CN210500294U

CN210500294U - Underground pipe gallery three-dimensional scene acquisition cloud platform based on redundant mechanical arm

Info

Publication number: CN210500294U
Application number: CN201921373019.5U
Authority: CN
Inventors: 王汉熙; 黄鑫; 胡佳文; 蒋靳; 郑晓钧
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2020-05-12
Anticipated expiration: 2029-08-22

Abstract

The utility model belongs to the field of robots, and provides a redundant mechanical arm-based underground pipe gallery three-dimensional scene acquisition cloud deck, which comprises an AGV trolley, a redundant mechanical arm and three-dimensional scene acquisition equipment; install rotating base on the AGV dolly, install redundant arm on the rotating base, redundant arm comprises a plurality of the same arm modules, and two liang of quadrature is connected between the arm module, the arm module includes module casing, steering wheel, driving gear, driven gear, rotation axis and infrared obstacle sensor of surveying, module casing externally mounted has infrared obstacle sensor of surveying, and module casing internally mounted has the steering wheel, installs the driving gear on the steering wheel, and the driving gear cooperatees with driven gear, and driven gear installs on the rotation axis, installs infrared obstacle sensor and three-dimensional scene collection equipment of surveying through the connecting plate at the end of redundant arm. The utility model discloses can independently operate and carry out the three-dimensional scene of underground pipe gallery and gather.

Description

Underground pipe gallery three-dimensional scene acquisition cloud platform based on redundant mechanical arm

Technical Field

The utility model belongs to the robot field, concretely relates to cloud platform is gathered to underground pipe gallery three-dimensional scene based on redundant arm.

Background

The degree of freedom of the robot is equal to its joint space dimension n. The space dimension of the robot task refers to the number m of end pose parameters required by the robot during working. If the joint space dimension n is made larger than the task space dimension m, the difference (n-m) between the joint space dimension and the task space dimension is referred to as a redundant degree of freedom of the robot, and such a robot is referred to as a redundant robot.

For a redundant robot, given its end pose, there may be an infinite number of position vectors in joint space to which it corresponds, the set of these vectors being one (n-m) bit manifold in joint space. That is, the position of the redundant robot can freely change in the manifold without affecting the end pose, the change is called the self-motion of the redundant robot, and the property of the redundant robot is called the redundancy characteristic. The characteristic enables the robot to complete a first target (tracking a tail end track), and meanwhile, various secondary targets such as avoidance of a singular configuration, avoidance of obstacles, increase of flexibility, improvement of dynamic performance and the like are met through changes in the manifold, so that the robot is widely applied.

According to the regulations of the technical specification of urban comprehensive pipe gallery GB 50838 + 2015, the pipe gallery monitoring and alarming system is divided into an environment and equipment monitoring system, a safety precaution system, a communication system, an early warning and alarming system, a geographic information system, a unified management information platform and the like. And the basic data information of the pipe gallery body and the surrounding environment can not be left in the construction of various systems. The information requirements determine the requirements of data acquisition. Through the demand of comprehensive analysis piping lane information-based construction, need gather piping lane body information, basic information such as trend, space, the slope of piping lane is the inside topographic map data information of piping lane.

The monitoring of current underground pipe gallery is generally realized through the camera, nevertheless because the camera can only observe a local position or a local scope, if will monitor hundreds of layers of pipelines and thousands of kilometers' pipe gallery comprehensively, need arrange a large amount of cameras, even adopt many viewing techniques of shielding more, also can be because the camera is too many, unable normality is observed.

When the mechanical arm works in an underground pipe gallery, due to the fact that a terrain structure and the environment are complex and changeable, the degree of freedom of a traditional mechanical arm is not enough, and some special actions such as avoidance of a singular configuration, obstacle avoidance and the like cannot be achieved.

The conventional static scanner needs to be arranged with wires in advance, then carries out scanning one by one on the arranged known points, needs to splice point clouds when processing data, has low efficiency, and is completely not suitable for being applied to scanning massive urban underground spaces.

Disclosure of Invention

The utility model aims at overcoming the weak point among the above-mentioned prior art, provide a cloud platform is gathered to underground pipe gallery three-dimensional scene based on redundant arm that can independently operation, restructural, steerable end position and whole gesture.

In order to achieve the above purpose, the utility model adopts the following technical scheme: the underground pipe gallery three-dimensional scene acquisition cloud deck based on the redundant mechanical arm comprises an AGV trolley, the redundant mechanical arm and three-dimensional scene acquisition equipment; the AGV trolley is provided with a rotating base, and the rotating base can be driven by a motor to rotate so as to realize the first degree of freedom of the cradle head; the redundancy mechanical arm is installed on the rotary base and consists of a plurality of identical mechanical arm modules, every two mechanical arm modules are in orthogonal connection, each mechanical arm module comprises a module shell, a steering engine, a driving gear, a driven gear, a rotating shaft and an infrared obstacle measuring sensor, two infrared obstacle measuring sensors are installed outside the module shell and used for detecting obstacles and achieving automatic operation under the invisible condition, the steering engine is installed inside the module shell, the driving gear is installed on the steering engine and matched with the driven gear, the driven gear is installed on the rotating shaft, and the rotating shaft is matched with the next mechanical arm module, so that the two connected mechanical arm modules can achieve relative motion; the tail end of the redundant mechanical arm is provided with a connecting plate, and the connecting plate is provided with an infrared obstacle measuring sensor and three-dimensional scene acquisition equipment.

In the above technical solution, the redundant robot arm is composed of 6 identical robot arm modules.

Compared with the prior art, the utility model, beneficial effect as follows:

1. the utility model takes the AGV car as the base, and can run along the specified guidance path through the self electromagnetic or optical automatic guidance device, thereby realizing the automatic collection of the three-dimensional scene information;

2. the utility model has 8 degrees of freedom, so that the snakelike mechanical arm can satisfy various secondary targets through the change in the flow line under the condition that the tail end is kept unchanged, such as avoiding singular configuration, avoiding obstacles and the like;

3. the redundant mechanical arm in the utility model is composed of a plurality of same mechanical arm modules, each mechanical arm module can realize the movement of one degree of freedom, and in use, the proper mechanical arm module quantity can be selected according to the actual requirement to be reconstructed so as to adapt to various complex environments;

4. the utility model discloses infrared obstacle sensor of surveying has been put to outside equipartition at connecting plate and arm module casing, can this measure the distance of arm to barrier to avoid.

Drawings

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

Fig. 2 is a schematic structural diagram of a robot arm module according to an embodiment of the present invention.

Wherein: the system comprises an AGV trolley 1, a rotary base 2, a mechanical arm module 3, a module shell 4, a steering engine 5, a driving gear 6, a rotating shaft 7, a driven gear 8, an infrared obstacle measuring sensor 9, a three-dimensional scene acquisition device 10 and a connecting plate 11.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiment is only one of the embodiments of the present invention, and not all embodiments.

As shown in fig. 1 and 2, the embodiment provides an underground pipe gallery three-dimensional scene acquisition cloud deck based on a redundant mechanical arm, which comprises an AGV trolley, the redundant mechanical arm and three-dimensional scene acquisition equipment; the AGV trolley 1 is provided with a rotating base 2, and the rotating base 2 can be driven by a motor to rotate, so that the first degree of freedom of the cradle head is realized; the redundancy mechanical arm is mounted on the rotary base 2 and comprises 6 identical mechanical arm modules 3, every two of the mechanical arm modules 3 are in orthogonal connection, each mechanical arm module 3 comprises a module shell 4, a steering gear 5, a driving gear 6, a driven gear 8, a rotary shaft 7 and an infrared obstacle measuring sensor 9, two infrared obstacle measuring sensors 9 are mounted outside the module shell 4 and used for detecting obstacles and achieving automatic operation under the invisible condition, the steering gear 5 is mounted inside the module shell 4, the driving gear 6 is mounted on the steering gear 5, the driving gear 6 is matched with the driven gear 8, the driven gear 8 is mounted on the rotary shaft 7, and the rotary shaft 7 is matched with the next mechanical arm module, so that the two connected mechanical arm modules can achieve relative motion; the tail end of the redundant mechanical arm is provided with a connecting plate 11, and the connecting plate 11 is provided with an infrared obstacle measuring sensor 9 and three-dimensional scene acquisition equipment 10.

The redundant mechanical arm is composed of 6 identical mechanical arm modules, each mechanical arm module can realize movement with one degree of freedom, and in use, the number of the mechanical arm modules can be properly selected according to actual requirements for reconstruction so as to adapt to various complex environments.

Details not described in this specification are within the skill of the art that are well known to those skilled in the art.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Underground pipe gallery three-dimensional scene gathers cloud platform based on redundant arm, its characterized in that: the system comprises an AGV trolley, a redundant mechanical arm and three-dimensional scene acquisition equipment; the AGV comprises an AGV trolley, wherein a rotary base is mounted on the AGV trolley and driven to rotate by a motor, redundant mechanical arms are mounted on the rotary base and consist of a plurality of identical mechanical arm modules, every two mechanical arm modules are in orthogonal connection, each mechanical arm module comprises a module shell, a steering gear, a driving gear, a driven gear, a rotating shaft and infrared obstacle measuring sensors, two infrared obstacle measuring sensors are mounted outside the module shell, the steering gear is mounted inside the module shell, the driving gear is mounted on the steering gear and matched with the driven gear, the driven gear is mounted on the rotating shaft, and the rotating shaft is matched with the next mechanical arm module; the tail end of the redundant mechanical arm is provided with a connecting plate, and the connecting plate is provided with an infrared obstacle measuring sensor and three-dimensional scene acquisition equipment.

2. The underground pipe gallery three-dimensional scene acquisition cloud platform based on redundant mechanical arm according to claim 1, characterized in that: the redundant robot arm is composed of 6 identical robot arm modules.