CN215618048U - Special robot with anthropomorphic visual angle - Google Patents

Abstract

The utility model relates to the technical field of robots, and provides a special robot which comprises a mobile chassis, a body main body, two mechanical arms, a first camera device and a second camera device, wherein the two mechanical arms are respectively arranged on two sides of the body main body; the first camera device is rotatably arranged at the top of the body part main body around a first vertical axis; the second camera is rotatably mounted to the mobile chassis about a second vertical axis. The special robot provided by the utility model adopts the rotatable first camera device to sense the operation space in front of the special robot in the operation process, so that the operation space is more in line with the habitual visual angle of an operator during operation, and adopts the rotatable second camera device to sense the surrounding environment at two sides or the rear side of the special robot at the same time, so that the operation safety is improved, the technical problem that the operation error of the operator is easily caused by the visual field of the existing special robot is solved, and the special robot can safely operate.

Description

Special robot with anthropomorphic visual angle

Technical Field

The utility model relates to the technical field of robots, in particular to a special robot with a personification visual angle.

Background

The special robot is a kind of robot which is rapidly developed and widely applied in recent years, and is applied to various industries of national economy in China, and the application range of the special robot mainly comprises the following components: agriculture, electric power, building, logistics, medical treatment, nursing, rehabilitation, security and rescue, military, nuclear industry, mining, petrochemical, municipal engineering, and the like.

A special robot (professional robot) refers to a robot that is used in professional fields, generally operated or used by specially trained personnel, to assist and/or replace a human to perform a task.

Please refer to fig. 1, chinese patent application No. 201810739677.5, which provides a technical solution for a high-degree-of-freedom explosive ordnance disposal robot and a control method thereof. The high-freedom-degree explosive-handling robot comprises a moving chassis 1 and a multi-freedom-degree mechanical arm 2, wherein the moving chassis 1 is provided with traveling wheels 10 and a longitudinal support 31, a global vision sensor 3 is connected to the longitudinal support 31, and the front end of the multi-freedom-degree mechanical arm 2 is connected with an end effector 21 and an end vision sensor 22. The global vision sensor 3 is used for perception of the global environment and the end vision sensor 22 is used for perception of the environment of the operating space. However, the range of the viewing angle observed by the single end vision sensor 22 is limited, which causes a technical problem that when an operator uses the high-freedom explosive ordnance disposal robot to perform work, an operation error is easily caused due to a visual field problem.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a special robot, and aims to solve the technical problem that an operator is easy to operate incorrectly due to the visual field problem of the existing special robot.

In order to achieve the purpose, the utility model adopts the technical scheme that: a specialty robot comprising:

moving the chassis;

a body main body mounted on the mobile chassis;

two mechanical arms respectively arranged at two sides of the body part main body;

a first imaging device rotatably mounted to a top portion of the body portion main body about a first vertical axis; and

a second camera device rotatably mounted to the mobile chassis about a second vertical axis.

In one embodiment, the first camera device is mounted on the top of the body through a first motorized pan/tilt head, and the first motorized pan/tilt head is configured to drive the first camera device to rotate around the first vertical axis and to drive the first camera device to tilt around the first horizontal axis.

In one embodiment, the special robot further comprises a vertical column mounted on the moving chassis, and the second camera is rotatably mounted on the top of the vertical column around the second vertical axis.

In one embodiment, the second camera device is mounted on the top of the upright through a second motorized pan and tilt head, and the second motorized pan and tilt head is configured to drive the second camera device to rotate around the second vertical axis and to drive the second camera device to tilt around the second horizontal axis.

In one embodiment, one end of the robot arm is mounted to a side portion of the body portion, and the other end of the robot arm is mounted with an end effector mounted with a third imaging device.

In one embodiment, the end effector includes an effector mounting portion, a first clamping finger and a second clamping finger, the first clamping finger and the second clamping finger are respectively rotatably mounted on the effector mounting portion so that the first clamping finger and the second clamping finger can be folded or separated from each other, and the third camera is obliquely mounted on the effector mounting portion so that the third camera faces to a folded position of the first clamping finger and the second clamping finger.

In one embodiment, the actuator mounting part has a mounting groove for mounting the third camera obliquely therein.

In one embodiment, the robotic arm has a plurality of joints.

In one embodiment, the special robot further comprises a fourth camera device, and the fourth camera device is installed on the front side of the mobile chassis.

In one embodiment, the special robot further comprises a fifth camera device, and the fifth camera device is installed on the rear side of the mobile chassis.

In one embodiment, the special robot further comprises a controller and a communication unit, the controller is electrically connected with the first camera device, the second camera device and the communication unit respectively, and the controller is used for receiving image information shot by the first camera device and the second camera device and sending the image information to an external control device through the communication unit.

The special robot provided by the utility model has the beneficial effects that: in the operation process, the rotatable first camera device is adopted to sense the operation space in front of the special robot to form an anthropomorphic visual angle, the habitual visual angle of an operator during operation is met, the rotatable second camera device is adopted to sense the surrounding environment on two sides or the rear side of the special robot at the same time, the operation safety is improved, the technical problem that the existing special robot easily causes operation errors of the operator due to the visual field is solved, and therefore the operator can sense the operation space and the surrounding environment of the special robot and can safely operate.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a special robot in the prior art;

FIG. 2 is a front view of a specialty robot provided by an embodiment of the present invention;

FIG. 3 is a left side view of FIG. 1;

FIG. 4 is a perspective view of the specialty robot of FIG. 1;

FIG. 5 is yet another perspective view of the specialty robot of FIG. 1;

FIG. 6 is a schematic view of the body main body of the specialty robot of FIG. 1 installed;

FIG. 7 is a schematic structural view of an end effector of the specialty robot of FIG. 6;

FIG. 8 is an exploded view of the end effector of FIG. 7;

FIG. 9 is a schematic view of the upper cover of the end effector of FIG. 8;

FIG. 10 is a schematic view of the robotic arm of the specialty robot of FIG. 6;

FIG. 11 is a schematic view of a fourth rotary joint of the robotic arm of FIG. 6;

fig. 12 is a schematic structural diagram of a control device for controlling the special robot in fig. 1.

Wherein, in the figures, the respective reference numerals:

1-a movable chassis, 10-a running wheel, 2-a multi-degree-of-freedom mechanical arm, 21-an end effector, 22-an end vision sensor, 3-a global vision sensor and 31-a longitudinal support;

100-moving chassis, X1-first vertical axis, X2-second vertical axis, Y1-first horizontal axis, Y2-second horizontal axis;

200-body main body;

300-mechanical arm, 301-first rotary joint, 302-first swing joint, 303-second rotary joint, 304-second swing joint, 305-third rotary joint, 306-third swing joint, 307-fourth rotary joint, 310-shoulder, 320-big arm, 330-elbow, 340-little arm, 350-wrist, 361-encoder, 362-motor, 363-reducer, 364-force sensor, 365-brake;

410-a first camera device, 411-a first electric holder, 420-a second camera device, 421-a column, 422-a second electric holder, 430-a third camera device, 440-a fourth camera device, 450-a fifth camera device;

500-end effector, 501-mounting groove, 502-through hole, 510-effector mounting part, 511-upper cover, 512-upper plate, 513-mounting body, 514-lower plate, 515-lower cover, 520-first clamping finger, 530-second clamping finger;

600 — a communication unit;

700-control device, 710-first display screen, 720-second display screen, 730-3D mouse, 740-first joystick, 750-second joystick.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In an embodiment of the present invention, referring to fig. 2 to 5, a special robot includes a moving chassis 100, a body main body 200, two robot arms 300, a first camera 410 and a second camera 420, wherein the body main body 200 is mounted on the moving chassis 100, the two robot arms 300 are respectively mounted on two sides of the body main body 200, the first camera 410 is rotatably mounted on the top of the body main body 200 around a first vertical axis X1, and the second camera 420 is rotatably mounted on the moving chassis 100 around a first vertical axis X2.

The operator is using this special type robot to carry out the operation in-process, the operating space who is located this special type robot the place ahead is perceived directly perceivedly through rotatable first camera device 410, the habitual visual angle when more accords with the operator operation, need not to carry out visual angle conversion thinking, all the other edge circumstance that is located this special type robot both sides or rear side is perceived simultaneously through rotatable second camera device 420, the operation security improves, the technical problem that current special type robot leads to operator misoperation easily has been solved, thereby the operator can perceive operating space and the surrounding environment of special type robot directly perceivedly, can carry out the operation safely.

In another embodiment of the present invention, referring to fig. 3 and 4, the first camera 410 is mounted on the top of the body 200 through a first motorized pan and tilt head 411, and the first motorized pan and tilt head 411 is used for driving the first camera 410 to rotate around a first vertical axis X1 and for driving the first camera 410 to tilt around a first horizontal axis Y1. In this way, the first imaging device 410 can rotate left and right through the first electric pan-tilt head 411, and can tilt around the first horizontal axis Y1, so that the range of viewing angles is wider.

In another embodiment provided by the present invention, referring to fig. 3 to 5, the special robot further includes a pillar 421 mounted on the mobile chassis 100, and the second camera 420 is rotatably mounted on the top of the pillar 421 around the first vertical axis X2, such that the second camera 420 has a high mounting height and a good view, and can visually sense the surrounding environment more clearly.

Specifically, the second camera 420 is mounted on the top of the upright 421 through a second motorized pan and tilt head 422, and the second motorized pan and tilt head 422 is used for driving the second camera 420 to rotate around a second vertical axis X2 and for driving the second camera 420 to tilt around a second horizontal axis Y2. In this way, the second imaging device 420 can rotate left and right through the second electric pan-tilt 422, and can tilt around the second horizontal axis Y2, so that the range of viewing angles is wider.

In the foregoing embodiment, the first camera 410 and the second camera 420 can rotate 180 degrees from left to right and can tilt up and down by no less than 45 degrees, and are mainly used for guiding the robot arm 300 to perform fine operations and sensing the surrounding environment of a special robot.

Optionally, the first camera 410 and the second camera 420 are both high-definition infrared cameras.

In another embodiment of the present invention, referring to fig. 6 and 7, one end of the robot arm 300 is mounted to a side portion of the body 200, the other end of the robot arm 300 is mounted with the end effector 500, and the end effector 500 is mounted with the third camera 430. The third camera 430 can be used to assist in guiding the fine operation of the robot arm 300 and the end effector 500 for close-up observation and monitoring.

Specifically, referring to fig. 7, the end effector 500 includes an effector mounting portion 510, a first clamping finger 520 and a second clamping finger 530, the first clamping finger 520 and the second clamping finger 530 are respectively rotatably mounted on the effector mounting portion 510, so that the first clamping finger 520 and the second clamping finger 530 can be folded or separated from each other, the third camera 430 is obliquely mounted on the effector mounting portion 510, so that the third camera 430 faces to the folded position of the first clamping finger 520 and the second clamping finger 530, and therefore, an object clamped by the first clamping finger 520 and the second clamping finger 530 is located at the center of an image shot by the third camera 430, but not at the edge of the image, which is more convenient for an operator to observe closely and manipulate the end effector 500 finely.

Further, referring to fig. 8 and 9, the actuator mounting portion 510 has a mounting groove 501 for the third image capturing device 430 to be mounted in an inclined manner. In this way, the third imaging device 430 is attached to the attachment groove 501, and then is obliquely attached to the actuator attachment portion 510 with accurate positioning. Meanwhile, the actuator mounting part 510 can also protect the third image pickup device 430.

Alternatively, in order to facilitate the third image pickup device 430 to pick up an image, the actuator mounting part 510 further has a through hole 502 communicating with the mounting groove 501, or the actuator mounting part 510 has a light transmissive plate corresponding to the orientation of the third image pickup device 430.

Specifically, referring to fig. 8, the actuator mounting portion 510 includes an upper cover 511, an upper plate 512, a mounting body 513, a lower plate 514, and a lower cover 515. The first and second clamping fingers 520 and 530 are rotatably mounted to the mounting body 513, the mounting body 513 has a hollow structure, and the upper and lower plates 512 and 514 enclose upper and lower ends of the mounting body 513, respectively. The upper cover 511 is mounted on the upper side of the upper plate 512, and the lower cover 515 is mounted on the lower side of the lower plate 514. The upper cover 511 forms the mounting groove 501 so that the third camera is relatively independently installed in space between the upper cover 511 and the upper plate 512.

Optionally, the other end of the robotic arm 300 is connected to the end effector 500 through a quick release interface. An operator can quickly replace the end effector 500, such as a jaw, a shear, a demolition tool, a laser head, etc., depending on the field conditions.

Specifically, referring to fig. 10, the robot arm 300 has a plurality of joints. Thus, the mechanical arm 300 can move freely, and then the third camera 430 is driven to move, so that the third camera 430 can reach different positions to acquire monitoring images at special angles, and an operator can perform fine operation conveniently.

Alternatively, in this embodiment, referring to fig. 10, the robot arm 300 includes a shoulder 310, a big arm 320, an elbow 330, a small arm 340 and a wrist 350, which are connected in sequence, and there are seven joints, namely, a first rotary joint 301 connecting the body main body 200 and the shoulder 310, a first swing joint 302 of the shoulder 310, a second rotary joint 303 of the big arm 320 and the elbow 330, a second swing joint 304 of the elbow 330, a third rotary joint 305 connecting the small arm 340 and the wrist 350, a third swing joint 306 of the wrist 350, and a fourth rotary joint 307 of the end of the wrist 350. Thus, the mechanical arm 300 has seven joints, can swing and rotate, greatly improves the flexibility of the mechanical arm 300, and enlarges the operation space and the operation range.

Optionally, the seven joints each comprise a motor. Taking the fourth rotation joint 307 as an example, referring to fig. 11, the fourth rotation joint 307 includes an encoder 361, a motor 362 and a reducer 363 which are connected in sequence. The reducer 363 is configured to be connected to the end effector 500, so as to rotate the end effector 500.

Specifically, referring to fig. 11, each motor 362 has a brake 365 mounted thereon, and the brake 365 is used for controlling the mechanical locking of the motor 362. When the special robot is powered off or gives an alarm accidentally, the brake realizes the mechanical forced locking of the motor 362. In which the encoder 361 and the brake 365 of fig. 11 are integrated.

In particular, the fourth rotary joint 307 further includes a force sensor 364 connected to the output shaft of the motor 362 and the end effector 500, respectively, and the force sensor 364 is used for detecting the connection stress between the motor 362 and the end effector 500 to feed back the stress information to the external manipulation device 700.

In another embodiment of the present invention, referring to fig. 4, the body 200 is mounted on the mobile chassis 100 in a swinging manner, so as to enlarge the working space of the robot.

In another embodiment of the present invention, referring to fig. 2 and 4, the special robot further includes a fourth camera 440, the fourth camera 440 is installed at the front side of the mobile chassis 100, and the fourth camera 440 is used for observing the advance of the special robot and the auxiliary guidance of the near-ground task.

Optionally, the fourth camera 440 is an infrared night vision camera.

In another embodiment of the present invention, referring to fig. 5, the robot further includes a fifth camera 450, the fifth camera 450 is installed at the rear side of the mobile chassis 100, and the fifth camera 450 is used for observing the backward movement of the robot and the auxiliary guidance of the near-ground task.

Optionally, the fifth camera 450 is an infrared night vision camera.

In addition to the foregoing embodiments, the number of the third photographing devices 430 is the same as that of the robot arms 300, and is two. Therefore, the special robot is provided with a multi-view visual system which at least comprises six camera devices. The multi-view vision system is used for monitoring the joint motion of the mechanical arm 300 of the special robot, the state of the end effector 500 and the surrounding environment information, transmitting the information to the control device 20 in a real-time image form, and displaying multiple paths of image information or amplifying and displaying image information of a certain path on the first display screen 21 of the control device 20 in real time according to requirements.

In another embodiment of the present invention, referring to fig. 3 and fig. 4, the special robot further includes a controller and a communication unit 600, the controller is electrically connected to the first camera device 410, the second camera device 420 and the communication unit 600, and the controller is configured to receive image information captured by the first camera device 410 and the second camera device 420 and send the image information to an external control device 700 through the communication unit 600.

On the basis of the foregoing embodiment, referring to fig. 12, the external control device 700 includes a first display screen 710, a second display screen 720, a 3D mouse 730, a first joystick 740 and a second joystick 750.

The first display screen 710 is used to display an image captured by an image capturing device, such as the first image capturing device 410, the second image capturing device 420, the third image capturing device 430, the fourth image capturing device 440, or the fifth image capturing device 450. Of course, the first display screen 710 may also display images taken by several cameras at the same time. The second display screen 720 is used for displaying the motor status at each joint.

The 3D mouse 730 outputs the multidimensional data to the manipulation system of the manipulation device 700 according to the operation action input by the operator. The control system of the control device 700 generates a control command according to the multi-dimensional data and sends the control command to the controller. After receiving the control instruction, the controller analyzes and calculates in combination with the real-time state of the robot 300, and transmits the obtained control data of each joint of the robot 300 to the robot 300, so as to control the robot 300 to move according to the expected requirement, thereby realizing the real-time control of the robot 300.

The number of the 3D mice 730 corresponds to the number of the robot arms 300 one to one.

The first joystick 740 is used to control the first camera 410 to rotate about a first vertical axis X1 and to rotate about a first horizontal axis Y1. The second joystick 750 is used to control the second camera 420 to rotate about the first vertical axis X2 and to rotate about the second horizontal axis Y2.

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 utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A specialty robot, comprising:

moving the chassis;

a body main body mounted on the mobile chassis;

two mechanical arms respectively arranged at two sides of the body part main body;

a first imaging device rotatably mounted to a top portion of the body portion main body about a first vertical axis; and

a second camera device rotatably mounted to the mobile chassis about a second vertical axis.

2. A specialty robot according to claim 1, wherein: the first camera device is installed at the top of the body main body through a first electric holder, and the first electric holder is used for driving the first camera device to rotate around a first vertical axis and to pitch around a first horizontal axis.

3. A specialty robot according to claim 1, wherein: the special robot further comprises an upright post mounted on the moving chassis, and the second camera device is rotatably mounted on the top of the upright post around the second vertical axis.

4. A specialty robot according to claim 3, wherein: the second camera device is installed at the top of the upright post through a second electric holder, and the second electric holder is used for driving the second camera device to rotate around a second vertical axis and to pitch around a second horizontal axis.

5. A specialty robot according to claim 1, wherein: one end of the mechanical arm is mounted on the side of the body main body, the other end of the mechanical arm is mounted with an end effector, and the end effector is mounted with a third camera device.

6. A specialty robot according to claim 5, wherein: the end effector comprises an effector mounting part, a first clamping finger and a second clamping finger, the first clamping finger and the second clamping finger are respectively rotatably mounted on the effector mounting part, so that the first clamping finger and the second clamping finger can be mutually folded or separated, and the third camera shooting device is obliquely mounted on the effector mounting part, so that the third camera shooting device faces to the folded positions of the first clamping finger and the second clamping finger.

7. The specialty robot of claim 6, wherein: the actuator mounting part is internally provided with a mounting groove for obliquely mounting the third camera device.

8. A specialty robot according to claim 1, wherein: the robotic arm has a plurality of joints.

9. A specialty robot according to claim 1, wherein: the special robot further comprises a fourth camera device, and the fourth camera device is installed on the front side of the movable chassis;

and/or the special robot further comprises a fifth camera device, and the fifth camera device is installed on the rear side of the movable chassis.

10. A specialty robot according to any one of claims 1 to 9, wherein: the special robot further comprises a controller and a communication unit, wherein the controller is respectively electrically connected with the first camera device, the second camera device and the communication unit, and the controller is used for receiving image information shot by the first camera device and the second camera device and sending the image information to an external control device through the communication unit.

Images