CN220660876U - Multifunctional operation robot in limited space - Google Patents
Multifunctional operation robot in limited space Download PDFInfo
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- CN220660876U CN220660876U CN202321922305.9U CN202321922305U CN220660876U CN 220660876 U CN220660876 U CN 220660876U CN 202321922305 U CN202321922305 U CN 202321922305U CN 220660876 U CN220660876 U CN 220660876U
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- body chassis
- automobile body
- vehicle body
- detection module
- robot
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- 238000004891 communication Methods 0.000 claims abstract description 7
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- 238000003860 storage Methods 0.000 claims description 10
- MWUXSHHQAYIFBG-UHFFFAOYSA-N Nitric oxide Chemical compound O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 claims description 9
- 239000007789 gas Substances 0.000 claims description 7
- 229910052751 metal Inorganic materials 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 claims description 6
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 claims description 6
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 4
- 229910052760 oxygen Inorganic materials 0.000 claims description 4
- 239000001301 oxygen Substances 0.000 claims description 4
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 229910021529 ammonia Inorganic materials 0.000 claims description 3
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- 238000005516 engineering process Methods 0.000 abstract description 5
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- 230000002159 abnormal effect Effects 0.000 description 2
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- 239000012459 cleaning agent Substances 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 2
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Abstract
The utility model discloses a multifunctional operation robot in a limited space, which belongs to the technical field of robots and comprises a vehicle body chassis, wherein a crawler wheel is arranged at the lower end of the vehicle body chassis, a laser radar is arranged at the front end of the upper surface of the vehicle body chassis, flame detection modules are connected to two sides of the upper surface of the vehicle body chassis, and a main control module is arranged on the rear surface of the vehicle body chassis; the scheme is mainly constructed by using a singlechip, comprehensively utilizes various technologies and methods, is composed of an ARM core chip, a laser radar, a multi-degree-of-freedom mechanical ARM, an all-terrain motion chassis, a 5G communication module, an inertial navigation module, various monitoring modules, bluetooth or WIFI and other modules, and can be used by a user to finish the task of exploring mining holes and disaster dangerous areas, searching and rescuing after disaster, clearing obstacles in pipelines and working or auxiliary working in other kinds of limited spaces by using a mobile phone or other controllers, and is used for carrying out environment monitoring or building map models in environments by various sensing devices and the laser radar loaded by robots.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multifunctional operation robot in a limited space.
Background
With the continuous development of technology, robotics are becoming a part of real life. A multifunctional work robot is a robot having various functions, capable of performing various tasks in a limited space. For example, in limited spaces such as underground mines, environmental conditions tend to be harsh and may be harmful to personnel if environmental detection is not performed. Therefore, environmental problems can be found and processed in time through environmental detection, and the life health and the working efficiency of personnel are ensured. But also to perform space internal work or to assist the worker work instead of the worker.
Through searching, chinese patent number CN202111080552.4 discloses a coal mine underground inspection operation robot, which comprises the following components: the environment sensing mechanism comprises a camera and a laser radar, wherein the camera acquires an infrared image, a depth image and a color image of the robot running environment, and the laser radar acquires a point cloud model of the robot running environment; an environment map is built based on the point cloud model, the depth image and the color image data in a fusion mode, and the environment map is sent to terminal equipment; the terminal equipment intuitively displays a robot running environment map and a scene picture, and an operator remotely operates according to the terminal equipment display information to carry out emergency braking on dangerous situations in the inspection process.
The beneficial effects of the device are as follows: the robot can timely find abnormal states in production operation through conventional toxic gas inspection operation by using common equipment for underground toxic gas inspection of the coal mine, analyze and give early warning according to historical data, remind workers to timely take maintenance or replacement countermeasures for abnormal equipment in the production operation, avoid accidents, effectively improve the detection precision of the toxic gas, reduce the manual inspection operation burden, reduce the inspection operation risk, realize personnel reduction and synergy, reduce the labor cost of coal mine maintenance and reduce the economic loss caused by safety accidents.
However, in the use process of the existing underground mine operation robot, although the environment in the underground mine can be detected, the situation in the underground mine cannot be effectively solved in time after detection, and the existing underground mine operation robot is matched with different types of underground mine operation robots to work, so that the use cost is high. And the environment space in the underground mine is smaller, so that a plurality of working robots can not be accommodated to work cooperatively, and the working efficiency is delayed. For this purpose, we propose a multifunctional work robot in a limited space.
Disclosure of Invention
The utility model aims to provide a multifunctional working robot in a limited space, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a multifunctional operation robot in limited space, includes the automobile body chassis, and the crawler wheel is installed to the lower extreme of automobile body chassis, laser radar is installed to the upper surface front end of automobile body chassis, the upper surface both sides of automobile body chassis all are connected with flame detection module, the rear surface mounting of automobile body chassis has the master control module, the surface connection of automobile body chassis has the connecting rod, the upper end of connecting rod is connected with the bottom plate, the front end surface of bottom plate is connected with camera, led lamp and detection module, the upper surface central point of automobile body chassis puts and is connected with multi freedom arm, can dismantle on the multi freedom arm and be connected with the operation jaw, the shower nozzle is installed to the side of multi freedom arm, the rear end surface mounting of bottom plate has storage water tank, water pump, communicate in water pump and the storage water tank, install the water pipe on the water pump, the other end and the shower nozzle of water pipe are linked together.
Preferably, the main control module comprises a main control system, an acquisition system, a communication system, an inertial navigation system and a sub-control system.
Preferably, the detection module comprises a humidity sensor, a temperature sensor, an air pressure sensor and a gas detection sensor.
Preferably, a buzzer is integrally installed on the detection module.
Preferably, the gas detection sensor includes, but is not limited to, an oxygen detector, a sulfur dioxide detector, a carbon monoxide detector, an ammonia detector, a nitrogen oxide detector.
Preferably, the working jaws include, but are not limited to, metal jaw pliers, adaptive flexible jaw pliers, parallel mechanical jaw pliers.
Compared with the prior art, the utility model has the beneficial effects that: the multifunctional robot mainly uses a singlechip to construct a multifunctional robot for operation or auxiliary operation in a limited space, comprehensively applies various technologies and methods, and consists of an ARM core chip, a laser radar, a multi-degree-of-freedom mechanical ARM, an all-terrain motion chassis, a 5G communication module, an inertial navigation module, various monitoring modules, bluetooth or WIFI and other modules. Users can finish the work or auxiliary work tasks in mine holes, dangerous areas during disaster exploration, post-disaster search and rescue, pipeline internal obstacle cleaning and other kinds of limited spaces by utilizing a mobile phone or other controllers, and can also monitor the environment or establish a map model in the environment by various sensing devices and laser radars loaded by the robot.
Drawings
FIG. 1 is a schematic elevational view of the structure of the present utility model;
FIG. 2 is a schematic side view of the structure of the present utility model;
FIG. 3 is a schematic rear view of the structure of the present utility model;
FIG. 4 is a schematic view of the bottom view of the structure of the present utility model;
fig. 5 is a schematic view of the structure above the chassis of the vehicle body of the present utility model.
In the figure: 1. a vehicle body chassis; 2. track wheels; 3. a laser radar; 4. a flame detection module; 5. a main control module; 6. a connecting rod; 7. a bottom plate; 8. a camera; 9. led lamp; 10. a detection module; 11. a multi-degree-of-freedom mechanical arm; 12. a working jaw; 13. a spray head; 14. a water storage tank; 15. a water pump; 16. a water pipe.
Detailed Description
Example 1
Referring to fig. 1-5, the present utility model provides a technical solution:
the utility model provides a multifunctional operation robot in limited space, installs two sets of athey wheel 2 on the both sides surface of automobile body chassis 1, and two sets of athey wheel 2 are driven by four high-power coding motors, make automobile body chassis 1 can all have excellent topography trafficability characteristic on smooth, coarse or more complicated topography. And the angle sensor can be added on the vehicle body chassis 1 to be used for judging the terrain, so that the passing capacity of the vehicle body chassis 1 on the complex terrain is improved, and the applicability of the device in the complex environment is met. The crawler wheel 2 may be replaced with other types of wheels.
The upper end surface mounting of automobile body chassis 1 has laser radar 3, flame detection module 4 and master control module 5, and laser radar 3 installs the front end at crawler wheel 2, and laser radar 3 can be used as the development of the interior environment map model of limited space establishment in order to follow-up work, and flame detection module 4 sets up to two sets of, and two sets of flame detection module 4 are installed respectively at the both sides surface of automobile body chassis 1 front end, and flame detection module 4 is used for detecting whether flame exists around. The main control module 5 is arranged on the rear surface of the chassis 1 of the car body, and the whole device is controlled by each module in the main control module 5 and is provided with a display screen capable of displaying information of each module. The main control module 5 comprises a main control system, an acquisition system, a communication system and sub-control systems of all parts. The sub-control system of each part comprises a laser radar 3, a flame detection module 4, a camera 8, a led lamp 9, a detection module 10, a multi-degree-of-freedom mechanical arm 11, a working jaw 12, a spray head 13 and a control module of a water pump 15.
The upper end surface of the vehicle body chassis 1 is connected with a bottom plate 7 through a connecting rod 6, and the surface of the bottom plate 7 is provided with a camera 8, a led lamp 9, a detection module 10, a multi-degree-of-freedom mechanical arm 11, a water storage tank 14 and a water pump 15. The camera 8 is installed to the front end surface intermediate position of bottom plate 7, can gather the image in the environment through camera 8 to camera 8 and laser radar 3 collaborative work and gather information, improve the ability of detecting the complex environment. The point cloud model of the laser radar 3, the image model acquired by the camera 8 and the inertial measurement unit of the main control module 5 are subjected to information fusion, the estimation of the position and the environment of the robot is realized through simultaneous positioning and map construction, and as the robot moves in the environment, the SLAM system of the main control module 5 can continuously update and optimize the map, so that the accuracy and consistency of the map can be improved, support is provided for path planning and navigation of the robot, the map model is transmitted back to the control end through the communication system of the main control module 5, and finally, the map model is adjusted by an operator according to the fed back information. The front end surface of the bottom plate 7 is also connected with two groups of led lamps 9, the two groups of led lamps 9 are positioned on two sides of the camera 8, the two groups of led lamps 9 are improved to provide illumination for the surrounding environment of the device, and further the camera 8 is convenient for collecting pictures in the complex environment. The front end surface of the bottom plate 7 is also connected with a detection module 10, the detection module 10 comprises a humidity sensor, a temperature sensor, an air pressure sensor and a plurality of gas detection sensors, a buzzer is further integrated on the detection module 10, and when a certain sensor detects information exceeding a threshold value, an alarm can be sent out by the buzzer. Wherein the gas detection sensor includes, but is not limited to, an oxygen detector, a sulfur dioxide detector, a carbon monoxide detector, an ammonia detector, a nitrogen oxide detector, and the like.
The multi-degree-of-freedom mechanical arm 11 is arranged in the middle of the upper surface of the bottom plate 7, the multi-degree-of-freedom mechanical arm 11 is used for limited space operation or auxiliary operation, the operation jaw 12 is arranged on the multi-degree-of-freedom mechanical arm 11, and different types of operation can be realized by arranging different types of operation jaws 12, so that the device has stronger adaptability and function expansion capability. Wherein the working jaw 12 includes, but is not limited to, metal jaw pliers, adaptive flexible jaw pliers, parallel jaw pliers, and the like. The corrugated design of the metal claw pliers can enable the metal claw pliers to better grasp objects, and the larger opening can enable the metal claw pliers to stably grasp objects, so that the metal claw pliers are suitable for grasping objects with a certain radian or larger objects, such as cups, apples, wood blocks and the like. The self-adaptive flexible claw clamp can adjust the gesture of the clamping surface according to the object, and is suitable for grabbing irregular shaped objects, such as spheres, cylinders and the like. The parallel mechanical claw pincers have parallel platinum claw edges, have larger openings, can grasp heavier objects in cooperation with a large torque steering engine, have larger gripping area, and are more stable in gripping, and are suitable for gripping larger regular weights, such as wood blocks, stone blocks, cuboids and the like.
Meanwhile, the spray heads 13 are arranged on the surfaces of two sides of the multi-degree-of-freedom mechanical arm 11, and dust removal or cooling work can be performed on the environment through the spray heads 13. The water storage tank 14 and the water pump 15 are arranged on the rear end surface of the bottom plate 7, the water pump 15 is communicated with the water storage tank 14, the water pump 15 is provided with the water pipe 16, the other end of the water pipe 16 is connected with the spray head 13, and further liquid in the water storage tank 14 can be conveyed and sprayed into the spray head 13. If the water storage tank 14 stores clean water, the external environment of the device can be dedusted or cooled. If the water storage tank 14 stores the cleaning agent, the cleaning agent can be used for cleaning the outside environment. And the spray direction of the spray head 13 can be dynamically adjusted through the multi-degree-of-freedom mechanical arm 11, so that efficient operation is realized.
The multifunctional robot mainly uses a singlechip to construct a multifunctional robot for operation or auxiliary operation in a limited space, comprehensively applies various technologies and methods, and consists of an ARM core chip, a laser radar, a multi-degree-of-freedom mechanical ARM, an all-terrain motion chassis, a 5G communication module, an inertial navigation module, various monitoring modules, bluetooth or WIFI and other modules. Users can finish the work or auxiliary work tasks in mine holes, dangerous areas during disaster exploration, post-disaster search and rescue, pipeline internal obstacle cleaning and other kinds of limited spaces by utilizing a mobile phone or other controllers, and can also monitor the environment or establish a map model in the environment by various sensing devices and laser radars loaded by the robot.
It can enter into narrow or dangerous environment which human cannot directly enter, such as underground mine, pipeline, etc., to execute exploration and exploring tasks. The system can carry various sensors and devices, collect environmental data and acquire information, and provide important data support for scientific research and resource development. The device can also work in a narrow space, such as maintenance and cleaning work in the narrow space. They may carry tools and equipment to perform maintenance tasks such as repairing a failure of a pipe, equipment or infrastructure. Meanwhile, the cleaning work can be performed, such as cleaning sewage pipelines, removing waste and the like, so that the working efficiency and the safety are improved, and the danger and inconvenience of human work are avoided; can complete tasks which are difficult to be completed by human beings, such as working under high temperature, high pressure, strong radiation and other environments; the robot can collect and analyze data to help enterprises to optimize and improve the production process; the robot can be remotely operated and operated at different places, so that the working efficiency and the flexibility are improved. The environmental conditions in the space, including temperature, humidity, oxygen content, carbon dioxide content, formaldehyde and other harmful gas content, are known and monitored, so that the health and safety of people are ensured. For example, in limited spaces such as underground mines, environmental conditions tend to be harsh and may be harmful to personnel if environmental detection is not performed. Therefore, environmental problems can be found and processed in time through environmental detection, and the life health and the working efficiency of personnel are ensured.
Claims (6)
1. The utility model provides a multifunctional operation robot in limited space, includes automobile body chassis (1), and crawler wheel (2), its characterized in that are installed to the lower extreme of automobile body chassis (1): the utility model discloses a fire detection device for automobile body chassis, including automobile body chassis (1), main control module (5), connecting rod (6), LED lamp (9), detection module (10), operation jaw (12) are connected with in the upper surface front end of automobile body chassis (1), the upper surface both sides of automobile body chassis (1) all are connected with flame detection module (4), the rear surface mounting of automobile body chassis (1) has main control module (5), the surface connection of automobile body chassis (1) has connecting rod (6), the upper end of connecting rod (6) is connected with bottom plate (7), the front end surface connection of bottom plate (7) has camera (8), led lamp (9) and detection module (10), the upper surface central point of automobile body chassis (1) puts and is connected with multi freedom arm (11), can dismantle on multi freedom arm (11) and be connected with operation jaw (12), shower nozzle (13) are installed to the side of multi freedom arm (11), the rear end surface mounting of bottom plate (7) has storage water tank (14), water pump (15) and water tank (14) internal phase intercommunication, install water pipe (16) on water pump (15).
2. A multi-function work robot in a confined space as set forth in claim 1, wherein: the main control module (5) comprises a control system, an acquisition system, a communication system, an inertial navigation system and a sub-control system.
3. A multi-function work robot in a confined space as set forth in claim 1, wherein: the detection module (10) comprises a humidity sensor, a temperature sensor, an air pressure sensor and a gas detection sensor.
4. A multi-function work robot in a confined space as set forth in claim 3, wherein: and the detection module (10) is integrally provided with a buzzer.
5. A multi-function work robot in a confined space as set forth in claim 3, wherein: the gas detection sensor includes, but is not limited to, an oxygen detector, a sulfur dioxide detector, a carbon monoxide detector, an ammonia detector, a nitrogen oxide detector.
6. A multi-function work robot in a confined space as set forth in claim 1, wherein: the working jaws (12) include, but are not limited to, metal jaw pliers, adaptive flexible jaw pliers, parallel mechanical jaw pliers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321922305.9U CN220660876U (en) | 2023-07-20 | 2023-07-20 | Multifunctional operation robot in limited space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321922305.9U CN220660876U (en) | 2023-07-20 | 2023-07-20 | Multifunctional operation robot in limited space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220660876U true CN220660876U (en) | 2024-03-26 |
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ID=90341058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321922305.9U Active CN220660876U (en) | 2023-07-20 | 2023-07-20 | Multifunctional operation robot in limited space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220660876U (en) |
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2023
- 2023-07-20 CN CN202321922305.9U patent/CN220660876U/en active Active
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