CN215718821U - Radar device and guniting robot - Google Patents
Radar device and guniting robot Download PDFInfo
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- CN215718821U CN215718821U CN202122188470.3U CN202122188470U CN215718821U CN 215718821 U CN215718821 U CN 215718821U CN 202122188470 U CN202122188470 U CN 202122188470U CN 215718821 U CN215718821 U CN 215718821U
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- radar apparatus
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Abstract
The utility model discloses a radar device and a guniting robot, wherein the radar device is used for scanning a sprayed surface before guniting of the guniting robot, and the radar device comprises: a deployment mechanism having an output member for mounting a radar and having a deployment stroke having a deployment stop and a storage stop; and the storage housing is positioned at the storage dead point of the expansion stroke, so that when the output member runs at the storage dead point, the radar is guided into the storage housing. The utility model can effectively protect the radar and has little influence on the radar starting efficiency.
Description
Technical Field
The utility model relates to a radar device, in particular to a radar device matched with a guniting robot, and the utility model also relates to the guniting robot matched with the radar device.
Background
For reference, chinese patent document CN111828042A discloses that a three-dimensional scan of a spray receiving surface is required before a guniting robot performs guniting operation. The current radar for scanning the sprayed surface can be electromagnetic wave radar, ultrasonic radar and laser radar. Among them, lidar is most prone to contamination by contaminants, which affects its use.
In most guniting robot operations, modeling is generally performed first, then guniting is performed on the gunning surface, scanning is generally performed in a large range, and then the guniting robot completes guniting in a large range. However, in some solutions associated with the present invention, for example, the scanning range of the lidar is limited to a smaller range, and under the technical condition, in order to complete a larger-range guniting operation, for example, the lidar needs to be frequently called, and the protection of the lidar in the construction process is more required than other types of radars.
Likewise, for other types of radar, it is also desirable to minimize, for example, the deposition of slurry on its surface. In contrast, for applications that require frequent radar calls, radar should be protected as much as possible, and the calls themselves should be efficient.
Disclosure of Invention
In the embodiment of the utility model, the radar device which can effectively protect the radar and has small influence on the radar starting efficiency is provided. In an embodiment of the utility model, a guniting robot provided with the radar device is also provided.
In an embodiment of the present invention, there is provided a radar apparatus whose basic structure includes:
a deployment mechanism having an output member for mounting a radar and having a deployment stroke having a deployment stop and a storage stop;
and the storage housing is positioned at the storage dead point of the expansion stroke, so that when the output member runs at the storage dead point, the radar is guided into the storage housing.
Optionally, the deployment mechanism is:
a first mechanism: a linear motion mechanism; or
A second mechanism: a swinging mechanism.
Optionally, the linear motion mechanism is a horizontal or vertical motion mechanism.
Optionally, the horizontal movement mechanism comprises:
a frame;
the push rod is horizontally arranged on the rack to form a horizontal moving pair and is used for carrying the radar;
and the driving device is used for driving the push rod to do linear motion in the axial direction of the push rod.
Optionally, the means for mounting the radar comprises a carrier plate perpendicular to the axis of the pusher;
the front surface of the carrier plate is provided with the radar;
the front surface of the carrier plate is a surface located on the side where the driving device is located.
Optionally, the radar is located above the push rod, and the radar is a laser radar;
correspondingly, the motion track of the radar is parallel to the axis of the push rod;
the housing is located above the driving device, and the mouth part is aligned with the radar.
Optionally, the linear motion mechanism is provided with an auxiliary guide.
Optionally, the guide device is a guide rod and guide sleeve assembly arranged on each of two sides of the linear motion mechanism.
Optionally, the driving device is a linear motor, a fluid cylinder, a lead screw nut pair, a rack and pinion mechanism or a slider-crank mechanism.
In an embodiment of the present invention, there is further provided a guniting robot, in which the radar device is installed on a front side of a chassis of the guniting robot.
In an embodiment of the present invention, a radar device is installed on the front side of, for example, a guniting robot, and the radar device separates a radar driven by a deployment mechanism from a housing case located at a dead point of a path of the radar driven by the deployment mechanism, and the radar has a state in which it can be removed from the housing case to operate and a housed state in which it is introduced into the housing case by means of the deployment mechanism. The radar is suitable for frequently used radars due to the fact that only one conventional motion form of receiving and releasing is controlled, and the radar is good in reliability. The radar in the storage state can be effectively protected by the storage housing and is not easy to damage.
Drawings
Fig. 1 is a schematic front view of a radar apparatus according to an embodiment.
Fig. 2 is a schematic perspective view of a radar apparatus according to an embodiment.
Fig. 3 is a schematic configuration diagram of a radar apparatus on a guniting robot according to an embodiment.
In the figure: 1. the device comprises a base, 2 parts of a guide rod, 3 parts of a guide sleeve, 4 parts of a carrier plate, 5 parts of a radar, 6 parts of a radar cover, 7 parts of a cover seat, 8 parts of a seat plate, 9 parts of a hydraulic cylinder, 10 parts of a vertical plate, 11 parts of an electronic cabin, 12 parts of a chassis and 13 parts of a mechanical arm.
Detailed Description
In general, the scanning device of the guniting robot is installed on the front side of the vehicle body or chassis 12 of the guniting robot, so as to avoid the shielding and interference of other components installed on the chassis 12.
Furthermore, for example, the radar 5 is in the deployed state, i.e. the robot arm 13 is in the non-operative state, without much consideration being given to the amount of space occupied by the radar 5 when deployed.
In the preferred embodiment of the utility model, it is still preferred that the deployed state of the radar 5 occupies a small space.
It should be noted that the working position of the scanning device provided with the guniting robot is often relatively fixed based on availability, in other words, in the embodiment of the present invention, for example, the radar 5 is in the unfolded state, i.e. in the working state, and the working state is often in the preset position. Further, the preset operating position and the storage position of the radar 5 are at both end points of the given deployment mechanism operating stroke. In general, the two end points of the working stroke in the mechanical field may be referred to as dead centers, and although a working stroke may include several dead centers, in embodiments of the present invention, the application of only two dead centers for the deployment mechanism is emphasized.
It will be appreciated that the mechanism has a definite movement, and therefore, for a deployment mechanism it is not only able to "deploy", but also have "stow" upon reset.
Further, as a mechanism, the end follower serves as an output member in most applications, especially in mechanisms with a relatively simple form of motion. Therefore, in the embodiment of the present invention, the output member of the deployment mechanism provided in the radar apparatus is used to carry the radar 5, and therefore the deployment mechanism has a deployment stroke, and accordingly, the movement stroke when the radar 5 is in the reset state is referred to as a return stroke. It should be noted that in the mechanical field the working stroke and the return stroke may not be identical in the path of movement, as is the case in the embodiments of the present invention, and the working stroke and the return stroke may be identical in the path or may be different.
For the convenience of description, a position where the radar 5 is in an operating state by the deployment mechanism is referred to as a deployment stop point position, and a position where the radar is in a storage state is referred to as a storage stop point position, which correspond to the deployment stop point and the storage stop point, respectively.
Meanwhile, the unfolding stroke and the storage are not distinguished, and accordingly the unfolding stroke is provided with the unfolding stop point and the storage stop point.
The radome 6 illustrated in fig. 1 is referred to as a radar housing for housing the radar 5 and mechanically protecting the radar 5.
The illustrated radome 6 is located at a right end point, i.e. a right end point, of the path of motion of the radar 5 as seen in position in fig. 1.
Extended, in the case of the housing enclosure, at the housing end point of the deployment stroke of the radar 5, or at the initial position of the path of movement of the radar 5, so that the radar 5 can be introduced into the housing enclosure when the output member is moved to the housing end point.
Generally, the radar 5 should be operated to avoid obstacles as much as possible, especially for laser radar, for example, and therefore, as shown in fig. 3, the radar 5 generally needs to be moved forward or raised to a predetermined height to avoid interference with other structures on the guniting robot.
Two relatively simple deployment mechanisms are described below, and it should be understood that the mechanisms suitable for deployment of the radar 5 include, but are not limited to, the following two mechanisms.
One of the mechanisms is a first mechanism, which is a linear motion mechanism, is one of the most basic motions of the linear motion mechanism, is relatively easy to implement, and the configuration of the storage position is relatively simple, so that the radar 5 is very suitable for being used for the forward expansion and the backward storage of the radar 5.
The other mechanism is marked as a second mechanism, and is specifically a swing mechanism. Turning is also one of the most fundamental motions of mechanical motion, and the original motion output by most power machines is turning, such as rotating electrical machines, pneumatic motors, hydraulic motors, and the like. In the embodiment of the utility model, the swing is realized by means of rotation, which causes the radar 5 to have an arc-shaped motion track, and assuming that the swing is 180 degrees, the corresponding output member is a rocker connected to, for example, the base 1 through a hinge, and the rocker swings forward 180 degrees to unfold and swings backward 180 degrees to store.
In a preferred embodiment, the linear motion mechanism adopts a horizontal motion mechanism, and the output member is a forward motion member, which is relatively easy to realize and relatively simple in structural design. The motion form is simple, and the motion interference points are easy to avoid.
As described above, the radar 5 can be deployed by extending upward, and therefore, the linear motion mechanism can also be a vertical motion mechanism.
In some embodiments, the horizontal movement mechanism comprises:
a frame;
a push rod horizontally arranged on the frame to form a horizontal moving pair for carrying the radar 5;
and the driving device is used for driving the push rod to do linear motion in the axial direction of the push rod.
In the configuration shown in fig. 1 and 2, the means for carrying the radar comprise a carrier plate 4 perpendicular to the axis of the push rod;
the front surface of the carrier plate 4 is provided with the radar 5;
the front surface of the carrier 4 is located at the side of the driving device, the chassis 12 is used as a reference system, and the rear side of the carrier 4 is the front surface.
In the structure shown in fig. 1, the radar 5 is located above the push rod, and the radar 5 is a laser radar, and the laser radar has no obstacle avoidance capability, so that the radar is arranged above the push rod, which is beneficial to reducing the influence of obstacles. For other radars 5 with obstacle avoidance capability, such as electromagnetic wave radars, the flexibility of the arrangement of the radar 5 is relatively good, but it is still preferable to avoid obstacles as directly as possible.
Accordingly, the motion trajectory of the radar 5 is parallel to the axis of the push rod;
the housing is located above the driving device, and the mouth part is aligned with the radar.
In some embodiments, the linear motion mechanism is provided with an auxiliary guide in view of accurate alignment and reduced burden on the motion mechanism.
As for the auxiliary guiding device, guide rail guiding can be selected and guide rod and guide sleeve guiding can also be selected, a guide rod and guide sleeve assembly is selected for linear guiding in the structure illustrated in figures 1 and 2, the structure is relatively simple, and particularly, the maintainability is better than that of a guide rail.
The driving device is a linear motor, a fluid cylinder, a lead screw nut pair, a gear rack mechanism or a crank slider mechanism. In a preferred embodiment, a fluid cylinder is preferred, and a hydraulic cylinder is preferred.
Claims (10)
1. A radar apparatus, comprising:
a deployment mechanism having an output member for mounting a radar and having a deployment stroke having a deployment stop and a storage stop;
and the storage housing is positioned at the storage dead point of the expansion stroke, so that when the output member runs at the storage dead point, the radar is guided into the storage housing.
2. The radar apparatus of claim 1, wherein the deployment mechanism is:
a first mechanism: a linear motion mechanism; or
A second mechanism: a swinging mechanism.
3. The radar apparatus according to claim 2, wherein the linear motion mechanism is a horizontal or vertical motion mechanism.
4. The radar apparatus of claim 3, wherein the horizontal movement mechanism comprises:
a frame;
the push rod is horizontally arranged on the rack to form a horizontal moving pair and is used for carrying the radar;
and the driving device is used for driving the push rod to do linear motion in the axial direction of the push rod.
5. The radar apparatus of claim 4, wherein the means for mounting the radar includes a carrier plate perpendicular to the axis of the ram;
the front surface of the carrier plate is provided with the radar;
the front surface of the carrier plate is a surface located on the side where the driving device is located.
6. The radar apparatus of claim 5, wherein the radar is located above the pushrod and the radar is a lidar;
correspondingly, the motion track of the radar is parallel to the axis of the push rod;
the housing is located above the driving device, and the mouth part is aligned with the radar.
7. Radar apparatus according to any one of claims 2 to 6, wherein the linear motion mechanism is provided with an auxiliary guide.
8. The radar apparatus of claim 7, wherein the guiding means is a guide rod and guide sleeve assembly disposed on each side of the linear motion mechanism.
9. Radar apparatus according to claim 4, characterised in that the drive means is a linear motor, a fluid cylinder, a lead screw nut assembly, a rack and pinion mechanism or a slider-crank mechanism.
10. A guniting robot, wherein the radar device according to any one of claims 1 to 9 is mounted on the front side of a chassis of the guniting robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122188470.3U CN215718821U (en) | 2021-09-10 | 2021-09-10 | Radar device and guniting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122188470.3U CN215718821U (en) | 2021-09-10 | 2021-09-10 | Radar device and guniting robot |
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| CN215718821U true CN215718821U (en) | 2022-02-01 |
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| CN202122188470.3U Active CN215718821U (en) | 2021-09-10 | 2021-09-10 | Radar device and guniting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023226573A1 (en) * | 2022-05-25 | 2023-11-30 | 中煤科工集团重庆研究院有限公司 | Control method based on guniting robot |
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2021
- 2021-09-10 CN CN202122188470.3U patent/CN215718821U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023226573A1 (en) * | 2022-05-25 | 2023-11-30 | 中煤科工集团重庆研究院有限公司 | Control method based on guniting robot |
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