CN212218488U - Hazardous chemical substance disaster on-site reconnaissance sampling robot - Google Patents
Hazardous chemical substance disaster on-site reconnaissance sampling robot Download PDFInfo
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- CN212218488U CN212218488U CN202020461215.4U CN202020461215U CN212218488U CN 212218488 U CN212218488 U CN 212218488U CN 202020461215 U CN202020461215 U CN 202020461215U CN 212218488 U CN212218488 U CN 212218488U
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Abstract
The utility model provides a dangerous chemical disaster site reconnaissance sampling robot, which comprises a robot body, wherein the robot body comprises a crawler chassis, and traveling systems are arranged on two sides of the crawler chassis; the upper end face of the crawler chassis is provided with a mechanical arm, a sampler and an imaging system; the traveling system, the mechanical arm, the sampler and the imaging system are all connected with an external control system; the robot body is driven to move by the driving system; the front end scene of the robot body is collected through an imaging system and is transmitted to an external control system; the mechanical arm is controlled by an external control system to regulate and control within a small angle range, so that the mechanical arm drives the sampler to reach a proper sampling place and be at a proper sampling height and angle; meanwhile, the sampler is controlled to execute a series of fixed actions such as needle withdrawing, sampling, needle returning and the like, and one-time sampling work is completed; the structure can know the field environment through the imaging system, remotely control the robot through wireless communication, and control the action of the robot by adopting a mode of combining a fixed program and a manual fine adjustment program, so that the flexibility of the robot is greatly increased, and the control becomes more flexible and reliable.
Description
Technical Field
The utility model belongs to the field of machinery, specifically be applied to a dangerous chemical substance disaster scene reconnaissance sampling robot.
Background
In the dangerous goods explosion or leakage accidents around the world, in order to make an effective rescue scheme, careful reconnaissance must be carried out on the accident site, the nuclear chemical processing personnel sent in the past carry a detection instrument to enter a polluted area for reconnaissance and measurement, and simultaneously carry a camera to record the site condition, so that the reconnaissance personnel need to take great life danger; at present, the application robot replaces human beings to engage in some dangerous work and becomes a trend, and the research and development application of dangerous chemical substance disaster site reconnaissance sampling robot will greatly improve the current situation of domestic rescue reconnaissance undoubtedly, further protect the safety of rescue personnel, increase the controllability of accident scene. In order to make the robot work more effectively in the application occasion, a reliable and easy-to-operate human-computer interaction control system is necessary.
Disclosure of Invention
An object of the utility model is to provide a dangerous chemicals disaster scene reconnaissance sampling robot has solved the defect that the reliability is poor that current robot and man-machine interaction control system exists.
In order to achieve the above purpose, the utility model discloses a technical scheme is:
the utility model provides a dangerous chemical disaster site reconnaissance sampling robot, which comprises a robot body, wherein the robot body comprises a crawler chassis, and traveling systems are arranged on two sides of the crawler chassis; the upper end face of the crawler chassis is provided with a mechanical arm, a sampler and an imaging system; the traveling system, the mechanical arm, the sampler and the imaging system are all connected with an external control system.
Preferably, the traveling system comprises a first direct current brushless motor, a driving wheel, a driven wheel, a bearing wheel and a trapezoidal double-sided tooth synchronous belt, wherein the bearing wheel is provided with a plurality of bearing wheels which are arranged in parallel; the driving wheel, the driven wheel and the plurality of bearing wheels are arranged in a trapezoidal structure; the axes of the driving wheel and the driven wheel are parallel to each other; the trapezoidal double-sided tooth synchronous belt is respectively meshed and connected with the driving wheel, the driven wheel and the bearing wheel; the driving wheel is connected with an output shaft of a first direct current brushless motor in a driving way; and a first speed reducer is arranged between the output shaft of the first direct current brushless motor and the driving wheel.
Preferably, the mechanical arm comprises an actuating mechanism and a driving mechanism, and the driving mechanism is in driving connection with the actuating mechanism; the actuating mechanism comprises a rotary table body, a first actuating arm, a second actuating arm, a first connecting body and a second connecting body, wherein the rotary table body is fixed on the driving mechanism, the first actuating arm is in driving connection with the rotary table body, and the first actuating arm and the second actuating arm are in hinged connection through the first connecting body; the free end of the second execution arm is connected with a second connecting body.
Preferably, the driving mechanism comprises a second dc brushless motor, a second speed reducer, a driving bevel gear, a driven bevel gear, a first output shaft, a thrust ball bearing, a rolling bearing and a centering ring, wherein the output shaft of the second dc brushless motor is connected with the second speed reducer, and the output shaft of the second speed reducer is connected with the driving bevel gear; the driven bevel gear is sleeved on the first output shaft and is in meshed connection with the driving bevel gear; the thrust ball bearing is fixed on the first motor support, and one end part of the first output shaft is installed on the thrust ball bearing;
the other end of the first output shaft is sleeved with a rolling bearing, and the rolling bearing is sleeved with a centering ring;
the end part of the other end of the first output shaft penetrates through the first motor support to be connected with a rotary table;
the axis of the first output shaft is perpendicular to the axis of the second reducer output shaft; the turntable body is arranged on the turntable.
Preferably, the rotary table body comprises a second stepping motor, a second motor support, a third speed reducer and a second output shaft, wherein the output shaft of the second stepping motor is connected with the third speed reducer, a bevel gear is sleeved on the output shaft of the third speed reducer, the bevel gear is in meshing connection with a first bevel gear, the first bevel gear is sleeved at one end of the second output shaft, and the other end of the second output shaft is connected with a first execution arm; and the axis of the second output shaft is perpendicular to the axis of the third speed reducer.
Preferably, the first executing arm comprises a first connecting piece, and one end of the first connecting piece is fixedly connected with one end of the first connecting body; the other end of the first connecting body is hinged with the second executing arm; the second execution arm comprises a second connecting piece, and one end of the second connecting piece is hinged with the first connecting body; the other end of the second connecting piece is fixedly connected with the second connecting body.
Preferably, the first connecting body and the second connecting body are the same in structure, wherein the first connecting body is a frame structure; the first connecting body is provided with a stepping motor, an output shaft of the stepping motor is sleeved with a third bevel gear, the third bevel gear is connected with a fourth bevel gear in a meshing manner, the fourth bevel gear is sleeved at one end of a third transmission shaft, and the third transmission shaft is arranged on the first connecting body; the other end of the second transmission shaft is in driving connection with a second connecting piece; the sampler is characterized in that a third stepping motor is installed on the second connecting body, a fifth bevel gear is sleeved on an output shaft of the third stepping motor, the fifth bevel gear is connected with a second bevel gear in a meshed mode, the second bevel gear is sleeved at one end of the first transmission shaft, and the other end of the first transmission shaft is connected with a sampler in a driving mode.
Preferably, the sampler comprises a fourth stepping motor, a first flange seat, a first end cover and a first outer ring slideway, wherein the fourth stepping motor is fixed on the first flange seat; the first flange seat is connected with one end of the first outer ring slideway; the other end of the first outer ring slideway is connected with a first end cover; an output shaft of the fourth stepping motor is connected with a second transmission shaft; the second transmission shaft is sleeved with a first bearing, and the first bearing is fixed on the first flange seat; the free end of the second transmission shaft is sleeved with a first cylindrical cam, and the first cylindrical cam is fixed on the second transmission shaft; the first cylindrical cam is arranged in the inner cavity of the straight-through slideway of the cylindrical surface of the first outer ring slideway, and the first cylindrical cam and the straight-through slideway are coaxially arranged; a plurality of first sliding blocks are arranged in the inner cavity of the straight slideway of the cylindrical surface of the first outer ring slideway, and are uniformly distributed along the circumferential direction of the first outer ring slideway;
each first sliding block is connected with the inner wall of the first outer ring slideway in a sliding manner; each first sliding block is provided with a first groove, a sampling needle is arranged in each first groove, and the free end of each sampling needle is connected with a puncture needle sampling container through a hose; each first sliding block is provided with a guide rod, a first return spring is sleeved on each guide rod, and the free end of each first return spring is arranged in a spring guide groove formed in the first end cover.
Preferably, the sampling container comprises a fifth stepping motor, a second flange seat, a fourth transmission shaft, a second bearing, a second cylindrical cam, a second outer ring slideway, a second end cover, a retainer and a shell, wherein the fifth stepping motor is sequentially connected with the second flange seat, the second outer ring slideway, the second end cover, the retainer and the shell;
an output shaft of the fifth stepping motor is connected with a fourth transmission shaft, a second bearing is sleeved on the fourth transmission shaft, and the second bearing is installed on a bearing seat on a second flange seat;
a second cylindrical cam is sleeved at the free end of the fourth transmission shaft;
the second cylindrical cam is arranged in the inner cavity of the straight slideway of the cylindrical surface of the second outer ring slideway, and the second cylindrical cam and the straight slideway are coaxially arranged;
a plurality of second sliding blocks are uniformly distributed in the inner cavity of the second outer ring slideway along the circumferential direction of the inner cavity; the second sliding block is in sliding connection with the cylindrical surface of the second outer ring slide way through the side wall of the inner cavity of the slide way;
each second sliding block is provided with a second groove, puncture needles are arranged in the second grooves, and one end of each puncture needle is connected with the sampler through a hose; the other end of each puncture needle is connected with a vacuum tube, one end of each vacuum tube is arranged on the retainer, and the other end of each vacuum tube is arranged on the shell;
the second slider is provided with a guide rod, a second return spring is sleeved on the guide rod, and the free end of the second return spring is arranged in a spring guide groove formed in the second end cover.
Preferably, the outer side wall of the shell is provided with a buckle, and the buckle is connected with the second outer ring slide way.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model provides a dangerous chemical disaster site reconnaissance sampling robot, which drives a robot body to move through a driving system; the front end scene of the robot body is collected through an imaging system and is transmitted to an external control system; the mechanical arm is controlled by an external control system to regulate and control within a small angle range, so that the mechanical arm drives the sampler to reach a proper sampling place and be at a proper sampling height and angle; meanwhile, the sampler is controlled to execute a series of fixed actions such as needle withdrawing, sampling, needle returning and the like, and one-time sampling work is completed; the structure can know the field environment through the imaging system, remotely control the robot through wireless communication, and control the action of the robot by adopting a mode of combining a fixed program and a manual fine adjustment program, so that the flexibility of the robot is greatly increased, and the control becomes more flexible and reliable.
Drawings
FIG. 1 is an isometric view of a hazardous chemical substance disaster site investigation sampling robot;
FIG. 2 is an isometric view of a mechanical crawler chassis;
FIG. 3 is a cross-sectional view of the robot arm drive mechanism;
FIG. 4 is an isometric view of the robotic arm;
FIG. 5 is a sectional view of the sampler structure;
fig. 6 is an isometric view of the sampler;
FIG. 7 is a structural cross-sectional view of a sampling vessel;
FIG. 8 is a schematic view of a console configuration;
wherein, 1, the auxiliary camera 2, the sampler 3, the mechanical arm 4, the main camera 5, the crawler chassis 6, the sampling container 7, the threaded hole 8, the DC brushless motor 9, the battery 10, the first speed reducer 11, the trapezoidal double-sided tooth synchronous belt 12, the driving wheel 13, the bearing wheel support rod 14, the bearing wheel 15, the driven wheel 16, the first stepping motor 17, the second speed reducer 18, the driving bevel gear 19, the gasket 20, the rolling bearing 21, the centering ring 22, the first output shaft 23, the driven bevel gear 24, the thrust ball bearing 25, the third speed reducer 26, the second motor bracket 27, the deep groove ball bearing 28, the first bevel gear 29, the second stepping motor 30, the second connector 31, the second bevel gear 32, the first transmission shaft 33, the third stepping motor 34, the second connector 35, the third stepping motor, the third connector 35, the third, The device comprises a first connecting piece 36, a first connecting body 37, a connecting plate 38, a first end cover 39, a first outer ring slideway 40, a first cylindrical cam 41, a first bearing 42, a first flange seat 43, a second transmission shaft 44, a fourth stepping motor 45, a first slide block 46, a sampling needle 47, a first return spring 48, a fifth stepping motor 49, a second flange seat 50, a fourth transmission shaft 51, a second bearing 52, a second cylindrical cam 53, a second outer ring slideway 54, a second end cover 55, a retainer 56, a buckle 57, a shell 58, a second slide block 59, a puncture needle 60, a second return spring 61, a vacuum tube 62, a liquid crystal display 63, a mechanical arm control key position 64, a sampler control key position 65, a camera control key position 66 and a crawler walking steering control key position.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the utility model provides a pair of dangerous chemicals disaster scene reconnaissance sampling robot, including the robot, the robot includes track chassis 5, traveling system has been arranged to track chassis 5's both sides.
The upper end face of the crawler chassis 5 is provided with a mechanical arm, a sampler and an imaging system.
The walking system, the mechanical arm, the sampler and the imaging system are all connected with an external control system.
The driving system adopts a mechanical structure of 'three wheels with one wheel'; the device comprises a driving wheel 12, a driven wheel 15, a bearing wheel 14 and a trapezoidal double-sided tooth synchronous belt 11, wherein a plurality of bearing wheels 14 are arranged in parallel; the driving wheel 12, the driven wheel 15 and the bearing wheels 14 are arranged in a trapezoidal structure; the axes of the driving wheel 12 and the driven wheel 15 are parallel to each other.
The trapezoidal double-sided tooth synchronous belt 11 is respectively meshed and connected with the driving wheel 12, the driven wheel 15 and the bearing wheel 14.
The bearing wheels 14 are fixed on the crawler chassis 5 through bearing wheel support rods 13.
The driving wheel 12 is connected with an output shaft of the first direct current brushless motor 8 in a driving way; a first speed reducer 10 is provided between the output shaft of the first dc brushless motor 8 and the drive wheel 12.
The mechanical arm comprises an actuating mechanism and a driving mechanism, and the driving mechanism is in driving connection with the actuating mechanism.
The driving mechanism comprises a second direct current brushless motor 16, a second speed reducer 17, a driving bevel gear 18, a driven bevel gear 23, an output shaft 22, a thrust ball bearing 24, a rolling bearing 20 and a centering ring 21, wherein the output shaft of the second direct current brushless motor 16 is connected with the second speed reducer 17, and the output shaft of the second speed reducer 17 is connected with the driving bevel gear 18.
The driven bevel gear 23 is sleeved on the first output shaft 22, and the driven bevel gear 23 is meshed with the drive bevel gear 18.
The second speed reducer 17 is fixed to the first motor support.
The thrust ball bearing 24 is fixed to the first motor mount 1601, and one end of the first output shaft 22 is mounted on the thrust ball bearing 24.
The other end of the first output shaft 22 is sleeved with a rolling bearing 20, the rolling bearing 20 is sleeved with a centering ring 21, the centering ring 21 is reversely buckled on the rolling bearing 20, and the upper end of the rolling bearing 20 is limited and fixed; the end of the first output shaft 22 passes through the first motor bracket and is connected with a rotary plate 1602, and a gasket 19 is arranged between the rotary plate 1602 and the first motor bracket 1601.
The axis of the first output shaft 22 is perpendicular to the axis of the output shaft of the second speed reducer 17.
The actuating mechanism comprises a turntable body, a first actuating arm, a second actuating arm, a first connecting body and a second connecting body, wherein the turntable body is fixed on the turntable 1602, the first actuating arm is in driving connection with the turntable body, and the first actuating arm and the second actuating arm are in hinged connection through the first connecting body 36; the free end of the second actuating arm is connected to a second connecting body 30.
The turntable body comprises a second stepping motor 29, a second motor support 26, a third speed reducer 25 and a second output shaft, wherein the output shaft of the second stepping motor 29 is connected with the third speed reducer 25, the output shaft of the third speed reducer 25 is sleeved with a bevel gear, the bevel gear is in meshing connection with a first bevel gear 28, the first bevel gear 28 is sleeved at one end of the second output shaft, and two ends of the second output shaft are installed on the second motor support 26; and deep groove ball bearings 27 are arranged between the two ends of the second output shaft and the second motor bracket 26.
The axis of the second output shaft is perpendicular to the axis of the third reducer 25.
The other end of the second output shaft is connected with a first execution arm.
The first execution arm comprises a first connecting piece 35, and one end of the first connecting piece 35 is fixedly connected with one end of the first connecting body; the other end of the first connecting body is hinged with the second execution arm.
The second execution arm comprises a second connecting piece 34, and one end of the second connecting piece 34 is hinged with a first connecting body 36; the other end of the second connecting member 34 is fixedly connected to the second connecting body 30.
The first connecting body 36 and the second connecting body 30 have the same structure, wherein the first connecting body 36 is a frame structure.
The first connecting body 36 is provided with a stepping motor, an output shaft of the stepping motor is sleeved with a third bevel gear, the third bevel gear is meshed with a fourth bevel gear, the fourth bevel gear is sleeved at one end of a third transmission shaft, and the third transmission shaft is arranged on the first connecting body 36.
The other end of the third transmission shaft is connected with a second connecting piece 34 in a driving way.
The second connecting body 30 is provided with a third stepping motor 33, an output shaft of the third stepping motor 33 is sleeved with a fifth bevel gear, the fifth bevel gear is connected with a second bevel gear 31 in a meshing manner, the second bevel gear 31 is sleeved at one end of a first transmission shaft 32, and the first transmission shaft 32 is arranged on the second connecting body 30.
The other end of the first transmission shaft 32 is connected with a sampler in a driving way.
The first stepping motor 16 is turned on to drive the driving bevel gear 18 to rotate, and further to rotate the proxy driven bevel gear 23, and the output shaft 22 drives the rotating disc 1602 to rotate.
Since the turntable is mounted on the turntable 1602, the turntable rotates therewith.
The second stepping motor 29 is turned on to sequentially drive the bevel gear, the first bevel gear 28 and the second output shaft to rotate, and further drive the first actuating arm to rotate.
And the step motor is started to sequentially drive the third bevel gear, the fourth bevel gear and the third transmission shaft to rotate so as to drive the second execution arm to rotate.
And the third step motor 33 is started to drive the fifth bevel gear, the second bevel gear 31 and the first transmission shaft 32 to rotate in sequence, so as to drive the sampler to rotate.
The sampler comprises a fourth stepping motor 44, a first flange seat 42, a first end cover 38 and a first outer ring slideway 39, wherein the fourth stepping motor 44 is fixed on the first flange seat 42; the first flange seat 42 is connected with one end of the first outer ring slideway 39; the other end of the first outer race slide 39 is connected to the first end cap 38.
An output shaft of the fourth stepping motor 44 is connected with a second transmission shaft 43; the second transmission shaft 43 is sleeved with a first bearing 41, and the first bearing 41 is fixed on the first flange seat 42.
The free end of the second transmission shaft 43 is also sleeved with a first cylindrical cam 40, and the first cylindrical cam 40 is fixed on the second transmission shaft 43.
The first cylindrical cam 40 is arranged in the inner cavity of the straight cylindrical surface slideway of the first outer ring slideway 39, and the two are coaxially arranged.
The cylindrical surface straight slideway inner cavity of the first outer ring slideway 39 is provided with a plurality of first sliding blocks 45, and the first sliding blocks 45 are uniformly distributed along the cylindrical direction of the first outer ring slideway 39.
The first sliding block 45 is connected with the inner wall of the first outer ring slideway 39 in a sliding way.
First recess has been seted up on the first slider 45, install sampling needle 46 in the first recess, sampling needle 46's stalk portion and first slider 45 fixed connection.
A guide rod is arranged on the first sliding block 45, a first return spring 47 is sleeved on the guide rod, and the free end of the first return spring 47 is arranged in a spring guide groove formed in the first end cover 38.
When the first cylindrical cam 40 is not in contact with the first slider 45, the first slider is returned by the first return spring 47.
The free end of the sampling needle 46 is connected with a puncture needle sampling container through a hose.
An output shaft of the fourth stepping motor 44 rotates to drive the second transmission shaft 43 and the first cylindrical cam 40 to rotate; in the rotating process of the first cylindrical cam 40, the first sliding block 45 is pushed to move back and forth along the cylindrical surface of the first outer ring slideway 39 and the inner wall of the straight slideway; thereby moving the sampling needle 46 back and forth.
The sampling container comprises a fifth stepping motor 48, a second flange seat 49, a fourth transmission shaft 50, a second bearing 51, a second cylindrical cam 52, a second outer ring slide way 53, a second end cover 54, a retainer 55 and a shell 57, wherein the fifth stepping motor 48 is sequentially connected with the second flange seat 49, the second outer ring slide way 53, the second end cover 54, the retainer 55 and the shell 57.
An output shaft of the fifth stepping motor 48 is connected with a fourth transmission shaft 50, a second bearing 51 is sleeved on the fourth transmission shaft 50, and the second bearing 51 is installed on a bearing seat on the second flange seat 49.
The free end of the fourth transmission shaft 50 is further sleeved with a second cylindrical cam 52, and the second cylindrical cam 52 is fixed on the fourth transmission shaft 50.
The second cylindrical cam 52 is arranged in the inner cavity of the straight slideway of the cylindrical surface of the second outer ring slideway 53, and the two are coaxially arranged.
A plurality of second sliding blocks 58 are uniformly distributed in the inner cavity of the second outer ring slideway 53 along the circumferential direction; the second sliding block 58 is connected with the side wall of the inner cavity of the straight slide way of the cylindrical surface of the second outer ring slide way 53 in a sliding way.
A second groove is formed in the second sliding block 58, a puncture needle 59 is installed in the second groove, and one end of the puncture needle 59 is connected with the sampler through a hose; the other end of the puncture needle 59 is connected with a vacuum tube 61.
A guide rod is arranged on the second sliding block 58, a second return spring 60 is sleeved on the guide rod, and the free end of the second return spring 60 is arranged in a spring guide groove formed in the second end cover 54.
One end of the vacuum tube 61 is fixed on the holder, and the other end is fixed in a clamping groove formed on the shell 57.
The outer side wall of the shell 57 is provided with a buckle 56, and is connected with the second outer ring slideway 53 through the buckle 56.
The vacuum tube is a glass tube or a small container with certain negative pressure, and external liquid is sucked through a suction tube and a sampling needle by utilizing the negative pressure of the vacuum tube, so that the liquid sampling function is completed. It is a reason similar to the vacuum tube used for blood sampling in the existing hospital. A sampling vessel is a container that holds a number of vacuum tubes. The robot can carry two sampling containers at a time, and each sampling container contains six vacuum tubes, namely the robot can complete the sampling work of liquid at 12 different measuring points at a time.
The imaging system comprises a camera 1, an external control system and a data processing system, wherein the camera 1 is used for collecting disaster site conditions and transmitting collected image information to the external control system; the camera 1 is mounted on the second connecting body 30.
The external control system comprises a control console, an independent keyboard, a matrix keyboard, a liquid crystal display screen, a wireless transmitting unit and a voice broadcasting unit, wherein the control console is respectively connected with the independent keyboard, the matrix keyboard, the liquid crystal display screen, the wireless transmitting unit and the voice broadcasting unit.
The independent keyboard comprises two toggle switches which respectively control a high gear and a low gear of the walking mechanism and the mechanical arm.
The matrix keyboard comprises a mechanical arm control key position 63, a sampler control key position 64, a camera control key position 65 and a crawler walking steering control key position 66, and specifically comprises the following steps:
the matrix keyboard is in a form of 5-by-5, corresponds to 25 keys, and respectively controls the advancing of the robot, the left turning of the robot, the right turning of the robot, the retreating of the robot, the forward rotation fine adjustment of the rotary table body, the forward rotation fine adjustment of the first execution arm, the forward rotation fine adjustment of the second connecting body, the reverse rotation fine adjustment of the rotary table body, the reverse rotation fine adjustment of the first execution arm, the reverse rotation fine adjustment of the second connecting body, the needle outlet, the sampling, the needle return and the emergency stop instruction of the liquid sampler and the gas sampler.
And the liquid crystal display screen displays the instructions executed by the robot, the using condition of the electric quantity of the robot body and the environmental parameters of the accident scene sent back from the operation terminal.
The voice broadcasting module broadcasts the robot action, the body performance condition and the environmental risk index of the accident site in real time, so that an operator can know and judge the disaster site more clearly and accurately.
The whole action of the robot is remotely controlled by a console; an operator makes a judgment according to the audio and video information and the environmental parameters of the accident scene, the console sends a walking instruction, the direct current brushless motor acts, and the robot moves forwards, backwards, turns left and turns right at a proper speed; after the sampler reaches a specified place, the robot stops walking, the control console sends a mechanical arm initialization instruction, the stepping motors in the mechanical arm modules are linked to enable the waist, the large arm, the small arm and the wrist to automatically move to a certain position, and then manual fine adjustment is carried out, namely, the driving mechanism, the rotary table body, the first execution arm, the second execution arm, the stepping motors of the first connecting body and the second connecting body are regulated and controlled within a small angle range, so that the sampler reaches a proper sampling place and is at a proper sampling height and angle, the control console sends a sampling instruction at the moment, the stepping motors act to enable the sampler to execute a series of fixed actions such as needle withdrawing, sampling, needle returning and the like, and one-time sampling work is completed. The operator can adjust the position and the angle of the mechanical arm, repeat the operation and continue to sample next time, or can press a reset instruction to reset the whole robot and bring back the sample.
Claims (10)
1. The hazardous chemical substance disaster site reconnaissance sampling robot is characterized by comprising a robot body, wherein the robot body comprises a crawler chassis (5), and traveling systems are arranged on two sides of the crawler chassis (5); the upper end face of the crawler chassis (5) is provided with a mechanical arm, a sampler and an imaging system; the traveling system, the mechanical arm, the sampler and the imaging system are all connected with an external control system.
2. The hazardous chemical substance disaster site reconnaissance sampling robot as claimed in claim 1, wherein the travelling system comprises a direct current brushless motor (8), a driving wheel (12), a driven wheel (15), a bearing wheel (14) and a trapezoidal double-sided tooth synchronous belt (11), wherein the bearing wheel (14) is provided in plurality and is arranged in parallel; the driving wheel (12), the driven wheel (15) and the plurality of bearing wheels (14) are arranged in a trapezoidal structure; the axes of the driving wheel (12) and the driven wheel (15) are parallel to each other; the trapezoidal double-sided tooth synchronous belt (11) is respectively meshed and connected with the driving wheel (12), the driven wheel (15) and the bearing wheel (14); the driving wheel (12) is connected with an output shaft of the direct current brushless motor (8) in a driving way; a first speed reducer (10) is arranged between an output shaft of the direct current brushless motor (8) and the driving wheel (12).
3. The hazardous chemical substance disaster site reconnaissance and sampling robot of claim 1, wherein the mechanical arm comprises an actuating mechanism and a driving mechanism, and the driving mechanism is in driving connection with the actuating mechanism; the actuating mechanism comprises a rotary table body, a first actuating arm, a second actuating arm, a first connecting body and a second connecting body, wherein the rotary table body is fixed on the driving mechanism, the first actuating arm is in driving connection with the rotary table body, and the first actuating arm and the second actuating arm are hinged through the first connecting body (36); the free end of the second actuating arm is connected to a second connecting body (30).
4. The hazardous chemical substance disaster site reconnaissance sampling robot as claimed in claim 3, wherein the driving mechanism comprises a first stepping motor (16), a second speed reducer (17), a driving bevel gear (18), a driven bevel gear (23), a first output shaft (22), a thrust ball bearing (24), a rolling bearing (20) and a centering ring (21), wherein the output shaft of the first stepping motor (16) is connected with the second speed reducer (17), and the output shaft of the second speed reducer (17) is connected with the driving bevel gear (18); the driven bevel gear (23) is sleeved on the first output shaft (22), and the driven bevel gear (23) is in meshed connection with the driving bevel gear (18); the thrust ball bearing (24) is fixed on the first motor support (1601), and one end of the first output shaft (22) is installed on the thrust ball bearing (24);
the other end of the first output shaft (22) is sleeved with a rolling bearing (20), and the rolling bearing (20) is sleeved with a centering ring (21);
the end part of the other end of the first output shaft (22) penetrates through the first motor bracket to be connected with a rotary table (1602);
the axis of the first output shaft (22) is vertical to the axis of the output shaft of the second speed reducer (17); the rotary table body is arranged on a rotary table (1602).
5. The hazardous chemical substance disaster site reconnaissance sampling robot as claimed in claim 3, wherein the rotary table body comprises a second stepping motor (29), a second motor support (26), a third speed reducer (25) and a second output shaft, wherein the output shaft of the second stepping motor (29) is connected with the third speed reducer (25), a bevel gear is sleeved on the output shaft of the third speed reducer (25), the bevel gear is in meshing connection with a first bevel gear (28), the first bevel gear (28) is sleeved at one end of the second output shaft, and the other end of the second output shaft is connected with a first execution arm; the axis of the second output shaft is perpendicular to the axis of the third speed reducer (25).
6. The hazardous chemical substance disaster site reconnaissance sampling robot of claim 3, wherein the first execution arm comprises a first connecting piece (35), one end of the first connecting piece (35) is fixedly connected with one end of a first connecting body (36); the other end of the first connecting body (36) is hinged with the second execution arm; the second execution arm comprises a second connecting piece (34), and one end of the second connecting piece (34) is hinged with the first connecting body (36); the other end of the second connecting piece (34) is fixedly connected with the second connecting body (30).
7. The hazardous chemical substance disaster site reconnaissance sampling robot of claim 3, wherein the first connecting body (36) and the second connecting body (30) are identical in structure, wherein the first connecting body (36) is a frame structure; a stepping motor is installed on the first connecting body (36), a third bevel gear is sleeved on an output shaft of the stepping motor, the third bevel gear is connected with a fourth bevel gear in a meshing manner, the fourth bevel gear is sleeved at one end of a third transmission shaft, and the third transmission shaft is installed on the first connecting body (36); the other end of the third transmission shaft is connected with a second connecting piece (34) in a driving way; a third step motor (33) is installed on the second connecting body (30), a fifth bevel gear is sleeved on an output shaft of the third step motor (33), the fifth bevel gear is connected with a second bevel gear (31) in a meshed mode, the second bevel gear (31) is sleeved at one end of a first transmission shaft (32), and the other end of the first transmission shaft (32) is connected with a sampler in a driving mode.
8. The hazardous chemical substance disaster site reconnaissance and sampling robot of claim 1, wherein the sampler comprises a fourth stepping motor (44), a first flange seat (42), a first end cover (38) and a first outer ring slideway (39), wherein the fourth stepping motor (44) is fixed on the first flange seat (42); the first flange seat (42) is connected with one end of the first outer ring slideway (39); the other end of the first outer ring slideway (39) is connected with a first end cover (38); an output shaft of the fourth stepping motor (44) is connected with a second transmission shaft (43); the second transmission shaft (43) is sleeved with a first bearing (41), and the first bearing (41) is fixed on the first flange seat (42); a first cylindrical cam (40) is sleeved on the free end of the second transmission shaft (43), and the first cylindrical cam (40) is fixed on the second transmission shaft (43); the first cylindrical cam (40) is arranged in the inner cavity of the straight cylindrical surface slideway of the first outer ring slideway (39), and the first cylindrical cam and the straight cylindrical surface slideway are coaxially arranged; a plurality of first sliding blocks (45) are arranged in the inner cavity of the straight slideway of the cylindrical surface of the first outer ring slideway (39), and the first sliding blocks (45) are uniformly distributed along the circumferential direction of the first outer ring slideway;
each first sliding block (45) is connected with the inner wall of the first outer ring slideway (39) in a sliding way; each first sliding block (45) is provided with a first groove, a sampling needle (46) is arranged in each first groove, and the free end of each sampling needle (46) is connected with a puncture needle sampling container through a hose; each first sliding block (45) is provided with a guide rod, a first return spring (47) is sleeved on each guide rod, and the free end of each first return spring (47) is arranged in a spring guide groove formed in the first end cover (38).
9. The hazardous chemical substance disaster site reconnaissance sampling robot of claim 8, wherein the sampling container comprises a fifth stepping motor (48), a second flange seat (49), a fourth transmission shaft (50), a second bearing (51), a second cylindrical cam (52), a second outer ring slideway (53), a second end cover (54), a retainer (55) and a shell (57), wherein the fifth stepping motor (48) is connected with the second flange seat (49), the second outer ring slideway (53), the second end cover (54), the retainer (55) and the shell (57) in sequence;
an output shaft of the fifth stepping motor (48) is connected with a fourth transmission shaft (50), a second bearing (51) is sleeved on the fourth transmission shaft (50), and the second bearing (51) is installed on a bearing seat on a second flange seat (49);
the free end of the fourth transmission shaft (50) is also sleeved with a second cylindrical cam (52);
the second cylindrical cam (52) is arranged in the inner cavity of the straight slideway of the cylindrical surface of the second outer ring slideway (53), and the second cylindrical cam and the straight slideway are coaxially arranged;
a plurality of second sliding blocks (58) are uniformly distributed in the inner cavity of the second outer ring slideway (53) along the circumferential direction; the second sliding block (58) is in sliding connection with the side wall of the inner cavity of the straight slideway of the cylindrical surface of the second outer ring slideway (53);
each second sliding block (58) is provided with a second groove, a puncture needle (59) is arranged in each second groove, and one end of each puncture needle (59) is connected with the sampler through a hose; the other end of each puncture needle (59) is connected with a vacuum tube (61), one end of the vacuum tube (61) is arranged on the retainer (55), and the other end of the vacuum tube is arranged on the shell (57);
the second sliding block (58) is provided with a guide rod, a second return spring (60) is sleeved on the guide rod, and the free end of the second return spring (60) is arranged in a spring guide groove formed in the second end cover (54).
10. The hazardous chemical substance disaster site reconnaissance sampling robot as claimed in claim 9, wherein the outer side wall of the housing (57) is provided with a buckle (56), and the housing is connected with the second outer ring slideway (53) through the buckle (56).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020461215.4U CN212218488U (en) | 2020-04-01 | 2020-04-01 | Hazardous chemical substance disaster on-site reconnaissance sampling robot |
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| CN202020461215.4U CN212218488U (en) | 2020-04-01 | 2020-04-01 | Hazardous chemical substance disaster on-site reconnaissance sampling robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114062027A (en) * | 2021-12-21 | 2022-02-18 | 仲恺农业工程学院 | Intelligent soil sampling vehicle |
| CN115452482A (en) * | 2022-10-28 | 2022-12-09 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow electrified space of transformer substation or converter station |
| CN115824694A (en) * | 2022-11-16 | 2023-03-21 | 英飞智信(北京)科技有限公司 | Fixed-point sampling calibration device and method for sampler |
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2020
- 2020-04-01 CN CN202020461215.4U patent/CN212218488U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114062027A (en) * | 2021-12-21 | 2022-02-18 | 仲恺农业工程学院 | Intelligent soil sampling vehicle |
| CN114062027B (en) * | 2021-12-21 | 2022-07-26 | 仲恺农业工程学院 | Intelligent soil sampling vehicle |
| CN115452482A (en) * | 2022-10-28 | 2022-12-09 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow electrified space of transformer substation or converter station |
| CN115452482B (en) * | 2022-10-28 | 2023-07-04 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow and small electrified space of transformer substation or convertor station |
| CN115824694A (en) * | 2022-11-16 | 2023-03-21 | 英飞智信(北京)科技有限公司 | Fixed-point sampling calibration device and method for sampler |
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