wireless signal receiver module 78 is regulated and control by the console on the armoured van; Supply module 84 respectively be located at outer case 17 in lithium ion battery 34, audio, video data compressed transmissions module 75, control instruction output module 90, audio-video wireless signal emission module 87, wireless signal receiver module 78, network wireless signal receiving module 77, audio frequency and video video module 76 in parallel.Supply module 84 can insert by 220V, also can insert vehicle-mounted electric current DC12V through circuit.
As shown in Figure 5, the model of the singlechip chip of SCM system plate 35 is PIC16F917, on the singlechip chip MCLR of this SCM system plate 35 pin, be connected with the reset circuit of forming by resistance R 1 and capacitor C 3, these two pins of the OSC1 of singlechip chip and OSC2 are connected with the crystalline substance shake circuit of being made up of capacitor C 1 and C2 and crystal resonator J1, singlechip chip RC3, RC4, RC5, RC6, RC7, RE0, RE1, these 8 pins of RE2 are connected with keyboard 42, singlechip chip RC0, RC1, these 3 pins of RC2 link to each other with LCDs 39, these 7 pins of singlechip chip RBO to RB6 are connected with the Enable Pin of latch 91 to 97 respectively, these 8 pins of singlechip chip RD0 to RD7 are in parallel with the data terminal of latch 91 to 97, chip RB7 is in parallel with the clock pin of latch 91 to 97, and the power pins VDD of singlechip chip links to each other with voltage-stablizer 104.Latch 91 to 94 is selected the 74HC373 chip for use, and latch 95 to 97 is selected the 74HC244 chip for use.Latch 95 is a spare chip.
Claims (5)
1. have the bank note transporting robot of keeping library facility, mainly comprise safety box (59) and mobile vehicle (58), it is characterized in that: safety box (59) end face is provided with weapon Control on Communication case (70); Safety box (59) is connected by the set hole of hook (52) set in four jiaos of the bottoms and mobile vehicle (58) end face, the bottom surface of weapon Control on Communication case (70) pass through felt pad (57) afterwards and the draw-in groove that safety box (59) end face is provided be connected with lock (67).
2. the bank note transporting robot of keeping library facility that has according to claim 1; it is characterized in that: the bottom position in mechanical upper arm (1) one end on the weapon Control on Communication case (70) is provided with capsicim jet pipe (40); on capsicim jet pipe (40), be provided with fuel nozzle (8); other ignition supporting (11) and the electrode (7) of being provided with of this fuel nozzle (8) with self; going up apart at fuel nozzle (8), 5-10 centimetre of level is provided with two conduction liquid jet pipes of being made by electrically non-conductive material (6); medium position is provided with video camera (4) and infrared sight (74); be provided with the protection window of making by bulletproof glass before the camera lens of video camera (4); the place, below of tip position is provided with air gun (2); the gun barrel rear portion of air gun (2) is connected on the high-pressure air tank tank (41) after through magnetic valve (44); be provided with microphone (9) in the below of high-pressure air tank tank (41), the top of air gun (2) is provided with the wide-angle imaging machine
3. the bank note transporting robot of keeping library facility that has according to claim 1, it is characterized in that: safety box (59) putting position according to cash and bill on cabinet wall is provided with many nozzles (50), be connected with articulation (60) on being located at box top by pipeline between this nozzle (50), the top side location of safety box (59) is provided with conductive seat (32), conductive pole (31) on this conductive seat (32) and weapon Control on Communication case (70) bottom surface is on the same upright position, the bottom surface of safety box (59) is provided with conductive pole (61), this conductive pole (61) is on the same upright position with the conductive seat (62) that is located on mobile vehicle (58) end face, be connected by the circuit that is hidden in cabinet wall between the conductive seat (32) of the end face of safety box (59) and bottom surface and the conductive pole (61), be provided with hook (52) in four angles of safety box (59), this hook (52) bottom is a hook, the top is individual 90 ° right angle, what wrap this right angle is the sector space of the horizontal direction that is provided with in the safety box (59), right angle on the hook is connected with casing by spring (51) in this space, four right angles of hook are being provided with hole (69) on the casing at place, outside, be provided with shutter (71) between this hole (69) and casing, shutter (71) connects by push rod, and push rod is connected with lock (72) on being installed in safety box (59).
4. the bank note transporting robot of keeping library facility that has according to claim 1 and 2 is characterized in that: the audio frequency and video control circuit board (37) in the weapon Control on Communication case (70) contains audio frequency and video input, audio, video data compression module, audio, video data transmitter module, audio-video signal transmitter module (87), audio frequency and video video module (76), wireless signal receiver module (78), network wireless signal receiving module (77), control instruction output module (90); The audio, video data compression module links to each other with the audio, video data transmitter module and forms audio frequency and video audio, video data transmitter module (75); The audio frequency and video input is connected with audio frequency and video picture recording module (76) and audio-video signal transmitter module (87) with audio, video data compressed transmissions module (75) respectively; The instruction output end of the instruction output end of network wireless signal receiving module (77) and wireless signal receiver module (78) links to each other by keyboard chord with the wireless instructions input with the network instruction input of control instruction output module (90) respectively, and the signal detection output (781) of the radio frequency of network wireless signal receiving module (77) detection output (771) and wireless signal receiver module (78) is connected by (7,8) pin of the latch (97) in circuit (65) and (80) and the SCM system plate respectively; The instruction output end of control instruction output module (90) is connected with (6) pin of the latch (97) of SCM system plate through circuit (88); The power supply of audio, video data compressed transmissions module (75) is in parallel with the power supply of control instruction output module (90), audio-video wireless signal emission module (87), wireless signal receiver module (78), network wireless signal receiving module (77), audio frequency and video video modules (76) respectively, supply module (84) can insert by 220V, also can insert vehicle-mounted electric current DC12V through circuit; Wireless-transmission network is 3G (WCDMA, CDMA2000, a TD-SCDMA) network.
5. the bank note transporting robot of keeping library facility that has according to claim 1 and 2, it is characterized in that: the model of the singlechip chip of the SCM system plate (35) in the weapon Control on Communication case (70) is (PIC16F917), on singlechip chip (MCLR) pin, be connected with the reset circuit of forming by resistance (R1) and electric capacity (C3), (OSC1) of singlechip chip and (OSC2) these two pins be connected with by electric capacity (C1) and (C2) and the crystalline substance shake circuit formed of crystal resonator (J1), singlechip chip (RC3, RC4, RC5, RC6, RC7, RE0, RE1, RE2) pin is connected with keyboard (42), singlechip chip (RC0, RC1, RC2) pin links to each other with LCDs (39), singlechip chip (RBO) to (RB6) pin is connected with the Enable Pin of latch (91) to (97) respectively, the pin of singlechip chip (RD0) to (RD7) is in parallel to the data terminal of (97) with latch (91), chip (RB7) is in parallel with the clock pin of latch (91) to (97), and the power pins of singlechip chip (VDD) links to each other with voltage-stablizer (104); Latch (91) to (94) is selected (74HC373) chip for use, and latch (95) to (97) is selected (74HC244) chip for use; Latch (95) is a spare chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201378765U CN201544223U (en) | 2009-04-28 | 2009-04-28 | Cash transport robot with function of guarding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201378765U CN201544223U (en) | 2009-04-28 | 2009-04-28 | Cash transport robot with function of guarding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201544223U true CN201544223U (en) | 2010-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201378765U Expired - Fee Related CN201544223U (en) | 2009-04-28 | 2009-04-28 | Cash transport robot with function of guarding |
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| CN (1) | CN201544223U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211621A (en) * | 2011-04-08 | 2011-10-12 | 山西亚佳机电集团有限公司 | Crawler type walking robot workstation |
| CN106584469A (en) * | 2016-11-01 | 2017-04-26 | 河池学院 | Safety monitoring robot for bank environment |
| CN110118017A (en) * | 2019-02-28 | 2019-08-13 | 北京理工华汇智能科技有限公司 | Bind robot and binding method |
| CN111531568A (en) * | 2020-05-07 | 2020-08-14 | 吴伟 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
| CN113700414A (en) * | 2021-10-29 | 2021-11-26 | 杭州明融科技有限公司 | Valuables safety control system |
-
2009
- 2009-04-28 CN CN2009201378765U patent/CN201544223U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211621A (en) * | 2011-04-08 | 2011-10-12 | 山西亚佳机电集团有限公司 | Crawler type walking robot workstation |
| CN106584469A (en) * | 2016-11-01 | 2017-04-26 | 河池学院 | Safety monitoring robot for bank environment |
| CN110118017A (en) * | 2019-02-28 | 2019-08-13 | 北京理工华汇智能科技有限公司 | Bind robot and binding method |
| CN111531568A (en) * | 2020-05-07 | 2020-08-14 | 吴伟 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
| CN111531568B (en) * | 2020-05-07 | 2024-01-02 | 吴伟 | Linkage type mechanical finger shifting piece mechanism for mechanical arm |
| CN113700414A (en) * | 2021-10-29 | 2021-11-26 | 杭州明融科技有限公司 | Valuables safety control system |
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Granted publication date: 20100811 Termination date: 20120428 |