CN206925844U

CN206925844U - Robot device

Info

Publication number: CN206925844U
Application number: CN201720319086.3U
Authority: CN
Inventors: 杨磊; 宋欣; 李艳聪; 胡文韬
Original assignee: Tianjin Agricultural University
Current assignee: Tianjin Agricultural University
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2018-01-26
Anticipated expiration: 2027-03-29

Abstract

The utility model provides a kind of robot device, including car body and mechanical arm placed on it, walking buffer gear is additionally provided with the car body, camera device is rotatably connected on the car body, control system is provided with the car body, and the car body is additionally provided with data acquisition equipment, the mechanical arm includes large arm and forearm, and the other end of the forearm is rotatably connected to click-on mechanism.Robot device described in the utility model, such a robot instead of traditional crawler-type traveling buffer gear, and add buffer structure, the flexibility in walking process and security and stability are ensure that, the image quality passed back is more visible, stronger to the complicated road conditions adaptability in underground, a variety of dangerous situations of underground can be analyzed, so that staff withdraws in time, the safety of staff is ensure that, reduces the probability of casualties.

Description

Robot device

Technical field

The utility model belongs to early warning Exploration Domain, more particularly, to a kind of robot device.

Background technology

It is well known that mine exploration operation task had a great influence by various factors it is comparatively very heavy, so It is harsh and strict that the condition to be met for the travel mechanism that robot to be selected to carry will become comparison, because Very big pressure may be born when performing some specific tasks for robot, at the same time, their working environment Also it is very severe, such as ambient humidity is big, corrosivity is larger etc., therefore the stability requirement pole of the travel mechanism to robot Height, relatively common and the more extensive travel mechanism of application form is mostly crawler type, because the travel mechanism of this form Influenceed by factors such as landform it is small, it is basic to be adapted to various road conditions, but the travel mechanism of this form ought run into surface conditions In the case of comparing badly, the digital high-definition camera carried in mechanism is subject to the influence of road conditions and causes vibration amplitude It is larger, thus cause camera to be difficult to focus exactly, the performance of high-definition camera cannot be shown in this case, thus Reduce the accuracy of gathered image information, at the same time, in present mine environment detection device be mostly hand-held or It is the node formula of stationary state, and in the working region for being possible to threaten personal safety, often to be replaced by robot People completes some special work, and the volume based on robot can accomplish very little, when its perform some concealed actions or To accomplish during special task it is quiet noiseless, and control it is convenient, be more desirable to be can reach contrast it is artificial for can receive To more preferable effect, go to perform these tasks or work instead of people so as to completely, so the monitoring used in tracking, security protection, Or during the disaster such as reply fire, earthquake and pestilence, it can turn into core force, go to complete dangerous or people instead of the mankind The task that class just be can not be completed at all, meanwhile, increasingly pay attention to as the mankind develop and use to emerging energy, they are also More and more it is utilized in the middle of the exploitation of the energy, with the development of science and technology the development of smart machine also becomes to tend to become strong day Greatly, remote monitoring can be carried out for those at present, and has power attenuation rate relatively low and transmit the particularly quick intelligence of data The development of energy equipment has very wide prospect, so, in current robot research and development field, not only intelligence can be accomplished but also pacified Full robot already becomes the emphasis and focus of research and development.For such a situation, the utility model proposes a kind of robot Device, devise it is a kind of can remote control underground early warning robot, such a robot instead of traditional crawler-type traveling and delays Punch mechanism, and buffer structure is added, the flexibility in walking process and security and stability are ensure that, the image quality passed back is more clear It is clear, it is stronger to the complicated road conditions adaptability in underground, a variety of dangerous situations of underground can be analyzed, so that staff removes in time From ensure that the safety of staff, reduce the probability of casualties.

Utility model content

In view of this, the utility model is directed to a kind of robot device, to improve the flexibility of underground exploration process And security and stability, ensure the safety of staff.

To reach above-mentioned purpose, what the technical solution of the utility model was realized in：

A kind of robot device, including car body and the mechanical arm placed on it being rotatablely connected with it, also set on the car body There is a walking buffer gear, camera device be rotatably connected to by turntable on the car body, control system is provided with the car body, And the car body is additionally provided with data acquisition equipment, the data acquisition equipment electrically connects with the control system；

The mechanical arm includes large arm and forearm, is rotatablely connected between the large arm and the forearm by linkage, The other end of the forearm is rotatably connected to click-on mechanism, and the click-on mechanism supports including finger, solid in the finger support Surely there is a coiling electric motor, the output end of the coiling electric motor is concentric to be rotatably connected to reel, and the line on the reel passes through Hole of the centre bore of the finger support respectively with the finger bottom of multiple annular spreads is connected, and the finger is by being fixed on The finger for stating finger supporting base end portion is rotatablely connected with part and its.

Further, the walking buffer gear includes the tire for being evenly distributed on the car body surrounding, the car body two Side is arranged with Buffer Unit, and the tire is fixed by the Buffer Unit and the car body side wall, the Buffer Unit point For X-frame, the center of screw through the X-frame is fixed in the car body side wall, two supports of the X-frame bottom Lever is rotatably connected to respectively, and the other end of the lever is fixed with stepper motor, and the output end of the stepper motor is concentric The tire is rotatablely connected, two supports on the X-frame top are provided with spring, and the other end of the spring passes through lever The tire is connected respectively.

Further, the lever has been bolted to connection pole at the tire, the pole it is another End is rotatablely connected the spring, and the length of the spring is more than the length after its compression and grown less than the maximum tension of the spring Degree.

Further, the both ends of the spring is rotatablely connected with the X-frame and the pole respectively by bearing pin, the X Two supports of shape frame bottom are rotatablely connected again by the bearing pin and the lever, the axis of the bearing pin perpendicular to The center of rotation of the tire.

Further, the stepper motor electrically connects with the control system respectively, is placed in the front and rear of same Buffer Unit The stepper motor of two tires is in parallel, and two tires of control system control homonymy rotate at the same speed in the same direction.

Further, the mechanical arm also includes the arm seat board being detachably connected with the car body by the bolt, The arm seat board is rotatablely connected driving arm seat by base adpting flange, and the driving arm seat is provided with large arm motor, described The large arm is fixedly connected with the output shaft of large arm motor, the large arm is rotatablely connected by rotary shaft and the small arm seat, institute State and wrist motor gearbox is installed with small arm seat, the gear of the wrist motor gearbox is driven by turning arm motor, institute The other end for stating wrist motor gearbox is fixedly connected with wrist central shaft, the end of the wrist central shaft by forearm rotary flange Portion is rotatablely connected described by fixed fore paw flange and the wrist front end rotary flange being rotatablely connected with the fore paw flange Click-on mechanism.

Further, the linkage includes the pitman shaft power transmission shaft being connected on the output shaft of the large arm motor, The other end of the pitman shaft power transmission shaft is connected by first connecting rod axle with the link rotatable, and the connecting rod connects by second Bar axle is rotatablely connected with the small arm seat.

Further, be parallel to each other between the large arm and the connecting rod, the large arm and the pitman shaft power transmission shaft it Between angle move and increase and decrease with the large arm, the axis of the first connecting rod and the second connecting rod be parallel to each other and with it is described big The diameter parallel of the output shaft of arm motor, the axle of the axis of the output shaft of the turning arm motor perpendicular to the first connecting rod Line, the diameter parallel of the gear in the wrist motor gearbox is in the axis of the output shaft of the turning arm motor, the wrist Diameter parallel of the axis of portion's central shaft equally with the output shaft of the turning arm motor.

Further, the data acquisition equipment include being placed in around the car body multiple ultrasonic sensors for being distributed and Infrared distance sensor, Temperature Humidity Sensor, Sharp's optics dust sensor and pernicious gas sensing are additionally provided with the car body Device, the camera device equally electrically connect with the control system.

Further, WIFI module is additionally provided with the car body, the WIFI module electrically connects with the control system, leads to Signal return will be gathered to host computer by crossing the WIFI module.

Relative to prior art, robot device described in the utility model has the advantage that：

(1) robot device described in the utility model, can remote control underground early warning robot, such a robot takes For traditional crawler-type traveling buffer gear, and buffer structure is added, ensure that the flexibility in walking process and safety Stability, the image quality passed back is more visible, stronger to the complicated road conditions adaptability in underground, can analyze a variety of dangerous feelings of underground Condition, so that staff withdraws in time, the safety of staff is ensure that, reduces the probability of casualties.

(2) walking buffer gear described in the utility model includes the tire for being evenly distributed on the car body surrounding, described Car body both sides are arranged with Buffer Unit, and the tire is fixed by the Buffer Unit and the car body side wall, the buffering Component is divided into X-frame, and the center of screw through the X-frame is fixed in the car body side wall, and the two of the X-frame bottom Individual support is rotatably connected to lever respectively, and the other end of the lever is fixed with stepper motor, the output end of the stepper motor The concentric rotation connection tire, two supports on the X-frame top are provided with spring, and the other end of the spring leads to Cross lever and connect the tire respectively.Traditional crawler type, simple in construction and action are substituted by wheeled walking buffer gear Convenient, chassis is floated design, so as to adapt to the various complicated road conditions in underground, and the buffer gear knot of rod spring combination Configuration formula is simple, and buffering effect is preferable, can be cost-effective while clear picture is ensured.

(3) lever described in the utility model has been bolted to connection pole, the pole at the tire The other end be rotatablely connected the spring, length that the length of the spring is more than after its compression is less than the maximum drawing of the spring Elongation.Make spring in normal state in elongation state but being less than the limit, when running into complex road condition, spring is according to jolting Situation elongation or shrink and keep car body steady, buffering effect is preferable, practicality is stronger.

(4) both ends of the spring described in the utility model is rotatablely connected with the X-frame and the pole respectively by bearing pin, Two supports of the X-frame bottom are rotatablely connected again by the bearing pin and the lever, the axis of the bearing pin Perpendicular to the center of rotation of the tire.Ensure spring normal work front and rear in car body morning motion process at work, it is necessary to Make rotary shaft unified, guarantee reaches more preferable buffering effect.

(5) stepper motor described in the utility model electrically connects with the control system respectively, is placed in same Buffer Unit Former and later two tires the stepper motor it is in parallel, two tires of control system control homonymy turn at the same speed in the same direction It is dynamic.Turned to traditional four-wheel car body using box of tricks except that, the steering mode of the car body is will be before and after control homonymy Take turns the motor parallel rotated together, during steering, the front and rear two-wheeled synchronous axial system of homonymy, and two of opposite side wheels press phase negative side To rotation, so that car body can be with pivot stud, the mode that this mode contrasts differential steering is more quick, and can also subtract Tight turn radius, it is more suitable for the small spaces such as underground and is more efficiently serviced for worker.

(6) mechanical arm described in the utility model also includes the arm being detachably connected with the car body by the bolt Seat board, the arm seat board are rotatablely connected driving arm seat by base adpting flange, and the driving arm seat is provided with large arm motor, The large arm is fixedly connected with the output shaft of the large arm motor, the large arm is rotated by rotary shaft with the small arm seat to be connected Connect, wrist motor gearbox is installed with the small arm seat, the gear of the wrist motor gearbox is driven by turning arm motor Dynamic, the other end of the wrist motor gearbox is fixedly connected with wrist central shaft, the wrist center by forearm rotary flange The end of axle is by fixed fore paw flange and the wrist front end rotary flange being rotatablely connected with the fore paw flange come the company of rotation Connect the click-on mechanism.By large arm and the structure refinement of forearm, ensure to realize the multifreedom motion of mechanical arm, realize mechanical arm The degree of accuracy and flexibility of crawl.

(7) it is parallel to each other between large arm described in the utility model and the connecting rod, the large arm and the pitman shaft pass Angle between moving axis moves with the large arm to be increased and decreased, the axis of the first connecting rod and the second connecting rod be parallel to each other and with The diameter parallel of the output shaft of the large arm motor, the axis of the output shaft of the turning arm motor is perpendicular to the first connecting rod Axis, the diameter parallel of the gear in the wrist motor gearbox is in the axis of the output shaft of the turning arm motor, institute State diameter parallel of the axis of wrist central shaft equally with the output shaft of the turning arm motor.Realized and controlled by such a form Automation, further limitation is further done to the mutual alignment relation of major part, improves the accuracy captured during work.

(8) data acquisition equipment described in the utility model includes being placed in around the car body the multiple ultrasonic waves biography being distributed Sensor and infrared distance sensor, Temperature Humidity Sensor, Sharp's optics dust sensor and harmful gas are additionally provided with the car body Body sensor, the camera device equally electrically connect with the control system.Using the mode of ultrasonic ranging, in car body vehicle body Left side, left front, front, it is right before and right side 5 HC-SR04 ultrasonic sensors are housed altogether, by constantly gathering distance parameter, Suitable walking path is found, can be that worker reports currently using DHT11 Temperature Humidity Sensors and Sharp's optics dust sensor Temperature, humidity and the air quality of environment, wherein, DHT11 Temperature Humidity Sensors temperature measurement range is 0~50 DEG C, humidity For 20%~90%RH；Sharp's optics dust sensor smallest particles detection value is 0.8 micron, can detect extremely tiny Grain, and has extremely low current drain, and output is dust concentration measured by an analog voltage is proportional to, and pernicious gas Sensor then detects the concentration of every pernicious gas in real time, and camera uses cmos image sensor, and pixel is 300,000, and frame per second is 30fps, the head on camera are controlled by the steering wheel of 13kgN/cm torsion, and the anglec of rotation is 360 ゜, and luffing angle is 150 ゜, it is mainly used to gather the video image of surrounding environment.

(9) WIFI module, the WIFI module and control system electricity are additionally provided with car body described in the utility model Connection, signal return will be gathered to host computer by the WIFI module.Wi-Fi module is used for host computer, mobile phone and robot Data exchange, Wi-Fi module is connected by serial ports with control system, and the order received by Wi-Fi is sent to bottom Machine and then corresponding instruction is performed, Wi-Fi is further connected with a Universal USB camera, and the data that camera is gathered are without monolithic Machine processing is transmitted to host computer or mobile phone, and then environment is monitored in real time.

Brief description of the drawings

Form a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new The schematic description and description of type is used to explain the utility model, does not form to improper restriction of the present utility model. In accompanying drawing：

Fig. 1 is robot device's overall structure diagram described in the utility model embodiment；

Fig. 2 is robot device's driving mechanism structure schematic diagram described in the utility model embodiment；

Fig. 3 is robot device's mechanical arm structural representation described in the utility model embodiment.

Description of reference numerals：

1- walking buffer gears；2- car bodies；3- mechanical arms；4- click-on mechanisms；5- camera devices；6- turntables；101- takes turns Tire；102- springs；103- levers；104-X shape framves；105- poles；106- stepper motors；301- arm seat boards；302- bases connect Acting flange；303- large arm motors；304- drives arm seat；305- pitman shaft power transmission shafts；306- first connecting rod axles；307- connecting rods； 308- large arm；309- second connecting rod axles；The small arm seats of 310-；311- turning arm motors；；312- wrist motor gearboxes；313- is small Arm rotary flange；314- wrist central shafts；315- fore paw flanges；316- wrists front end rotary flange；317- rotary shafts；401- hands Refer to support；402- reels；403- fingers；404- coiling electric motors.

Embodiment

It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can To be mutually combined.

In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ", The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that For to limitation of the present utility model.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that instruction Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately It is described, " multiple " are meant that two or more.

, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition State concrete meaning of the term in the utility model.

Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Robot device as shown in Figure 1, including car body 2 and the mechanical arm 3 placed on it being rotatablely connected with it, the car body Walking buffer gear 1 is additionally provided with 2, camera device 5 is rotatably connected to by turntable 6 on the car body 2, in the car body 2 Provided with control system, and the car body 2 is additionally provided with data acquisition equipment, and the data acquisition equipment is electrically connected with the control system Connect；

The mechanical arm 3 includes large arm 308 and forearm, is turned between the large arm 308 and the forearm by linkage Dynamic connection, the other end of the forearm are rotatably connected to click-on mechanism 4, and the click-on mechanism 4 includes finger support 401, described Coiling electric motor 404 is fixed with finger support 401, the output end of the coiling electric motor 404 is concentric to be rotatably connected to reel 402, the centre bore finger 403 with multiple annular spreads respectively of line on the reel 402 through finger support 401 The hole connection of bottom, the finger 403 support the finger of 401 ends with part and its company of rotation by being fixed on the finger Connect.Can remote control underground early warning robot, such a robot instead of traditional crawler-type traveling buffer gear, and increase Buffer structure, ensure that the flexibility in walking process and security and stability, and the image quality passed back is more visible, complicated to underground Road conditions adaptability is stronger, can analyze a variety of dangerous situations of underground, so that staff withdraws in time, ensure that work people The safety of member, reduce the probability of casualties.

Wherein, the walking buffer gear 1 includes the tire 101 for being evenly distributed on the surrounding of car body 2, the car body 2 Both sides are arranged with Buffer Unit, and the tire 101 is fixed by the Buffer Unit and the side wall of car body 2, the buffering Component is divided into X-frame 104, and the center of screw through the X-frame 104 is fixed in the side wall of car body 2, the X-frame Two supports of 104 bottoms are rotatably connected to lever 103 respectively, and the other end of the lever 103 is fixed with stepper motor 106, The concentric rotation connection tire 101 of output end of the stepper motor 106, two branch on the top of X-frame 104 Erection has spring 102, and the other end of the spring 102 connects the tire 101 respectively by the lever 103.By wheeled Walking buffer gear 1 substitute traditional crawler type, simple in construction and action is convenient, and chassis be floated design, so as to fit The various complicated road conditions in underground are answered, and the buffer gear structure type of lever spring assembly is simple, buffering effect is preferable, Neng Gou Ensure cost-effective while clear picture.

Wherein, the lever 103 has been bolted to connection pole 105, the pole at the tire 101 105 other end is rotatablely connected the spring 102, and the length that the length of the spring 102 is more than after its compression is less than the bullet The maximum tension length of spring 102.Make spring 102 in normal state in elongation state but be less than the limit, when running into complicated road During condition, spring 102 extends or shunk to keep car body steady according to situation about jolting, and buffering effect is preferable, and practicality is stronger.

Wherein, the both ends of spring 102 are rotatablely connected with the X-frame 104 and the pole 105 respectively by bearing pin, Two supports of the bottom of X-frame 104 are rotatablely connected again by the bearing pin and the lever 103, the bearing pin Axis perpendicular to the tire 101 center of rotation.Ensure the spring 102 that car body 2 is front and rear in motion process at work Normal work, it is necessary to make rotary shaft unified, guarantee reaches more preferable buffering effect.

Wherein, the stepper motor 106 electrically connects with the control system respectively, is placed in front and rear the two of same Buffer Unit The stepper motor 106 of the individual tire 101 is in parallel, and two tires 101 of control system control homonymy are synchronized in the same direction Rotate.Turned to traditional four-wheel car body using box of tricks except that, the steering mode of the car body 2 is will be before control homonymy The motor parallel of rear wheel together, during steering, the front and rear two-wheeled synchronous axial system of homonymy, and two of opposite side wheels are by opposite Direction rotates, so that car body 2 can be with pivot stud, the mode that this mode contrasts differential steering is more quick, but also Radius of turn can be reduced, the small spaces such as underground are more suitable for and are more efficiently serviced for worker.

Wherein, the mechanical arm 3 also includes the arm seat board 301 being detachably connected with the car body 2 by the bolt, The arm seat board 301 is rotatablely connected driving arm seat 304 by base adpting flange 302, and the driving arm seat 304 is provided with big Arm motor 303, the large arm 308 is fixedly connected with the output shaft of the large arm motor 303, the large arm 308 passes through rotary shaft 317 are rotatablely connected with small arm seat 310, and wrist motor gearbox 312, the wrist motor tooth are installed with the small arm seat 310 The gear of roller box 312 is driven by turning arm motor 311, and the other end of the wrist motor gearbox 312 is rotated by forearm Flange 313 is fixedly connected with wrist central shaft 314, the end of the wrist central shaft 314 by fixed fore paw flange 315 and with Wrist front end rotary flange 316 that the fore paw flange 315 is rotatablely connected is rotatablely connected the click-on mechanism 4.By large arm 308 With the structure refinement of forearm, ensure to realize the multifreedom motion of mechanical arm 3, realize the degree of accuracy that mechanical arm 3 captures and flexibly Property.

Wherein, the linkage includes the pitman shaft power transmission shaft being connected on the output shaft of the large arm motor 303 305, the other end of the pitman shaft power transmission shaft 305 is rotatablely connected by first connecting rod axle 306 and the connecting rod 307, the company Bar 307 is rotatablely connected by second connecting rod axle 309 and the small arm seat 310.

Wherein, it is parallel to each other between the large arm 308 and the connecting rod 307, the large arm 308 and pitman shaft transmission Angle between axle 305 moves with the large arm 308 to be increased and decreased, the axle of the first connecting rod axle 306 and the second connecting rod axle 309 Line be parallel to each other and with the diameter parallel of the output shaft of the large arm motor 303, the axle of the output shaft of the turning arm motor 311 Line is perpendicular to the axis of the first connecting rod axle 306, and the diameter parallel of the gear in the wrist motor gearbox 312 is in described The axis of the output shaft of turning arm motor 311, the axis of the wrist central shaft 314 equally with the turning arm motor 311 The diameter parallel of output shaft.The automation of control is realized by such a form, further to the mutual alignment relation of major part Further limitation is done, improves the accuracy captured during work.

Wherein, the data acquisition equipment includes multiple ultrasonic sensors for being placed in the surrounding of car body 2 distribution and red Outer distance measuring sensor, Temperature Humidity Sensor, Sharp's optics dust sensor and pernicious gas sensing are additionally provided with the car body 2 Device, the camera device 5 equally electrically connect with the control system.Using the mode of ultrasonic ranging, on a left side for the vehicle body of car body 2 Side, left front, front, right preceding and right side are equipped with 5 HC-SR04 ultrasonic sensors altogether, by constantly gathering distance parameter, find Suitable walking path, can be that worker reports current environment using DHT11 Temperature Humidity Sensors and Sharp's optics dust sensor Temperature, humidity and air quality, wherein, DHT11 Temperature Humidity Sensors temperature measurement range is 0~50 DEG C, and humidity is 20%~90%RH；Sharp's optics dust sensor smallest particles detection value is 0.8 micron, can detect extremely tiny Grain, and has extremely low current drain, and output is dust concentration measured by an analog voltage is proportional to, and pernicious gas Sensor then detects the concentration of every pernicious gas in real time, and camera uses cmos image sensor, and pixel is 300,000, and frame per second is 30fps, the head on camera are controlled by the steering wheel of 13kgN/cm torsion, and the anglec of rotation is 360 ゜, and luffing angle is 150 ゜, it is mainly used to gather the video image of surrounding environment.

Wherein, WIFI module is additionally provided with the car body 2, the WIFI module is electrically connected with the control system, passed through The WIFI module will gather signal return to host computer.The data that Wi-Fi module is used for host computer, mobile phone and robot are handed over Stream, Wi-Fi module are connected by serial ports with control system, and the order received by Wi-Fi is sent to slave computer to hold The corresponding instruction of row, Wi-Fi are further connected with a Universal USB camera, and the data that camera is gathered are handled without single-chip microcomputer and passed Monitored in real time to host computer or mobile phone, and then to environment.

Operation principle of the present utility model：Robot device as shown in Figure 1, check each several part whether normal work, start Control system, it is electrically connected with each several part, when in use, control stepper motor 106 to work by control system, according to shooting The picture control moving of car that device 5 is shot, during steering, the front and rear two-wheeled synchronous axial system of homonymy, and two of opposite side wheels are pressed Opposite direction rotates, and reduces radius of turn, is easy to work in narrow and small complex environment, during traveling, is set on car body 2 Ultrasonic sensor, infrared distance sensor, Temperature Humidity Sensor, Sharp's optics dust sensor and the pernicious gas sensing put The parameters of device collection exploration environment, compare through the default scope of control system, information are back to by Wi-Fi module Position machine, make one remotely to recognize that the environment at exploration scene carries out long range exploration analysis, during dolly moves ahead, buffer of walking The design of structure 1 reaches the preferable buffering effect of car body 2 by simple structure, ensures the definition of the shooting picture of camera device 5, And the parts of the inside of car body 2 part will not be because of vibration effect using effect, after certain position is advanced to, to target When thing is captured, rotated by the 302 of base adpting flange and drive mechanical arm 3 thereon to turn to object, then passed through The effect of connecting rod 307 drives forearm downwards close to object, after close near object, start coiling electric motor 404 drive around Line wheel 402 works, and opens finger 403, and control machinery arm 3 moves further along, makes coiling electric motor 404 anti-after wrapping object To work, promptly and reclaim mechanical arm 3, after the completion of control dolly to turn to, return.

Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in Protection domain within.

Claims

A kind of 1. robot device, it is characterised in that：Including car body (2) and the mechanical arm (3) placed on it being rotatablely connected with it, Walking buffer gear (1) is additionally provided with the car body (2), being rotatably connected to shooting by turntable (6) on the car body (2) fills Put (5), be provided with control system in the car body (2), and the car body (2) is additionally provided with data acquisition equipment, the data acquisition Equipment electrically connects with the control system；

The mechanical arm (3) includes large arm (308) and forearm, passes through linkage between the large arm (308) and the forearm Rotation connection, the other end of the forearm are rotatably connected to click-on mechanism (4), and the click-on mechanism (4) supports including finger (401) coiling electric motor (404), is fixed with the finger support (401), the output end of the coiling electric motor (404) is concentric It is rotatably connected to reel (402), centre bore difference of the line on the reel (402) through finger support (401) It is connected with the hole of finger (403) bottom of multiple annular spreads, the finger (403) is supported by being fixed on the finger (401) finger of end is rotatablely connected with part and its.
2. robot device according to claim 1, it is characterised in that：The walking buffer gear (1) includes uniformly dividing For cloth in the tire (101) of the car body (2) surrounding, car body (2) both sides are arranged with Buffer Unit, the tire (101) Fixed by the Buffer Unit and the car body (2) side wall, the Buffer Unit is divided into X-frame (104), and screw is described in The center of X-frame (104) is fixed in the car body (2) side wall, and two supports of X-frame (104) bottom turn respectively Dynamic to be connected with lever (103), the other end of the lever (103) is fixed with stepper motor (106), the stepper motor (106) The output end concentric rotation connection tire (101), two supports on X-frame (104) top are provided with spring (102), the other end of the spring (102) connects the tire (101) respectively by the lever (103).
3. robot device according to claim 2, it is characterised in that：The lever (103) is close to the tire (101) Place has been bolted to connection pole (105), and the other end of the pole (105) is rotatablely connected the spring (102), described The length that the length of spring (102) is more than after its compression is less than the maximum tension length of the spring (102).
4. robot device according to claim 3, it is characterised in that：Distinguished by bearing pin at spring (102) both ends It is rotatablely connected with the X-frame (104) and the pole (105), two supports of X-frame (104) bottom are same It is rotatablely connected by the bearing pin and the lever (103), the rotary shaft of the axis of the bearing pin perpendicular to the tire (101) The heart.
5. robot device according to claim 4, it is characterised in that：The stepper motor (106) respectively with the control System electrical connection processed, the stepper motor (106) parallel connection of former and later two tires (101) of same Buffer Unit is placed in, Two tires (101) of control system control homonymy are synchronized in the same direction to be rotated.
6. robot device according to claim 3, it is characterised in that：The mechanical arm (3) also includes and the car body (2) the arm seat board (301) being detachably connected by the bolt, the arm seat board (301) pass through base adpting flange (302) rotation connection driving arm seat (304), the driving arm seat (304) are provided with large arm motor (303), the large arm motor (303) large arm (308) is fixedly connected with output shaft, the large arm (308) passes through rotary shaft (317) and small arm seat (310) it is rotatablely connected, wrist motor gearbox (312), the wrist motor gearbox is installed with the small arm seat (310) (312) gear is driven by turning arm motor (311), and the other end of the wrist motor gearbox (312) is revolved by forearm Turned flange (313) is fixedly connected with wrist central shaft (314), and the end of the wrist central shaft (314) passes through fixed fore paw method Blue (315) and the claw is rotatablely connected with the wrist front end rotary flange (316) of the fore paw flange (315) rotation connection Mechanism (4).
7. robot device according to claim 6, it is characterised in that：The linkage includes being connected to the large arm Pitman shaft power transmission shaft (305) on the output shaft of motor (303), the other end of the pitman shaft power transmission shaft (305) pass through first Pitman shaft (306) is rotatablely connected with the connecting rod (307), and the connecting rod (307) passes through second connecting rod axle (309) and the forearm Seat (310) rotation connection.
8. robot device according to claim 7, it is characterised in that：The large arm (308) and the connecting rod (307) it Between be parallel to each other, the angle between the large arm (308) and the pitman shaft power transmission shaft (305) with the large arm (308) move Increase and decrease, the axis of the first connecting rod axle (306) and the second connecting rod axle (309) be parallel to each other and with the large arm motor (303) diameter parallel of output shaft, the axis of the output shaft of the turning arm motor (311) is perpendicular to the first connecting rod axle (306) axis, the diameter parallel of the gear in the wrist motor gearbox (312) is in the turning arm motor (311) The axis of output shaft, the axis of the axis of the wrist central shaft (314) equally with the output shaft of the turning arm motor (311) It is parallel.
9. robot device according to claim 1, it is characterised in that：The data acquisition equipment includes being placed in the car The multiple ultrasonic sensors and infrared distance sensor of distribution around body (2), temperature and humidity sensing is additionally provided with the car body (2) Device, Sharp's optics dust sensor and harmful gas sensor, the camera device (5) are equally electrically connected with the control system Connect.
10. robot device according to claim 1, it is characterised in that：WIFI module is additionally provided with the car body (2), The WIFI module is electrically connected with the control system, and signal return will be gathered to host computer by the WIFI module.