All-terrain robot for picking up dangerous goods

Abstract

The all-terrain robot comprises a robot shell, a hollowed-out groove, a wheel and foot switching module, a four-axis mechanical arm clamping mechanism, a steering engine holder and a communication antenna, the four-axis mechanical arm clamping mechanism is used for clamping dangerous goods, and the steering engine holder is used for monitoring the dangerous goods in real time; the communication antenna is used for receiving or sending a related instruction to control the wheel-foot switching module, the four-axis mechanical arm clamping mechanism and the steering engine holder to perform cooperative operation; and if yes, the communication antenna sends out a related instruction to control the wheel-foot switching module and the four-axis mechanical arm clamping mechanism to move to corresponding positions to clamp the dangerous goods. The all-terrain robot for picking up the dangerous goods is simple in structure, good in maneuvering performance, high in obstacle crossing capacity, capable of keeping efficient operation capacity under various extreme conditions, capable of being widely applied to scenes such as dangerous goods processing, emergency rescue, detection and patrol and wide in applicability.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to an all-terrain robot for picking up dangerous goods. Background Art

[0002] In many industrial scenarios, rescue sites and special environments, there are various dangerous goods, such as radioactive materials, toxic chemicals, flammable and explosive items, etc. The picking of these dangerous goods poses a great threat to the safety of operators. At the same time, due to the complex and diverse working environment, which may include various terrains such as rugged mountains, muddy wetlands, narrow passages, etc., traditional picking tools and equipment are often unable to cope with it.

[0003] At present, although some wheeled robots have been applied in similar scenarios, they generally have the following problems: 1. Traditional wheeled robots have limited adaptability on irregular terrain, and although legged robots are flexible, their complex structure and low speed limit their application. 2. The appearance design of traditional wheeled robots usually has poor heat dissipation, which affects performance and endurance, and also has stability flaws.

[0004] Therefore, the present invention provides an all-terrain robot for picking up dangerous goods to solve the above technical problems. Summary of the invention

[0005] In view of the above problems, an object of the present invention is to provide an all-terrain robot for picking up dangerous goods, which has good maneuverability, high operational flexibility and wide applicability.

[0006] The present invention provides an all-terrain robot for picking up dangerous goods, which comprises a robot shell, a hollow groove opened on the periphery of the robot shell, a wheel-foot switching module fixed to the periphery of the robot shell, a four-axis mechanical arm clamping mechanism fixed to the top of the robot shell, a steering gear pan-tilt and a communication antenna, wherein the four-axis mechanical arm clamping mechanism is used to clamp dangerous goods, the steering gear pan-tilt is used to monitor dangerous goods in real time, and the communication antenna is used to receive or issue relevant instructions to control the wheel-foot switching module, the four-axis mechanical arm clamping mechanism and the steering gear pan-tilt to work in coordination, and if the steering gear pan-tilt detects that there are dangerous goods in the surrounding environment, the communication antenna issues relevant instructions to control the wheel-foot switching module and the four-axis mechanical arm clamping mechanism to move to corresponding positions to clamp the dangerous goods;

[0007] The wheel-foot switching module includes four independently controlled walking mechanisms arranged at the bottom of the robot shell, and the walking mechanism includes a small U-shaped plate, a hip joint servo, a U-shaped connector, a large U-shaped plate, a knee joint servo, a foot end, a motor and a dual-mode fan impeller. The small U-shaped plate is fixedly connected to the robot shell, the hip joint servo is fixedly connected to one end of the small U-shaped plate away from the robot shell, one end of the U-shaped connector is rotatably connected to the hip joint servo, the other end of the U-shaped connector is fixedly connected to the large U-shaped plate, one end of the large U-shaped plate away from the U-shaped connector is fixedly connected to the knee joint servo, the foot end is rotatably connected to the knee joint servo, and the dual-mode fan impeller is rotatably connected to the foot end through the motor; wherein, the hip joint servo and the knee joint servo are arranged in parallel to control the storage and release of the foot end.

[0008] Preferably, the robot shell includes a bottom plate, a top plate, a front plate, a rear plate, a side plate and an extension arm formed by protruding and extending outward from the side plate, and the bottom plate, the top plate, the front plate, the rear plate and the side plate are all connected and fixed by screws; the hollow groove is opened in any one or more of the bottom plate, the top plate, the front plate, the rear plate and the side plate; the four-axis robot arm clamping mechanism, the servo gimbal and the communication antenna are all fixed on the top plate; the extension arm is opened with a limiting groove, and the small U-shaped plate is fixedly arranged in the limiting groove.

[0009] Preferably, the rear plate is connected and fixed to the bottom plate and the top plate by long screws, and the rear plate is provided with screw holes and pins matched with the long screws.

[0010] Preferably, the hollow groove is in the shape of an arc groove.

[0011] Preferably, the four-axis robotic arm clamping mechanism includes a chassis joint fixed to the top plate, a shoulder joint rotatably connected to an end of the chassis joint away from the top plate, a first connecting rod rotatably connected to an end of the shoulder joint away from the chassis joint, an elbow joint rotatably connected to an end of the first connecting rod away from the shoulder joint, a second connecting rod rotatably connected to an end of the elbow joint away from the first connecting rod, a hand joint rotatably connected to an end of the second connecting rod away from the elbow joint, and a high-precision clamper connected to a single-axis gear transmission with an end of the hand joint away from the second connecting rod; the communication antenna is fixed to the top plate and is spaced apart from the chassis joint.

[0012] Preferably, the servo platforms include two, and the two servo platforms are symmetrically spaced apart on the top plate.

[0013] Preferably, the servo gimbal includes an optical image sensor and a servo connection assembly fixed to the top plate for controlling the optical image sensor to move in a horizontal direction and / or a vertical direction.

[0014] Compared with the related art, the present invention provides an all-terrain robot for picking up dangerous goods, which includes a robot shell, a hollow slot, a wheel-foot switching module, a four-axis mechanical arm clamping mechanism, a steering gear pan-tilt and a communication antenna. The four-axis mechanical arm clamping mechanism is used to clamp dangerous goods, the steering gear pan-tilt is used to monitor dangerous goods in real time, and the communication antenna is used to receive or send relevant instructions to control the wheel-foot switching module, the four-axis mechanical arm clamping mechanism and the steering gear pan-tilt to work together. If the steering gear pan-tilt detects that there are dangerous goods in the surrounding environment, the communication antenna sends relevant instructions to control The wheel-foot switching module and the four-axis mechanical arm clamping mechanism move to the corresponding position to clamp the dangerous goods; the wheel-foot switching module includes four independently controlled walking mechanisms arranged at the bottom of the robot shell, the walking mechanism includes a small U-shaped plate, a hip joint servo, a U-shaped connector, a large U-shaped plate, a knee joint servo, a foot end, a motor and a bimodal fan impeller, and the bimodal fan impeller is connected to the foot end through the motor; wherein the hip joint servo and the knee joint servo are arranged in parallel to control the storage and release of the foot end. In the above structure, through the setting of the four walking mechanisms, the robot can simulate the movement of quadrupeds, enhance its stability and flexibility, and have excellent climbing and off-road capabilities on complex terrains (such as rocks, sand, muddy roads, etc.); through the setting of the four-axis mechanical arm clamping mechanism, its operation is flexible, and it can accurately clamp the dangerous goods in the surrounding environment; through the setting of the servo gimbal, the target position of surrounding obstacles or dangerous goods can be monitored in real time to ensure the safe and efficient completion of tasks in complex terrains. The overall design of the above structure enables the robot to maintain efficient operation under various extreme conditions and can be widely used in scenarios such as hazardous materials handling, emergency rescue, detection and patrolling, with wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of an all-terrain robot for picking up dangerous goods according to the present invention;

[0016] Figure 2 It is a partial structural schematic diagram of an all-terrain robot for picking up dangerous goods according to the present invention;

[0017] Figure 3 It is a schematic diagram of the mechanism for connecting and fixing the rear plate, the bottom plate and the top plate in the present invention;

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the steering gear platform in the present invention. DETAILED DESCRIPTION

[0019] The present invention provides an all-terrain robot for picking up dangerous goods, aiming to solve the problems of limited adaptability and poor stability of traditional wheeled robots.

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Please also refer to the attached Figure 1-4 The present invention provides an all-terrain robot for picking up dangerous goods, which includes a robot shell 1, a hollow groove 2 opened on the periphery of the robot shell 1, a wheel-foot switching module 3 fixed on the periphery of the robot shell 1, a four-axis mechanical arm clamping mechanism 4 fixed on the top of the robot shell 1, a steering gear pan-tilt 5 and a communication antenna 6. The four-axis mechanical arm clamping mechanism 4 is used to clamp dangerous goods, the steering gear pan-tilt 5 is used to monitor dangerous goods in real time, and the communication antenna 5 is used to receive or issue relevant instructions to control the wheel-foot switching module 3, the four-axis mechanical arm clamping mechanism 4 and the steering gear pan-tilt 5 to work together. If the steering gear pan-tilt 5 detects that there are dangerous goods in the surrounding environment, the communication antenna 6 issues relevant instructions to control the wheel-foot switching module 3 and the four-axis mechanical arm clamping mechanism 4 to move to corresponding positions to clamp the dangerous goods.

[0022] Specifically, the wheel-foot switching module 3 includes four independently controlled walking mechanisms arranged at the bottom of the robot shell 1, and the walking mechanisms include a small U-shaped plate 31, a hip joint servo 32, a U-shaped connector 33, a large U-shaped plate 34, a knee joint servo 35, a foot end 36, a motor 37 and a dual-mode impeller 38. The small U-shaped plate 31 is fixedly connected to the robot shell 1, the hip joint servo 32 is fixedly connected to one end of the small U-shaped plate 31 away from the robot shell 1, and one end of the U-shaped connector 33 is fixedly connected to the foot end 36. The hip joint servo 32 forms a rotational connection, the other end of the U-shaped connecting piece 33 is fixedly connected to the large U-shaped plate 34, the end of the large U-shaped plate 34 away from the U-shaped connecting piece 33 is fixedly connected to the knee joint servo 35, the foot end 36 forms a rotational connection with the knee joint servo 35, and the dual-mode impeller 38 forms a rotational connection with the foot end 36 through the motor 37; wherein the hip joint servo 32 and the knee joint servo 35 are arranged in parallel to control the storage and release of the foot end 36.

[0023] In the above structure, the setting of the four walking mechanisms enables the robot to have a Trot bionic gait walking mode, which can simulate the movement of quadrupeds, and is manifested in that the robot alternately lifts two diagonally arranged walking mechanisms. This gait is efficient and stable, can reduce energy consumption during movement, and improve the ability to pass on different terrains. With the Trot gait, the robot can maintain a good dynamic balance during movement, reduce vibration and impact, and is suitable for long-term walking and rapid movement, which enhances its stability and flexibility. The four walking mechanisms are independently controlled, and excellent crawling ability on complex terrains (such as rocks, sand, muddy roads, etc.) is ensured through coordinated movement. The design of the hip joint servo 32 and the knee joint servo 35 can adjust the angle of the foot end 36 to help the robot adapt to different heights and terrains and maintain balance; the setting of the dual-mode impeller 38 enables the robot to have a posture switching function, which can quickly adjust the posture according to the environment and task requirements. When climbing or crossing obstacles, the robot can adjust the center of gravity and angle of the dual-mode impeller 38 through the hip joint servo 32 and the knee joint servo 35 to maintain stability. When walking, the robot can adjust its posture in real time according to terrain changes to optimize movement efficiency and energy consumption. Through posture switching, the robot can better adapt to a variety of complex environments and ensure safe and efficient movement; for example, on flat ground, the dual-mode impeller 38 rotates at high speed to provide power for rapid movement, while in rugged or muddy environments, the dual-mode impeller 38 impeller can be adjusted to a low-speed high-torque mode to enhance adhesion and stability, helping the robot overcome obstacles, and the airflow design of the dual-mode impeller blades can improve grip and prevent slipping on slippery surfaces.

[0024] In this embodiment, the robot housing 1 includes a bottom plate 11, a top plate 12, a front plate 13, a rear plate 14, a side plate 15 and an extension arm 16 formed by the side plate 15 protruding outward and extending, and the bottom plate 11, the top plate 12, the front plate 13, the rear plate 14 and the side plate 15 are all fixed by screws; the hollow groove 2 is opened in any one or more of the bottom plate 11, the top plate 12, the front plate 13, the rear plate 14 and the side plate 15; the four-axis robot arm clamping mechanism 4, the servo gimbal 5 and the communication antenna 6 are all fixed on the top plate 12; the extension arm 16 is opened with a limiting groove 10, and the small U-shaped plate 31 is fixedly arranged in the limiting groove 10.

[0025] It should be noted that the design of the limiting groove 10 allows the small U-shaped plate 31 to be embedded in the limiting groove 10, which plays a better limiting role and facilitates the installation and fixation of the small U-shaped plate 31 and the extension arm 16. In addition, in order to facilitate the replacement of batteries, the rear plate 14 is connected and fixed to the bottom plate 11 and the top plate 12 by long screws, and the rear plate 14 is provided with a screw hole pin 140 adapted to the long screw M, and the long screw realizes the shaft function, which facilitates the connection and fixation of the rear plate 14, and the screw hole pin 140 design facilitates plugging and unplugging.

[0026] Furthermore, the four-axis robot arm clamping mechanism 4 includes a chassis joint 41 fixed to the top plate 12, a shoulder joint 42 rotatably connected to the end of the chassis joint 41 away from the top plate 12, a first connecting rod 43 rotatably connected to the end of the shoulder joint 42 away from the chassis joint 41, an elbow joint 44 rotatably connected to the end of the first connecting rod 43 away from the shoulder joint 42, a second connecting rod 45 rotatably connected to the end of the elbow joint 44 away from the first connecting rod 43, a hand joint 46 rotatably connected to the end of the second connecting rod 45 away from the elbow joint 44, and a high-precision clamper 47 formed with a single-axis gear transmission connection with the end of the hand joint 46 away from the second connecting rod 45; the communication antenna 6 is fixed to the top plate 12 and is spaced apart from the chassis joint 41.

[0027] In the above structure, the setting of the four-axis manipulator gripping mechanism 4 provides the robot with flexible operation capabilities, and can perform tasks such as grasping, moving and operating. The chassis joint 41, the shoulder joint 42, the elbow joint 44 and the hand joint 46 have the ability to rotate and extend with multiple degrees of freedom, so that the high-precision gripper 47 can operate at different heights and angles. Especially in the case of high precision, the flexible design of the chassis joint 41, the shoulder joint 42, the elbow joint 44 and the hand joint 46 enables the high-precision gripper 47 to work effectively in a narrow space and perform high-altitude operations. The high-precision gripper 47 can effectively identify and grip dangerous goods, has a sensing function, and can identify a variety of dangerous goods (such as chemicals, explosives, etc.). In an emergency, the robot can quickly approach the source of danger and perform gripping operations at the first time to reduce human contact and reduce risks.

[0028] In this embodiment, the servo platform 5 includes two, and the two servo platforms 5 are symmetrically spaced on the top plate 12; the servo platform 5 includes an optical image sensor 51 and a servo connection component 52 fixed to the top plate 12 for controlling the optical image sensor 51 to move in the horizontal direction and / or vertical direction. The setting of this structure enables the robot to have a rapid response capability and to interact in the first time when an emergency occurs. Through advanced sensors and image recognition technology, the robot can monitor environmental changes in real time, lock surrounding obstacles and target positions, and make decisions quickly to ensure that tasks are completed safely and efficiently in complex terrain. For example, when a dangerous goods leak is detected, the robot immediately moves to the designated area through the walking mechanism, uses the four-axis robot arm clamping mechanism 4 to clamp the dangerous goods, and handles them safely. At the same time, the robot can send real-time feedback to the command center through the communication antenna 6 to ensure human-machine collaborative operations.

[0029] It is worth mentioning that the shape of the hollow groove 2 is a circular arc groove. Of course, the shape of the hollow groove 2 is not limited thereto, and it can be set according to actual conditions.

[0030] Compared with the related art, the present invention provides an all-terrain robot for picking up dangerous goods, which includes a robot shell, a hollow slot, a wheel-foot switching module, a four-axis mechanical arm clamping mechanism, a steering gear pan-tilt and a communication antenna. The four-axis mechanical arm clamping mechanism is used to clamp dangerous goods, the steering gear pan-tilt is used to monitor dangerous goods in real time, and the communication antenna is used to receive or send relevant instructions to control the wheel-foot switching module, the four-axis mechanical arm clamping mechanism and the steering gear pan-tilt to work together. If the steering gear pan-tilt detects that there are dangerous goods in the surrounding environment, the communication antenna sends relevant instructions to control The wheel-foot switching module and the four-axis mechanical arm clamping mechanism move to the corresponding position to clamp the dangerous goods; the wheel-foot switching module includes four independently controlled walking mechanisms arranged at the bottom of the robot shell, the walking mechanism includes a small U-shaped plate, a hip joint servo, a U-shaped connector, a large U-shaped plate, a knee joint servo, a foot end, a motor and a bimodal fan impeller, and the bimodal fan impeller is connected to the foot end through the motor; wherein the hip joint servo and the knee joint servo are arranged in parallel to control the storage and release of the foot end. In the above structure, through the setting of the four walking mechanisms, the robot can simulate the movement of quadrupeds, enhance its stability and flexibility, and have excellent climbing and off-road capabilities on complex terrains (such as rocks, sand, muddy roads, etc.); through the setting of the four-axis mechanical arm clamping mechanism, its operation is flexible, and it can accurately clamp the dangerous goods in the surrounding environment; through the setting of the servo gimbal, the target position of surrounding obstacles or dangerous goods can be monitored in real time to ensure the safe and efficient completion of tasks in complex terrains. The overall design of the above structure enables the robot to maintain efficient operation under various extreme conditions and can be widely used in scenarios such as hazardous materials handling, emergency rescue, detection and patrolling, with wide applicability.

[0031] It should be noted that the above-described embodiments should be understood as illustrative rather than limiting the scope of protection of the present invention, and the scope of protection of the present invention shall be subject to the claims. For those skilled in the art, some non-essential improvements and adjustments made to the present invention still fall within the scope of protection of the present invention without departing from the essence and scope of the present invention.

Claims

1. An all-terrain robot for picking up dangerous goods, characterized in that: The all-terrain robot comprises a robot shell, a hollow groove provided on the periphery of the robot shell, a wheel-foot switching module fixed on the periphery of the robot shell, a four-axis mechanical arm clamping mechanism fixed on the top of the robot shell, a steering gear pan-tilt and a communication antenna, wherein the four-axis mechanical arm clamping mechanism is used to clamp dangerous goods, the steering gear pan-tilt is used to monitor dangerous goods in real time, and the communication antenna is used to receive or issue relevant instructions to control the wheel-foot switching module, the four-axis mechanical arm clamping mechanism and the steering gear pan-tilt to work in coordination. If the steering gear pan-tilt detects the presence of dangerous goods in the surrounding environment, the communication antenna issues relevant instructions to control the wheel-foot switching module and the four-axis mechanical arm clamping mechanism to move to corresponding positions to clamp the dangerous goods; The wheel-foot switching module includes four independently controlled walking mechanisms arranged at the bottom of the robot shell, and the walking mechanism includes a small U-shaped plate, a hip joint servo, a U-shaped connector, a large U-shaped plate, a knee joint servo, a foot end, a motor and a dual-mode fan impeller. The small U-shaped plate is fixedly connected to the robot shell, the hip joint servo is fixedly connected to one end of the small U-shaped plate away from the robot shell, one end of the U-shaped connector is rotatably connected to the hip joint servo, the other end of the U-shaped connector is fixedly connected to the large U-shaped plate, one end of the large U-shaped plate away from the U-shaped connector is fixedly connected to the knee joint servo, the foot end is rotatably connected to the knee joint servo, and the dual-mode fan impeller is rotatably connected to the foot end through the motor; wherein, the hip joint servo and the knee joint servo are arranged in parallel to control the storage and release of the foot end.

2. The all-terrain robot for picking up dangerous goods according to claim 1, characterized in that: The robot shell includes a bottom plate, a top plate, a front plate, a rear plate, a side plate and an extension arm formed by protruding and extending the side plate outward, and the bottom plate, the top plate, the front plate, the rear plate and the side plate are all connected and fixed by screws; the hollow groove is opened in any one or more of the bottom plate, the top plate, the front plate, the rear plate and the side plate; the four-axis robot arm clamping mechanism, the servo gimbal and the communication antenna are all fixed on the top plate; the extension arm is opened with a limiting groove, and the small U-shaped plate is fixedly arranged in the limiting groove.

3. The all-terrain robot for picking up dangerous goods according to claim 2, characterized in that: The rear plate is connected and fixed with the bottom plate and the top plate by long screws, and the rear plate is provided with screw holes and pins matched with the long screws.

4. The all-terrain robot for picking up dangerous goods according to claim 2, characterized in that: The shape of the hollow groove is a circular arc groove.

5. The all-terrain robot for picking up dangerous goods according to claim 2, characterized in that: The four-axis robotic arm clamping mechanism includes a chassis joint fixed to the top plate, a shoulder joint rotatably connected to an end of the chassis joint away from the top plate, a first connecting rod rotatably connected to an end of the shoulder joint away from the chassis joint, an elbow joint rotatably connected to an end of the first connecting rod away from the shoulder joint, a second connecting rod rotatably connected to an end of the elbow joint away from the first connecting rod, a hand joint rotatably connected to an end of the second connecting rod away from the elbow joint, and a high-precision clamper rotatably connected to an end of the hand joint away from the second connecting rod; the communication antenna is fixed to the top plate and is spaced apart from the chassis joint.

6. The all-terrain robot for picking up dangerous goods according to claim 2, characterized in that: The two servo platforms are symmetrically spaced and arranged on the top plate.

7. The all-terrain robot for picking up dangerous goods according to claim 6, characterized in that: The servo gimbal comprises an optical image sensor and a servo connection assembly fixed to the top plate for controlling the optical image sensor to move in a horizontal direction and / or a vertical direction.

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