A multi-purpose hazardous material disposal robot

Abstract

The invention discloses a multi-purpose dangerous goods disposal robot, belonging to the field of robot technology, comprising: a first explosion-proof motor is mounted on a bottom plate, a Mecanum wheel is connected to the output end of the first explosion-proof motor, a single-chip microcomputer is mounted on the bottom plate, a first lifting mechanism is mounted on the bottom plate, a second lifting mechanism is mounted on the first lifting mechanism, a telescopic mechanism is mounted on the second lifting mechanism, an observation mechanism is mounted on the second lifting mechanism, a rotating adsorption mechanism is mounted on the second lifting mechanism, and an environmental monitoring mechanism is mounted on the first lifting mechanism. The invention has the advantages that the entire robot can move quickly and rotate flexibly, can adjust the height, can adsorb and grasp objects of different sizes and shapes, and can observe all directions around. It can monitor the status of the surrounding environment in real time and feed back corresponding environmental data to the operator at the same time.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and more specifically relates to a multi-purpose dangerous object disposal robot. Background Art

[0002] A robot capable of handling dangerous objects can detect, grab, and transport the target dangerous objects through remote control, thereby replacing human labor to transfer dangerous objects or items in dangerous environments to a safe area. However, most existing robots capable of handling dangerous objects have a single structure and can only grab objects with a single posture within a limited range. They lack the ability to grab objects at different heights and in different postures, so their uses are single.

[0003] Therefore, how to provide a multi-purpose hazardous material disposal robot is an urgent problem that technicians in this field need to solve. Summary of the invention

[0004] In view of this, the present invention provides a multi-purpose dangerous goods disposal robot, which has the advantages that the whole robot can move quickly and rotate flexibly, can adjust the height, can absorb and grasp objects of different sizes and shapes, can observe the surroundings in multiple directions, can monitor the surrounding environment in real time, and feed back the corresponding environmental data to the operator.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A multi-purpose dangerous goods disposal robot comprises: a base plate, a first explosion-proof motor, a Mecanum wheel, a single-chip microcomputer, a first lifting mechanism, a second lifting mechanism, a telescopic mechanism, an observation mechanism, a rotating adsorption mechanism and an environmental monitoring mechanism; the first explosion-proof motor is mounted on the base plate, the Mecanum wheel is connected to the output end of the first explosion-proof motor, the single-chip microcomputer is mounted on the base plate, the first lifting mechanism is mounted on the base plate, the second lifting mechanism is mounted on the first lifting mechanism, the telescopic mechanism is mounted on the second lifting mechanism and is used to adjust the position of the rotating adsorption mechanism, the observation mechanism is mounted on the second lifting mechanism and is used to observe the surrounding environment, the rotating adsorption mechanism is mounted on the second lifting mechanism and is used to adsorb dangerous goods, the environmental monitoring mechanism is mounted on the first lifting mechanism and is used to monitor the surrounding environment in real time, and the first explosion-proof motor, the first lifting mechanism, the second lifting mechanism, the telescopic mechanism, the observation mechanism, the rotating adsorption mechanism and the environmental monitoring mechanism are all electrically connected to the single-chip microcomputer.

[0007] Furthermore, the first lifting mechanism includes: a column, a lifting rod, a cross bar, a tooth plate, a fixed block, a second explosion-proof motor and a first gear; one end of the column is installed on the bottom plate, the lifting rod is slidably connected to one side of the column, the cross bar is connected to the lifting rod, the tooth plate is fixed to one side of the lifting rod, the fixed block is installed on the column, the second explosion-proof motor is installed on the fixed block, the output end of the second explosion-proof motor is connected to the first gear, the first gear is meshed with the tooth plate, and the second explosion-proof motor is electrically connected to the single-chip computer.

[0008] Furthermore, the environmental monitoring mechanism includes: a sensor connecting rod and a gas concentration sensor; one end of the sensor connecting rod is connected to the cross bar, and the other end is connected to the gas concentration sensor, and the gas concentration sensor is electrically connected to the single-chip microcomputer.

[0009] Furthermore, the second lifting mechanism includes: a third explosion-proof motor, a fixed plate, a sprocket fixing block, a driven sprocket, a chain, a lifting frame and a connecting block; the third explosion-proof motor is installed on one side of the cross bar, the fixed plate is slidably connected to the lifting rod, the sprocket fixing block is installed on one side of the fixed plate, the sprocket fixing block is rotatably connected to the driven sprocket, the output end of the third explosion-proof motor is connected to the driving sprocket, the driving sprocket and the driven sprocket are both engaged with the chain, the lifting frame is located directly above the bottom plate and is slidably connected to one side of the lifting rod, a connecting block is installed on the lifting frame, the connecting block is connected to the chain, and the third explosion-proof motor is electrically connected to the single-chip microcomputer.

[0010] Furthermore, the telescopic mechanism includes: a fourth explosion-proof motor, a screw, a screw fixing block, a slide rail and a sliding frame; the fourth explosion-proof motor is installed on the lifting frame, the output end of the fourth explosion-proof motor is connected to the screw, the other end of the screw is rotatably connected to the lifting frame, the screw fixing block is sleeved on the screw and threadedly connected to the screw, one side of the screw fixing block is connected to the sliding frame, a slide rail is installed on the lifting frame, the slide rail is slidably connected to the sliding frame, the sliding frame is used to carry a rotating adsorption mechanism, and the fourth explosion-proof motor is electrically connected to the single-chip computer.

[0011] Further, the rotating adsorption mechanism includes: an explosion-proof motor fixing plate, a fifth explosion-proof motor, a rotating mechanism fixing plate, a coupling, a hollow motor bearing plate, a hollow motor and a sponge suction cup; the explosion-proof motor fixing plate is installed on the sliding frame, the fifth explosion-proof motor is installed on the explosion-proof motor fixing plate, the rotating mechanism fixing plate is installed on the sliding frame, the output end of the fifth explosion-proof motor is rotatably connected to the rotating mechanism fixing plate through the coupling, the output end of the fifth explosion-proof motor is fixedly connected to the coupling, the hollow motor bearing plate is installed on one side of the coupling, the hollow motor is installed on the hollow motor bearing plate, the output end of the hollow motor is connected to the sponge suction cup, one side of the sponge suction cup is connected to the air pump, and the fifth explosion-proof motor and the hollow motor are electrically connected to the single-chip microcomputer.

[0012] Furthermore, the observation mechanism includes: a horizontal rotating platform fixing rod, a horizontal rotating platform, a vertical rotating platform, a vertical rotating platform fixing rod, a rotating bracket, a sixth explosion-proof motor and a camera; one end of the horizontal rotating platform fixing rod is connected to the sliding frame, and the other end is connected to the horizontal rotating platform, the horizontal rotating platform is rotated by a motor, one end of the vertical rotating platform fixing rod is connected to the horizontal rotating platform, and the other end is connected to the vertical rotating platform, the rotating bracket is installed on the vertical rotating platform, the output end of the sixth explosion-proof motor is connected to the rotating bracket, the camera is installed on the sixth explosion-proof motor, and the sixth explosion-proof motor and the camera are electrically connected to the single-chip microcomputer.

[0013] Furthermore, a wheel frame is rotatably connected to the bottom plate on one side of the Mecanum wheel, one side of the wheel frame is rotatably connected to the Mecanum wheel, a shock absorber mounting seat is installed on the bottom plate on one side of the wheel frame, a shock absorber is rotatably connected to the shock absorber mounting seat, and the other end of the shock absorber is rotatably connected to the wheel frame.

[0014] Furthermore, a chassis protection frame is installed around the base plate.

[0015] The beneficial effects of the present invention are:

[0016] The invention has a simple structure and is easy to use. When in use, a camera is used to observe the position of the dangerous object, and the content of oxygen, methane, carbon monoxide, and ammonia in the air in the surrounding environment is monitored by a gas concentration sensor and fed back to the operator in real time through a single-chip control. The single-chip control controls the first explosion-proof motor to work and drive the Mecanum wheel to rotate. When the robot moves to the front of the dangerous object, the first explosion-proof motor is turned off, and the second explosion-proof motor is started. The second explosion-proof motor drives the first gear to rotate, thereby driving the toothed plate to move up and down, and the rotating adsorption mechanism is quickly and roughly adjusted. Then the second explosion-proof motor is turned off, and the third explosion-proof motor is started. The active sprocket and the driven sprocket cooperate to pull the chain, and the chain drives the connecting block to move up and down, so that the lifting frame The frame is moved to a suitable position to complete precise adjustment, and then the third explosion-proof motor is turned off, and the fourth explosion-proof motor is turned on. The fourth explosion-proof motor drives the screw to rotate, and the screw fixing block connected to the screw thread moves on the screw, driving the rotating adsorption mechanism to move outward. When it moves to a suitable position, the fourth explosion-proof motor is turned off, and then the fifth explosion-proof motor is turned on, and the angle of the sponge suction cup is adjusted to make it fit the surface of the dangerous object. At this time, the air pump is started, and the sponge suction cup is pumped by the air pump to generate negative pressure to adsorb the dangerous object, and then the second explosion-proof motor is started. The second explosion-proof motor drives the first gear to rotate, thereby driving the tooth plate to move up and down, lifting the dangerous object, and then starting the first explosion-proof motor to work, driving the Mecanum wheel to rotate, and taking the dangerous object away from the scene. Thereby, the present invention has the advantages that the entire robot can move quickly and rotate flexibly, can adjust the height, can adsorb and grab objects of different sizes and shapes, and can observe all directions around. It can monitor the status of the surrounding environment in real time and feedback the corresponding environmental data to the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of the Mecanum wheel of the present invention.

[0020] Figure 3 It is a structural schematic diagram of the bottom plate of the present invention.

[0021] Figure 4 The figure is a schematic structural diagram of the side surface of the Mecanum wheel of the present invention.

[0022] Figure 5 It is a schematic structural diagram of the shock absorber of the present invention.

[0023] Figure 6 It is a structural schematic diagram of the first lifting mechanism of the present invention.

[0024] Figure 7 It is a structural schematic diagram of the side surface of the first lifting mechanism of the present invention.

[0025] Figure 8 It is a schematic diagram of the cooperation between the tooth plate and the first gear of the present invention.

[0026] Fig. 9 It is a structural schematic diagram of the second lifting mechanism of the present invention.

[0027] Fig.10 It is a structural schematic diagram of the telescopic mechanism of the present invention.

[0028] Fig.11 It is a structural schematic diagram of the rotary adsorption mechanism of the present invention.

[0029] Fig.12 for Fig.11 Schematic diagram of the structure of the BB section.

[0030] Fig.13 It is a structural schematic diagram of the observation mechanism of the present invention.

[0031] Among them, in the figure:

[0032] 1-bottom plate; 2-first explosion-proof motor; 3-Mecanum wheel; 4-column; 5-lifting rod; 6-cross bar; 7-tooth plate; 8-fixed block; 9-second explosion-proof motor; 10-first gear; 11-third explosion-proof motor; 12-fixed plate; 13-sprocket fixing block; 14-driven sprocket; 15-chain; 16-lifting frame; 17-connecting block; 18-fourth explosion-proof motor; 19-screw; 20-screw fixing block; 21-slide rail; 22-slide frame; 23-explosion-proof motor fixing plate; 24-fifth Explosion-proof motor; 25-rotating mechanism fixing plate; 26-coupling; 27-hollow motor bearing plate; 28-hollow motor; 29-sponge suction cup; 30-horizontal rotating platform fixing rod; 31-horizontal rotating platform; 32-vertical rotating platform; 33-vertical rotating platform fixing rod; 34-rotating bracket; 35-sixth explosion-proof motor; 36-camera; 37-wheel frame; 38-shock absorber mounting seat; 39-shock absorber; 40-sensor connecting rod; 41-gas concentration sensor; 42-chassis protection frame. DETAILED DESCRIPTION

[0033] 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.

[0034] Please see attached Figure 1-13 The present invention provides a multi-purpose dangerous object disposal robot, comprising: a base plate 1, a first explosion-proof motor 2, a Mecanum wheel 3, a single-chip microcomputer, a first lifting mechanism, a second lifting mechanism, a telescopic mechanism, an observation mechanism, a rotating adsorption mechanism and an environmental monitoring mechanism; the first explosion-proof motor 2 is mounted on the base plate 1, the Mecanum wheel 3 is connected to the output end of the first explosion-proof motor 2, the single-chip microcomputer is mounted on the base plate 1, the first lifting mechanism is mounted on the base plate 1, the second lifting mechanism is mounted on the first lifting mechanism, the telescopic mechanism is mounted on the second lifting mechanism, and is used to adjust the position of the rotating adsorption mechanism, the observation mechanism is mounted on the second lifting mechanism, and is used to observe the surrounding environment, the rotating adsorption mechanism is mounted on the second lifting mechanism, and is used to adsorb dangerous objects, the environmental monitoring mechanism is mounted on the first lifting mechanism, and is used to monitor the surrounding environment in real time, and the first explosion-proof motor 2, the first lifting mechanism, the second lifting mechanism, the telescopic mechanism, the observation mechanism, the rotating adsorption mechanism and the environmental monitoring mechanism are all electrically connected to the single-chip microcomputer. The number of the first explosion-proof motors 2 and the number of Mecanum wheels 3 are both four. Currently, most robots that can handle dangerous objects use crawler tracks or traditional four-wheel structures, which cannot complete a series of operations such as turning around and rotating on the spot, moving laterally, etc., resulting in the problem of inconvenient posture adjustment in a narrow area. In the present invention, four first explosion-proof motors 2 and four Mecanum wheels 3 are arranged, and the first explosion-proof motors 2 and the Mecanum wheels 3 correspond to each other one by one. The rotation speeds output by each first explosion-proof motor 2 are different, so that the rotation speeds of each Mecanum wheel 3 are different, thereby completing operations such as rotation and turning around on the spot of the robot.

[0035] The first lifting mechanism includes: a column 4, a lifting rod 5, a cross bar 6, a tooth plate 7, a fixed block 8, a second explosion-proof motor 9 and a first gear 10; one end of the column 4 is installed on the base plate 1, the lifting rod 5 is slidably connected to one side of the column 4, the cross bar 6 is connected to the lifting rod 5, the tooth plate 7 is fixed to one side of the lifting rod 5, the fixed block 8 is installed on the column 4, the second explosion-proof motor 9 is installed on the fixed block 8, the output end of the second explosion-proof motor 9 is connected to the first gear 10, the first gear 10 is meshed with the tooth plate 7, and the second explosion-proof motor 9 is electrically connected to the single-chip computer.

[0036] The environmental monitoring mechanism includes: a sensor connecting rod 40 and a gas concentration sensor 41; one end of the sensor connecting rod 40 is connected to the crossbar 6, and the other end is connected to the gas concentration sensor 41, and the gas concentration sensor 41 is electrically connected to the single-chip computer. The gas concentration sensor 41 monitors the content of oxygen, methane, carbon monoxide, and ammonia in the air of the surrounding environment and feeds back to the operator in real time through the single-chip computer control.

[0037] The second lifting mechanism includes: a third explosion-proof motor 11, a fixed plate 12, a sprocket fixing block 13, a driven sprocket 14, a chain 15, a lifting frame 16 and a connecting block 17; the third explosion-proof motor 11 is installed on one side of the crossbar 6, the fixed plate 12 is slidably connected to the lifting rod 5, the sprocket fixing block 13 is installed on one side of the fixed plate 12, the driven sprocket 14 is rotatably connected to the sprocket fixing block 13, the output end of the third explosion-proof motor 11 is connected to a driving sprocket, the driving sprocket and the driven sprocket 14 are both engaged with the chain 15, the lifting frame 16 is located directly above the bottom plate 1 and is slidably connected to one side of the lifting rod 5, a connecting block 17 is installed on the lifting frame 16, the connecting block 17 is connected to the chain 15, and the third explosion-proof motor 11 is electrically connected to the single-chip computer. The fixed connections of the components in the first lifting mechanism and the second lifting mechanism are reinforced with high-strength fiber connecting plates. When the dangerous object is in a moderate position, the first lifting mechanism can be skipped, and the second lifting mechanism can be directly used to adjust the position of the rotating adsorption mechanism to adsorb the dangerous object.

[0038] The telescopic mechanism includes: a fourth explosion-proof motor 18, a screw 19, a screw fixing block 20, a slide rail 21 and a sliding frame 22; the fourth explosion-proof motor 18 is installed on the lifting frame 16, the output end of the fourth explosion-proof motor 18 is connected to the screw 19, the other end of the screw 19 is rotatably connected to the lifting frame 16, the screw fixing block 20 is sleeved on the screw 19 and threadedly connected to the screw 19, one side of the screw fixing block 20 is connected to the sliding frame 22, a slide rail 21 is installed on the lifting frame 16, the slide rail 21 is slidably connected to the sliding frame 22, the sliding frame 22 is used to carry the rotating adsorption mechanism, and the fourth explosion-proof motor 18 is electrically connected to the single-chip microcomputer.

[0039] The rotating adsorption mechanism includes: an explosion-proof motor fixing plate 23, a fifth explosion-proof motor 24, a rotating mechanism fixing plate 25, a coupling 26, a hollow motor bearing plate 27, a hollow motor 28 and a sponge suction cup 29; the explosion-proof motor fixing plate 23 is installed on the sliding frame 22, the fifth explosion-proof motor 24 is installed on the explosion-proof motor fixing plate 23, the rotating mechanism fixing plate 25 is installed on the sliding frame 22, the output end of the fifth explosion-proof motor 24 is rotatably connected to the rotating mechanism fixing plate 25 through the coupling 26, the output end of the fifth explosion-proof motor 24 is fixedly connected to the coupling 26, the hollow motor bearing plate 27 is installed on one side of the coupling 26, the hollow motor 28 is installed on the hollow motor bearing plate 27, the output end of the hollow motor 28 is connected to the sponge suction cup 29, one side of the sponge suction cup 29 is connected to the air pump, and the fifth explosion-proof motor 24 and the hollow motor 28 are electrically connected to the single-chip microcomputer. Most robots that can currently handle dangerous objects can only perform a single task, such as bomb disposal robots that are limited to bomb disposal. There is a lack of multi-purpose robots that can handle other dangerous objects or items in dangerous environments (such as dangerous objects in chemical plants, electrical plants, refineries, etc.), while the robot in the present invention can handle a variety of dangerous objects through the adsorption effect of the sponge suction cup 29. Most robots that can currently handle dangerous objects use a clamping claw structure, which can only grasp targets of limited size and shape, and cannot grasp targets that exceed the size of the clamping claw and have different postures, and the use of the clamping claw is easy to damage the surface of the target object. The present invention uses an air pump and a sponge suction cup 29 to absorb dangerous objects, which is not limited by the size and posture of the dangerous object, and will not damage the surface of the dangerous object. The sponge on the sponge suction cup 29 can use a corrosion-resistant sponge. The sponge suction cup 29 can be connected to the upper interface of the air slip ring, so that the sponge suction cup 29 can rotate 360° through the air slip ring and the hollow motor 28. The lower interface of the air slip ring is connected to the air pump through the air pipe, and the air pump is used to evacuate the air to generate negative pressure on the sponge suction cup 29. The rotating adsorption mechanism can achieve circular motion from -100° to 100° through the drive of the fifth explosion-proof motor 24. In combination with the sponge suction cup 29 that can rotate 360°, dangerous objects in different postures can be stably adsorbed. When the dangerous object is at a higher position, the first lifting mechanism is fully extended first, and then the second lifting mechanism is fully extended, so that both sets of lifting mechanisms are extended to the highest position, and then the sponge suction cup 29 is rotated to face the bottom of the dangerous object to complete the adsorption.

[0040] The observation mechanism includes: a horizontal rotating platform fixing rod 30, a horizontal rotating platform 31, a vertical rotating platform 32, a vertical rotating platform fixing rod 33, a rotating bracket 34, a sixth explosion-proof motor 35 and a camera 36; one end of the horizontal rotating platform fixing rod 30 is connected to the sliding frame 22, and the other end is connected to the horizontal rotating platform 31, the horizontal rotating platform 31 is rotated by a motor drive, one end of the vertical rotating platform fixing rod 33 is connected to the horizontal rotating platform 31, and the other end is connected to the vertical rotating platform 32, the rotating bracket 34 is installed on the vertical rotating platform 32, the output end of the sixth explosion-proof motor 35 is connected to the rotating bracket 34, the camera 36 is installed on the sixth explosion-proof motor 35, and the sixth explosion-proof motor 35 and the camera 36 are electrically connected to the single-chip computer. The adjustment of multiple viewing angles of the camera 36 is realized through the horizontal rotating platform 31 and the vertical rotating platform 32.

[0041] A wheel frame 37 is rotatably connected to the bottom plate 1 on one side of the Mecanum wheel 3, one side of the wheel frame 37 is rotatably connected to the Mecanum wheel 3, a shock absorber mounting seat 38 is mounted on the bottom plate 1 on one side of the wheel frame 37, a shock absorber 39 is rotatably connected to the shock absorber mounting seat 38, and the other end of the shock absorber 39 is rotatably connected to the wheel frame 37. In this way, the Mecanum wheel 3 is actively fixed, and when the wheel set passes through a complex bumpy section, the spring of the shock absorber 39 generates vibration to convert the vertical up and down bumps of the Mecanum wheel 3 into spring expansion and contraction, thereby ensuring the stability of the chassis structure.

[0042] A chassis protection frame 42 is installed around the bottom plate 1. The chassis protection frame 42 can be made of industrial aluminum profiles and high-strength fiber connecting plates to play an anti-collision protection role.

[0043] The present invention has a simple structure and is easy to use. When in use, a camera 36 is used to observe the position of the dangerous object, and the content of oxygen, methane, carbon monoxide, and ammonia in the air of the surrounding environment is monitored by a gas concentration sensor 41 and fed back to the operator in real time through a single-chip control. The first explosion-proof motor 2 is controlled by the single-chip control to drive the Mecanum wheel 3 to rotate. When the robot moves to the front of the dangerous object, the first explosion-proof motor 2 is turned off, and the second explosion-proof motor 9 is started. The second explosion-proof motor 9 drives the first gear 10 to rotate, thereby driving the toothed plate 7 to move up and down, and the rotating adsorption mechanism is quickly and roughly adjusted. Then the second explosion-proof motor 9 is turned off, and the third explosion-proof motor 11 is started. The chain 15 is pulled by the active sprocket and the driven sprocket 14. The chain 15 drives the connecting block 17 to move up and down, so that the lifting frame 16 moves to a suitable position to complete precise adjustment. Then the third explosion-proof motor 11 is turned off, and the fourth explosion-proof motor 18 is turned on. The fourth explosion-proof motor 18 drives the screw rod 1 9 rotates, and the screw fixing block 20 threadedly connected with the screw 19 moves on the screw 19, so that the screw fixing block 20 drives the sliding frame 22 to slide on the slide rail 21, thereby adjusting the position of the sponge suction cup 29. When it moves to a suitable position, the fourth explosion-proof motor 18 is turned off, and then the fifth explosion-proof motor 24 is turned on to adjust the angle of the sponge suction cup 29 so that it fits the surface of the dangerous object. At this time, the air pump is started, and the sponge suction cup 29 is sucked by the air pump to generate negative pressure to adsorb the dangerous object, and then the second explosion-proof motor 9 is started. The second explosion-proof motor 9 drives the first gear 10 to rotate, thereby driving the tooth plate 7 to move up and down to lift the dangerous object. At the same time, the hollow motor 28 and the fifth explosion-proof motor 24 work to adjust the posture of the dangerous object to make it return to the normal position, and then the first explosion-proof motor 2 is started to work, drive the Mecanum wheel 3 to rotate, take the dangerous object away from the scene, transfer it to a safe area, and then put the dangerous object into a safe place through the same steps, thereby eliminating the threat of dangerous objects to people. Therefore, the present invention has the advantages that the whole robot can move quickly and rotate flexibly, can adjust the height, can absorb and grab objects of different sizes and shapes, can observe the surroundings in multiple directions, can monitor the surrounding environment in real time, and feed back the corresponding environmental data to the operator.

[0044] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0045] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-purpose dangerous goods disposal robot, characterized in that: include: A base plate (1), a first explosion-proof motor (2), a Mecanum wheel (3), a single-chip microcomputer, a first lifting mechanism, a second lifting mechanism, a telescopic mechanism, an observation mechanism, a rotating adsorption mechanism and an environmental monitoring mechanism; the first explosion-proof motor (2) is mounted on the base plate (1), the Mecanum wheel (3) is connected to the output end of the first explosion-proof motor (2), the single-chip microcomputer is mounted on the base plate (1), the first lifting mechanism is mounted on the base plate (1), the second lifting mechanism is mounted on the first lifting mechanism, the telescopic mechanism is mounted on the second lifting mechanism and is used to adjust the position of the rotating adsorption mechanism, the observation mechanism is mounted on the second lifting mechanism and is used to observe the surrounding environment, the rotating adsorption mechanism is mounted on the second lifting mechanism and is used to adsorb dangerous objects, the environmental monitoring mechanism is mounted on the first lifting mechanism and is used to monitor the surrounding environment in real time, and the first explosion-proof motor (2), the first lifting mechanism, the second lifting mechanism, the telescopic mechanism, the observation mechanism, the rotating adsorption mechanism and the environmental monitoring mechanism are all electrically connected to the single-chip microcomputer; The first lifting mechanism comprises: a column (4), a lifting rod (5), a cross bar (6), a tooth plate (7), a fixed block (8), a second explosion-proof motor (9) and a first gear (10); one end of the column (4) is mounted on the bottom plate (1), the lifting rod (5) is slidably connected to one side of the column (4), the cross bar (6) is connected to the lifting rod (5), the tooth plate (7) is fixed to one side of the lifting rod (5), the fixed block (8) is mounted on the column (4), the second explosion-proof motor (9) is mounted on the fixed block (8), the output end of the second explosion-proof motor (9) is connected to the first gear (10), the first gear (10) is meshed with the tooth plate (7), and the second explosion-proof motor (9) is electrically connected to the single-chip microcomputer; The second lifting mechanism comprises: a third explosion-proof motor (11), a fixing plate (12), a sprocket fixing block (13), a driven sprocket (14), a chain (15), a lifting frame (16) and a connecting block (17); the third explosion-proof motor (11) is mounted on one side of the cross bar (6), the fixing plate (12) is slidably connected to the lifting rod (5), the sprocket fixing block (13) is mounted on one side of the fixing plate (12), and the sprocket fixing block (13) is rotatably connected to the lifting rod (5). A driven sprocket (14) is provided, the output end of the third explosion-proof motor (11) is connected to a driving sprocket, the driving sprocket and the driven sprocket (14) are both meshed with a chain (15), the lifting frame (16) is located directly above the bottom plate (1) and is slidably connected to one side of the lifting rod (5), a connecting block (17) is installed on the lifting frame (16), the connecting block (17) is connected to the chain (15), and the third explosion-proof motor (11) is electrically connected to the single-chip microcomputer; The telescopic mechanism comprises: a fourth explosion-proof motor (18), a screw (19), a screw fixing block (20), a slide rail (21) and a slide frame (22); the fourth explosion-proof motor (18) is installed on the lifting frame (16); the output end of the fourth explosion-proof motor (18) is connected to the screw (19); the other end of the screw (19) is rotatably connected to the lifting frame (16); the screw fixing block (20) is sleeved on the screw (19) and is threadedly connected to the screw (19); one side of the screw fixing block (20) is connected to the slide frame (22); a slide rail (21) is installed on the lifting frame (16); the slide rail (21) is slidably connected to the slide frame (22); the slide frame (22) is used to carry the rotating adsorption mechanism; the fourth explosion-proof motor (18) is electrically connected to the single-chip microcomputer; The observation mechanism comprises: a horizontal rotating platform fixing rod (30), a horizontal rotating platform (31), a vertical rotating platform (32), a vertical rotating platform fixing rod (33), a rotating bracket (34), a sixth explosion-proof motor (35) and a camera (36); one end of the horizontal rotating platform fixing rod (30) is connected to the sliding frame (22), and the other end is connected to the horizontal rotating platform (31); the horizontal rotating platform (31) is rotated by a motor drive; one end of the vertical rotating platform fixing rod (33) is connected to the horizontal rotating platform (31), and the other end is connected to the vertical rotating platform (32); the rotating bracket (34) is installed on the vertical rotating platform (32); the output end of the sixth explosion-proof motor (35) is connected to the rotating bracket (34); the camera (36) is installed on the sixth explosion-proof motor (35); and the sixth explosion-proof motor (35) and the camera (36) are electrically connected to a single-chip microcomputer.

2. A multi-purpose dangerous goods disposal robot according to claim 1, characterized in that: The environmental monitoring mechanism comprises: a sensor connecting rod (40) and a gas concentration sensor (41); one end of the sensor connecting rod (40) is connected to the crossbar (6), and the other end is connected to the gas concentration sensor (41); and the gas concentration sensor (41) is electrically connected to the single chip computer.

3. The multi-purpose dangerous goods disposal robot according to claim 1, characterized in that: The rotating adsorption mechanism comprises: an explosion-proof motor fixing plate (23), a fifth explosion-proof motor (24), a rotating mechanism fixing plate (25), a coupling (26), a hollow motor bearing plate (27), a hollow motor (28) and a sponge suction cup (29); the explosion-proof motor fixing plate (23) is mounted on the sliding frame (22), the fifth explosion-proof motor (24) is mounted on the explosion-proof motor fixing plate (23), the rotating mechanism fixing plate (25) is mounted on the sliding frame (22), and the output end of the fifth explosion-proof motor (24) passes through The coupling (26) is rotatably connected to the rotating mechanism fixing plate (25), the output end of the fifth explosion-proof motor (24) is fixedly connected to the coupling (26), the hollow motor bearing plate (27) is installed on one side of the coupling (26), the hollow motor (28) is installed on the hollow motor bearing plate (27), the output end of the hollow motor (28) is connected to the sponge suction cup (29), one side of the sponge suction cup (29) is connected to the air pump, and the fifth explosion-proof motor (24) and the hollow motor (28) are electrically connected to the single-chip microcomputer.

4. The multi-purpose dangerous goods disposal robot according to claim 1, characterized in that: A wheel frame (37) is rotatably connected to a bottom plate (1) on one side of the Mecanum wheel (3), one side of the wheel frame (37) is rotatably connected to the Mecanum wheel (3), a shock absorber mounting seat (38) is installed on the bottom plate (1) on one side of the wheel frame (37), a shock absorber (39) is rotatably connected to the shock absorber mounting seat (38), and the other end of the shock absorber (39) is rotatably connected to the wheel frame (37).

5. The multi-purpose dangerous goods disposal robot according to claim 1, characterized in that: A chassis protection frame (42) is installed around the base plate (1).

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