CN210173575U

CN210173575U - On-site perception and intelligent disposal robot in complex environment

Info

Publication number: CN210173575U
Application number: CN201920963719.3U
Authority: CN
Inventors: Leiyuan Li; 李雷远; Gang Liu; 刘刚; Wei Wang; 王伟; Changjiang Zhang; 张长江
Original assignee: CENTURY COLLEGE BEIJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS
Current assignee: CENTURY COLLEGE BEIJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-03-24
Anticipated expiration: 2029-06-25

Abstract

The utility model discloses a robot with on-site perception and intelligent disposal under complex environment, which comprises a machine body and crawler mechanisms assembled at the two sides of the machine body, wherein an actuating mechanism is assembled above the machine body, the actuating mechanism comprises an electric rotating shaft, three connecting rods, a holder and a reducer mechanism, the actuating mechanism is connected with the machine body by arranging the electric rotating shaft, a driver and an environment perception device are respectively arranged at the position between the upper surface of the machine body and the actuating mechanism, the actuating mechanism provided by the utility model is provided with five rotating shafts, the automatic grabbing device has the advantages that the target object can be freely grabbed through the clamper in five degrees of freedom, different zigzag spaces can be flexibly coped, the application range is improved, the environment sensing device is used for realizing independent sensing on solid, liquid and gas objects, the positioning is accurate, the movement is flexible, the practicability of the whole device is high, and the application range is wide.

Description

On-site perception and intelligent disposal robot in complex environment

Technical Field

The utility model relates to a robot field, in particular to on-spot perception and intelligent handling type robot under complex environment.

Background

The field perception and intelligent disposal robot is an intelligent robot which can perceive the current complex environment condition on the field and can take emergency disposal measures according to the current environment, the research aiming at the robot mainly focuses on the core components of the robot, such as an actuating mechanism, a motor, a code wheel and the like, on one hand, most of the components need to be imported from abroad, the research on the disposal equipment needs large investment, only a few units can be researched and developed with strength, on the other hand, the autonomous positioning technical strength of the actuating mechanism is weak, most of the autonomous positioning control is guided by global or local visual information, and the precise positioning of the actuating mechanism is influenced by unfixed relative positions of different shapes of a target object and the tail end of the actuating mechanism, so that the rapid compensation of the positioning error is difficult, the system cost is high, and a video acquisition device can not flexibly adjust the position, dead angles can be caused in image acquisition, and for this reason, a robot capable of sensing and intelligently handling on site in a complex environment is provided.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a problem in the background can effectively be solved to on-the-spot perception and intelligent handling type robot under the complex environment.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a type robot is dealt with to on-spot perception and intelligence under complex environment, includes organism and the crawler of assembly in the organism both sides, the top of organism is equipped with actuating mechanism, actuating mechanism includes electric rotating shaft, three connecting rod, holder and reduction gear mechanism, actuating mechanism is connected with the organism through setting up electric rotating shaft, position between the upper surface of organism and the actuating mechanism is provided with driver and environment perception device respectively, and driver and actuating mechanism realize automatically controlled the being connected, environment perception device includes storing groove, sampling tank and sampling bag, the corner position of organism upper surface installs the PLC controller through the stand connection, the top symmetrical formula movable mounting of organism front side has two sets of slides, and the top of slide installs the camera, the preceding side surface of organism is provided with interface group, and interface group includes driver interface, interface group, The environment sensing machine comprises an environment sensing network interface, a mechanical arm electrical interface and a sampling electrical interface, and is correspondingly connected with a driver, a PC end network cable, an actuating mechanism and an environment sensing device through data lines respectively, two groups of driving motors are arranged inside a machine body, a power supply assembly is arranged between the driving motors, and the driving motors are in transmission connection with a crawler mechanism through a transmission shaft.

Preferably, a GPS positioning chip is arranged inside the PLC, and the PLC is an independent control terminal and is connected with the interface group through an internal wire.

Preferably, the three movable joints of the connecting rod and the electric rotating shaft are all provided with a reducer mechanism, the reducer mechanism comprises a planetary reducer and a harmonic reducer, the waist joint and the wrist rotating joint of the executing mechanism are both provided with planetary reducers, and the other joints are provided with planetary reducers and harmonic reducers.

Preferably, the sampling tank is internally provided with a low-power water pump in a matching manner, a hose is arranged between the tail end of the actuating mechanism and the water pump for connection, the sampling bag is internally provided with an air pump and an air sensor in a matching manner, the air pump is communicated with the outside through an internal air pipe, the air sensor is connected with the environment sensing network interface through a wire, and the air sensor is an air sensing device at least provided with two paths.

Preferably, the part of the sliding plate embedded into the sliding groove is of a T-shaped structure, the outer surface of the sliding plate and the inner surface of the sliding groove are both electroplated with magnetic layers, and the bottom end of the camera is provided with a 360-degree holder in a matching manner.

Preferably, the power supply assembly comprises a storage battery and a power supply conversion module which is arranged in a matched manner, the power supply assembly is fixedly arranged in the position between the driving motors inside the machine body through screws, and the power supply conversion module is provided with at least two groups of output ports.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the actuating mechanism provided by the utility model is provided with five rotating shafts, can freely grab the target object through the gripper in five degrees of freedom, can flexibly deal with different tortuous spaces, and improves the application range;

2. the environmental sensing device provided by the utility model comprehensively collects solid, liquid and gas objects, and the executing mechanism grabs the objects into the storage tank to detect and analyze the unknown material components; carrying a hose along the actuating mechanism for liquid, extending to the tail end of the actuating mechanism, and collecting the liquid to a sampling tank for subsequent analysis through a low-power water pump; for gas, the field air can be sucked into the sampling bag through the low-power air pump for storage, and the gas sensor is used for analyzing and processing, so that the practicability is improved;

3. the utility model is provided with two groups of cameras, the position of the cameras can be changed by sliding the sliding plate in the sliding groove, the position of the cameras can be adjusted according to the use condition, and the integrity of video acquisition is ensured;

4. the utility model discloses the power supply module who sets up can convert the power to different voltage of lying and be all kinds of drive arrangement power supplies, has very strong suitability.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a cross-sectional view of the internal structure of the environmental sensor of the present invention;

FIG. 3 is a sectional view of the internal structure of the machine body of the present invention;

fig. 4 is a schematic structural diagram of the actuator of the present invention.

In the figure: 1. a body; 2. a crawler mechanism; 3. a PLC controller; 4. a driver; 5. an environment sensing device; 51. a storage tank; 52. a sampling tank; 53. a sampling bag; 6. an electric rotating shaft; 7. a connecting rod; 8. a speed reducer mechanism; 9. a holder; 10. a slide plate; 11. a camera; 12. a chute; 13. a driver interface; 14. an environment sensing network interface; 15. a robotic arm electrical interface; 16. a sampling electrical interface; 17. a drive motor; 18. a power supply component; 19. a gas sensor.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

Referring to fig. 1-4, a robot for on-site sensing and intelligent disposal in complex environment comprises a robot body 1 and crawler mechanisms 2 assembled on two sides of the robot body 1, wherein an executing mechanism is assembled above the robot body 1, the executing mechanism comprises an electric rotating shaft 6, three connecting rods 7, a holder 9 and a reducer mechanism 8, the executing mechanism is connected with the robot body 1 by arranging the electric rotating shaft 6, a driver 4 and an environment sensing device 5 are respectively arranged between the upper surface of the robot body 1 and the executing mechanism, the driver 4 is electrically connected with the executing mechanism, the environment sensing device 5 comprises a storage tank 51, a sampling tank 52 and a sampling bag 53, a PLC 3 is connected and installed at the corner position of the upper surface of the robot body 1 through an upright post, two groups of sliding plates 10 are symmetrically and movably installed at the top end of the front side of the robot body 1, and a camera 11 is installed at the, the front side surface of the machine body 1 is provided with an interface group, the interface group comprises a driver interface 13, an environment sensing network interface 14, a mechanical arm electrical interface 15 and a sampling electrical interface 16, and is respectively and correspondingly connected with the driver 4, a PC end network cable, an execution mechanism and the environment sensing device 5 through data lines, two groups of driving motors 17 are arranged inside the machine body 1, a power supply assembly 18 is arranged between the driving motors 17, and the driving motors 17 are in transmission connection with the crawler belt mechanism 2 through a transmission shaft.

Referring to fig. 1, a GPS positioning chip is disposed inside the PLC controller 3, and the PLC controller 3 is an independent control terminal and is connected to the interface group through an internal wire.

Referring to fig. 1 and 4, reducer mechanisms 8 are installed at the movable joints of the three links 7 and the electric rotating shaft 6, and the reducer mechanisms 8 include planetary reducers and harmonic reducers, and planetary reducers are installed at the waist joints and the wrist rotary joints of the actuator mechanisms, and planetary reducers and harmonic reducers are installed at the other joints.

The utility model discloses the actuating mechanism who sets up disposes five rotation axes, can freely snatch the target object through holder 9 in five degrees of freedom, can deal with different tortuous spaces in a flexible way, has improved application scope.

Referring to fig. 2, a low-power water pump is matched in the sampling tank 52, a hose connection is carried between the tail end of the actuator and the water pump, an air pump and an air sensor 19 are matched in the sampling bag 53, the air pump is communicated with the outside through an internal air pipe, the air sensor 19 is connected with the environment sensing network interface 14 through a wire, and the air sensor 19 is an air sensing device at least provided with two paths.

The environmental sensing device 5 provided by the utility model comprehensively collects solid, liquid and gas objects, and captures the substances into the storage tank 51 through the actuating mechanism to detect and analyze the unknown substance components; for liquid, carrying a hose along the actuating mechanism, extending to the tail end of the actuating mechanism, and collecting the liquid to a sampling tank 52 for subsequent analysis through a low-power water pump; for gas, the field air can be sucked into the sampling bag 53 through the low-power air pump for storage, and the gas sensor 19 is used for analysis and processing, so that the practicability is improved.

Referring to fig. 1, the portion of the sliding plate 10 embedded in the sliding groove 12 is a T-shaped structure, magnetic layers are plated on the outer surface of the sliding plate 10 and the inner surface of the sliding groove 12, and a 360 ° pan-tilt is arranged at the bottom end of the camera 11 in a matching manner.

The utility model discloses set up two sets of cameras 11, slide in spout 12 through slide 10, can change camera 11's position, can adjust camera 11's position according to the in service behavior, guarantee video acquisition's perfection.

Referring to fig. 3, the power supply module 18 includes a storage battery and a power conversion module, the power supply module 18 is fixedly mounted inside the machine body 1 at a position between the driving motors 17 through screws, and the power conversion module is provided with at least two sets of output ports.

The utility model discloses the power supply module 18 that sets up can convert the power into different voltage of lying and supply power for all kinds of drive arrangement, has very strong suitability.

It should be noted that the utility model is a robot with site sensing and intelligent disposal under complex environment, the PLC 3 can correct the end position error in short time based on the autonomous calibration algorithm of Kinect information, realize autonomous positioning, and the built-in programming program controls the whole robot to operate,

the driving motor 17 and the crawler 2 are used for controlling the movement direction of the robot, and the robot can advance, retreat, advance left turn, advance right turn, retreat left turn, retreat right turn, original place left turn and original place right turn; the power supply can be converted into 24, 12, 6 and 5V voltage through the power supply conversion module to directly supply power to various required driving devices, for example: the voltage of 24V is directly connected with the two driving motors 17 for power supply; the driver 4 is used as a platform drive, the power supply of an electric circuit is 2 wire systems, the power supply is respectively positive and ground, the power supply is 3 wire systems, the power supply is respectively U/V/W, the power supply is supplied to the whole actuating mechanism, the waist joint and the wrist rotary joint of the actuating mechanism only have a planetary reducer and have no harmonic reducer, other joints are provided with the planetary reducer and the harmonic reducer, three joints are arranged among three connecting rods 7, so that the actuating mechanism is provided with five rotating shafts, and a target object can be freely grabbed by the clamper 9 within five degrees of freedom,

for solid, the grabbed objects are grabbed into the storage groove 51, and the components of the unknown substances are detected and analyzed; for liquid, carrying a hose along the actuating mechanism, extending to the tail end of the actuating mechanism, and collecting the liquid to a sampling tank 52 for subsequent analysis through a low-power water pump; for gas, the field air can be sucked into the sampling bag 53 through the low-power air pump for storage, and is analyzed and processed through the gas sensor 19, the gas sensor is a multi-path gas sensing device and can sense various gases such as oxygen, carbon monoxide, ammonia gas, hydrogen gas, sulfur dioxide and the like, data information is transmitted to the PC end through the environment sensing network interface 14,

the sliding plate 10 slides in the sliding groove 12, so that the position of the camera 11 can be changed, the position of the camera 11 can be adjusted according to the use condition, the number of the cameras 11 at the position can be increased, and the video information in all directions can be known in an all-round way.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a robot is dealt with to on-spot perception and intelligence under complex environment, includes organism (1) and assembles crawler (2) in organism (1) both sides, its characterized in that: the top of organism (1) is equipped with actuating mechanism, actuating mechanism includes electric rotating shaft (6), three connecting rod (7), holder (9) and reduction gear mechanism (8), actuating mechanism is connected with organism (1) through setting up electric rotating shaft (6), the position between the upper surface of organism (1) and the actuating mechanism is provided with driver (4) and environment perception device (5) respectively, and driver (4) and actuating mechanism realize automatically controlled and be connected, environment perception device (5) include storing tank (51), sampling tank (52) and sampling bag (53), the corner position of organism (1) upper surface installs PLC controller (3) through the stand connection, the top symmetry formula movable mounting of organism (1) front side has two sets of slide (10), and camera (11) are installed on the top of slide (10), the front side surface of organism (1) is provided with interface group, and interface group includes driver interface (13), environment sensing network interface (14), arm electrical interface (15) and sample electrical interface (16) to correspond with driver (4), PC end net twine, actuating mechanism and environment perception device (5) respectively through the data line and be connected, the internally mounted of organism (1) has two sets of driving motor (17) to position between driving motor (17) is provided with power supply module (18), driving motor (17) are connected through setting up the transmission shaft transmission with crawler (2).

2. The robot for site-aware and intelligent treatment in a complex environment according to claim 1, wherein: the PLC (3) is internally provided with a GPS positioning chip, and the PLC (3) is an independent control terminal and is connected with the interface group through an internal wire.

3. The robot for site-aware and intelligent treatment in a complex environment according to claim 1, wherein: three reduction gear mechanism (8) are all installed to the activity joint department of connecting rod (7) and electric rotating shaft (6), and reduction gear mechanism (8) include planetary reducer and harmonic reducer ware, actuating mechanism's waist joint and wrist rotary joint department all are equipped with planetary reducer ware, and other joint departments are equipped with planetary reducer ware and harmonic reducer ware.

4. The robot for site-aware and intelligent treatment in a complex environment according to claim 1, wherein: the sampling device is characterized in that a low-power water pump is matched in the sampling tank (52), a hose is connected between the tail end of the actuating mechanism and the water pump, an air pump and a gas sensor (19) are matched in the sampling bag (53), the air pump is communicated with the outside through an inner air pipe, the gas sensor (19) is connected with the environment sensing network interface (14) through a wire, and the gas sensor (19) is a gas sensing device which is at least provided with two paths.

5. The robot for site-aware and intelligent treatment in a complex environment according to claim 1, wherein: the part that slide (10) embedded into spout (12) is T shape structure, and the surface of slide (10) and the internal surface of spout (12) all electroplate the magnetic layer, the supporting 360 cloud platforms that are provided with in bottom of camera (11).

6. The robot for site-aware and intelligent treatment in a complex environment according to claim 1, wherein: the power supply assembly (18) comprises a storage battery and a power supply conversion module which is arranged in a matched mode, the power supply assembly (18) is fixedly installed in the position, located between the driving motors (17), in the machine body (1) through screws, and the power supply conversion module is provided with at least two groups of output ports.