CN210616523U - Hazardous article detection robot - Google Patents
Hazardous article detection robot Download PDFInfo
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- CN210616523U CN210616523U CN201921738040.0U CN201921738040U CN210616523U CN 210616523 U CN210616523 U CN 210616523U CN 201921738040 U CN201921738040 U CN 201921738040U CN 210616523 U CN210616523 U CN 210616523U
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Abstract
The utility model discloses a hazardous article detection robot, which comprises a walking device, a rotating seat, a telescopic arm and a gripper device, wherein the rotating seat, the telescopic arm and the gripper device are arranged at the top of the walking device and are connected in sequence; the walking device is arranged as a main body of the robot and used for driving the robot to move; the rotating seat is used for adjusting the horizontal rotation and pitching movement of the gripper; the telescopic arm is used for adjusting the telescopic length of the gripping device; the gripper device is used for gripping the target object; the X-ray generator is arranged at the front end of the walking device and used for generating X-rays; a detector for receiving the X-rays emitted by the X-ray generator; a support device for supporting the X-ray generator and the detector; and the data transmission module is used for transmitting the image information inside the target object processed by the detector to the central control module in real time. The utility model discloses utilize X ray detection article, satisfy the requirement of quick response.
Description
Technical Field
The utility model belongs to the technical field of the robot, specifically speaking relates to a hazardous articles detection robot.
Background
The existing mobile robot is very complex in a method for detecting suspected dangerous goods with nuclear radiation, the detection method mainly comprises two modes, one mode is field destruction, the dangerous goods are broken through devices such as a water gun and the like, the defect is that the destructive power is large, the pollution to the field is serious, the other mode is that an explosion-proof tank is grabbed, then the dangerous goods are moved to a professional disposal point, the follow-up treatment is carried out, and the defect is that the consumed time is long, and the flow is complex.
Chinese patent application No. cn20161909. x discloses an inspection robot under a dangerous environment. The device comprises a crawler travelling device, an industrial control device, a cradle head device, a six-degree-of-freedom mechanical arm device, a gas detection device and a wind speed detection device, wherein the cradle head device is a lifting explosion-proof cradle head device or an infrared explosion-proof cradle head device; the crawler traveling device comprises a ship-shaped floating plate type shell, a crawler tensioning device, an explosion-proof control box and a direct drive device; the crawler tensioning devices are positioned on two sides of the ship-shaped floating plate type shell, and the direct-drive devices are fixed in the ship-shaped floating plate type shell and drive the crawler tensioning devices to move; the explosion-proof control box is fixed in the ship-shaped floating plate type shell and is respectively connected with the direct-drive device, the gas detection device, the industrial personal computer device, the cloud platform device, the six-degree-of-freedom mechanical arm device and the wind speed detection device.
Although the prior art provides an inspection robot, the problem of rapidly detecting dangerous goods cannot be solved.
In view of this, the present invention is provided.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in overcoming the not enough of prior art, provides one kind and can overcome above-mentioned problem or solve the hazardous articles detection robot of above-mentioned problem at least partially.
In order to solve the technical problem, the utility model adopts the following basic concept: a robot for detecting dangerous goods comprises
The walking device comprises a walking device, a rotating seat, a telescopic arm and a gripper device, wherein the rotating seat, the telescopic arm and the gripper device are arranged at the top of the walking device and are sequentially connected;
the walking device is arranged as a main body of the robot and used for driving the robot to move;
the rotating seat is used for adjusting the horizontal rotation and pitching movement of the gripper;
the telescopic arm is used for adjusting the telescopic length of the gripping device;
the gripper device is used for gripping the target object;
the X-ray generator is arranged at the front end of the walking device and used for generating X-rays;
the detector is arranged on an X-ray emission path of the X-ray generator and used for receiving the X-rays emitted by the X-ray generator and displaying the image in the target object in real time through signal processing;
the supporting device is arranged at the front part of the walking device and is used for supporting the X-ray generator and the detector;
and the data transmission module is in communication connection with the detector and transmits the image information inside the target object processed by the detector to the central control module in real time.
Wherein, the supporting device is detachably connected with the front part of the walking device.
Further, the supporting device comprises
The first supporting part is arranged at the front part of the walking device, extends along the horizontal direction and is used for supporting the X-ray generator;
the second supporting part extends along the horizontal direction, one end of the second supporting part is connected with the first supporting part, and the other end of the second supporting part is connected with the detector.
Furthermore, the gripper device comprises
The gripper seat is connected with the telescopic arm and can rotate around one end of the telescopic arm;
the two clamping jaws are arranged at the front end of the gripper seat and move relatively to realize the grabbing of the target object.
The front video module is arranged on one side, close to the clamping jaws, of the hand grip seat and used for observing the front of the clamping jaws.
Further, the claw is arranged on the gripper seat and can rotate around one end of the gripper seat.
Meanwhile, the walking device comprises
A vehicle body provided as a main body of the traveling device;
the wheel bodies are symmetrically arranged on two sides of the vehicle body;
and the crawler belts are symmetrically arranged on the outer sides of the wheel bodies on two sides of the vehicle body.
Furthermore, the wheel bodies are rubber tires which are symmetrically arranged on two sides of the vehicle body and have the same size.
Further, the crawler belt is a rubber belt arranged on the outer side of the wheel body.
After the technical scheme is adopted, compared with the prior art, the utility model following beneficial effect has: a hazardous articles detection robot, adopt the manipulator to snatch suspicious article, utilize the portable X ray detection instrument of specialty to detect, the image transmission function of taking is from the portable X ray detection instrument and is transmitted the result of being examined in real time, it is near apart from the article of being examined, image pronunciation are clear, the sampling rate is fast, the precision is high, satisfy anti-terrorism's quick response requirement, work efficiency is improved, at the crime scene, many occasions such as anti-terrorism scene can be used, can avoid a ray of operation personnel to handle suspicious hazardous articles on the spot, staff's security has been improved greatly, can use at the crime scene, many occasions such as anti-terrorism scene, the practicality has very much.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In the drawings:
fig. 1 is a schematic structural view of the hazardous article detection robot of the present invention;
fig. 2 is a schematic control logic diagram of the hazardous article detection robot of the present invention.
In the figure: 1. a traveling device; 101. a vehicle body; 102. a wheel body; 103. a crawler belt; 2. a rotating base; 3. a telescopic arm; 4. a gripper device; 401. a gripper seat; 402. a claw; 403. a front video module; 5. a target object; 6. an X-ray generator; 7. a detector; 8. a support device; 801. a first support section; 802. a second support portion; 9. a data transmission module; 10. and a central control module.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept by those skilled in the art with reference to specific embodiments.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments, and the following embodiments are used for illustrating the present invention, but do not limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 2, the hazardous article detection robot of the present invention comprises a walking device 1, and a rotating base 2, a telescopic arm 3 and a gripper 4 which are arranged on the top of the walking device 1 and are connected in sequence; the walking device 1 is arranged as a main body of the robot and used for driving the robot to move; the rotating base 2 is used for adjusting the horizontal rotation and pitching movement of the gripper 4; the telescopic arm 3 is used for adjusting the telescopic length of the gripping device 4; the gripper device 4 is used for gripping the target object 5; an X-ray generator 6 provided at the front end of the traveling device 1 and used for generating X-rays; the detector 7 is arranged on an X-ray emission path of the X-ray generator 6 and used for receiving the X-rays emitted by the X-ray generator 6 and displaying an image inside the target object 5 in real time through signal processing; the supporting device 8 is arranged at the front part of the walking device 1 and is used for supporting the X-ray generator 6 and the detector 7; and the data transmission module 9 is in communication connection with the detector 7, and transmits the image information inside the target object 5 processed by the detector 7 to the central control module 10 in real time, and an operator can master the image information inside the target object 5 processed by the detector 7 by controlling the central control module 10.
The supporting device 8 is detachably connected with the front part of the walking device 1, and the multifunctional application can be realized through the detachment. Further, the supporting device 8 includes a first supporting portion 801 disposed at the front portion of the walking device 1, extending in the horizontal direction, and configured to support the X-ray generator 6; second supporting part 802 extends the setting along the horizontal direction, one end with first supporting part 801 is connected, the other end with detector 7 connects, first supporting part 801 with be swing joint between the second supporting part 802, swing joint be capable of adjusting first supporting part 801 with the connection of position between the second supporting part 802, according to the equipment parameter of different models and specification, after the good relative position of corresponding regulation, will first supporting part 801 with fix between the second supporting part 802.
In addition, the gripper 4 comprises a gripper seat 401, which is connected with the telescopic arm 3 and can rotate around one end of the telescopic arm 3; and the two claws 402 are arranged at the front end of the gripper seat 401, and the two claws 402 move relative to each other to grip the target object 5. Further, the front video module 403 is further included, and is arranged on one side of the gripper seat 401 close to the claw 402, and is used for observing the front of the claw 402. Further, the claw 402 is provided on the gripper base 401 to be rotatable around one end of the gripper base 401.
Meanwhile, the traveling device 1 includes a vehicle body 101 provided as a main body of the traveling device 1; at least four wheels 102 symmetrically arranged on two sides of the vehicle body 101; and crawler belts 103 symmetrically disposed on outer sides of the wheel bodies 102 on both sides of the vehicle body 101. Further, the wheel body 102 is a rubber tire symmetrically disposed on both sides of the vehicle body 101 and having the same size. Further, the crawler belt 103 is a rubber belt disposed on the outer side of the wheel body 102, so that the grip of the robot is enhanced.
In a specific embodiment, when a target object 5 appears in a crime scene, a mobile robot is remotely controlled to be close to the target object 5 through a walking device 1, a rotating seat 2 of the robot is operated to rotate a telescopic arm 3, the target object 5 is grabbed through the extension of the telescopic arm 3 and a gripper device 4, the rotating seat 2, the telescopic arm 3 and the gripper device 4 are adjusted, the target object 5 grabbed by the gripper device 4 is placed between a detector 7 and an X-ray generator 6, the X-ray generator 6 is remotely started through a central control module 10, the portable X-ray generator 6 is remotely started 9, the X-ray detection target object 5 is emitted, the detector 7 displays an object image inside the target object 5 in real time and transmits the object image to the central control module 10 through a data transmission module 9 in real time, and an operator at the end of the central control module 10 performs further processing, and finishing one detection.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and although the present invention has been disclosed with reference to the above preferred embodiment, but not to limit the present invention, any person skilled in the art can make modifications or changes to equivalent embodiments by utilizing the above technical contents without departing from the scope of the present invention, and any simple modification, equivalent change and modification made to the above embodiments by the technical matters of the present invention are within the scope of the present invention.
Claims (9)
1. A hazardous article detection robot, its characterized in that: comprises that
The device comprises a walking device (1), and a rotating seat (2), a telescopic arm (3) and a gripper device (4) which are arranged at the top of the walking device (1) and are sequentially connected;
the walking device (1) is arranged as a main body of the robot and is used for driving the robot to move;
the rotating base (2) is used for adjusting the horizontal rotation and pitching movement of the gripper device (4);
the telescopic arm (3) is used for adjusting the telescopic length of the gripping device (4);
the gripper device (4) is used for gripping a target object (5);
the X-ray generator (6) is arranged at the front end of the walking device (1) and is used for generating X-rays;
the detector (7) is arranged on an X-ray emission path of the X-ray generator (6) and used for receiving the X-rays emitted by the X-ray generator (6) and displaying an image inside the target object (5) in real time through signal processing;
the supporting device (8) is arranged at the front part of the walking device (1) and is used for supporting the X-ray generator (6) and the detector (7);
and the data transmission module (9) is in communication connection with the detector (7) and transmits the image information inside the target object (5) processed by the detector (7) to the central control module (10) in real time.
2. The hazardous article detection robot of claim 1, wherein: the supporting device (8) is detachably connected with the front part of the walking device (1).
3. The hazardous article detection robot of claim 2, wherein: the supporting device (8) comprises
A first support part (801) which is provided at the front part of the traveling device (1), extends in the horizontal direction, and supports the X-ray generator (6);
and the second supporting part (802) extends along the horizontal direction, one end of the second supporting part is connected with the first supporting part (801), and the other end of the second supporting part is connected with the detector (7).
4. The hazardous article detection robot of claim 1, wherein: the gripping device (4) comprises
The gripper seat (401) is connected with the telescopic arm (3) and can rotate around one end of the telescopic arm (3);
the two clamping jaws (402) are arranged at the front end of the gripper seat (401), and the target object (5) is grabbed through the two clamping jaws (402) which move relatively.
5. The hazardous article detection robot of claim 4, wherein: the front video module (403) is arranged on one side, close to the clamping jaw (402), of the gripper seat (401) and used for observing the front of the clamping jaw (402).
6. The hazardous article detection robot of claim 4, wherein: the claw (402) is arranged on the gripper seat (401) and can rotate around one end of the gripper seat (401).
7. The hazardous article detection robot of claim 1, wherein: the walking device (1) comprises
A vehicle body (101) provided as a main body of the traveling device (1);
the wheels (102) are symmetrically arranged on two sides of the vehicle body (101);
and the crawler belts (103) are symmetrically arranged on the outer sides of the wheel bodies (102) on the two sides of the vehicle body (101).
8. The hazardous article detection robot of claim 7, wherein: the wheel bodies (102) are rubber tires which are symmetrically arranged on two sides of the vehicle body (101) and have the same size.
9. The hazardous article detection robot of claim 7, wherein: the crawler belt (103) is a rubber belt arranged on the outer side of the wheel body (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921738040.0U CN210616523U (en) | 2019-10-16 | 2019-10-16 | Hazardous article detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921738040.0U CN210616523U (en) | 2019-10-16 | 2019-10-16 | Hazardous article detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210616523U true CN210616523U (en) | 2020-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921738040.0U Active CN210616523U (en) | 2019-10-16 | 2019-10-16 | Hazardous article detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210616523U (en) |
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- 2019-10-16 CN CN201921738040.0U patent/CN210616523U/en active Active
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