Depth camera cleaning device for mining water jet anchor withdrawing robot
By designing a depth camera cleaning device for mining water drilling robots, the problem of inaccurate images caused by dust contamination of depth camera lenses is solved, and the depth camera lens cleaning and image information are accurately obtained in dusty environments, ensuring the accurate completion of the anchor deactivation work.
Patent Information
- Application Number
- CN202420523050.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-18
- Publication Date
- 2025-03-07
- Estimated Expiration
- 2034-03-18
AI Technical Summary
The anchor dean robot working underground in a coal mine is contaminated with dust and impurities, resulting in inaccurate image information, which affects the completion of anchor dean work.
A depth camera cleaning device is designed, including a blower unit, a scrubbing unit and a connection fixing unit. The automatic cleaning of the depth camera lens is achieved using components such as an electric air pump and a lens brush.
Through the use of the cleaning device, the depth camera can keep the lens clean in a dusty environment, ensuring the accuracy of image information, thereby helping the mining water drilling anchor dean robot to accurately complete the anchor dean function.
Smart Images
Figure CN222568641U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of a mining water jet anchor removal robot, in particular to a mining water jet anchor removal robot depth camera cleaning device. Background Art
[0002] The air quality in coal mines is very poor, and the air in the mines contains a large amount of dust and impurities. During the anchor removal operation, a large amount of dust is also generated. The lenses of robotic imaging equipment working in coal mines are easily attached with a large amount of dust and other impurities during operation.
[0003] Existing anchor removal robots rely on image information provided by depth cameras to locate the anchor rod and robotic arm, thereby completing anchor removal operations in coal mines. If the depth camera image information is inaccurate, the anchor removal operation cannot be completed effectively. The depth camera image information is the most important step in positioning the robotic arm during operation. Existing anchor removal robots do not have a cleaning device for the depth camera, and cannot automatically clean the depth camera lens when it is contaminated with dust or impurities. Utility Model Content
[0004] The purpose of the utility model is to provide a cleaning device for the depth camera of a water jet anchor removal robot in a mine, so that the depth camera of the water jet anchor removal robot in a mine can remain clean and accurately obtain image information in a dusty mine, thereby helping the water jet anchor removal robot in the mine to accurately realize the anchor removal function.
[0005] To achieve the above-mentioned purpose, the utility model provides a cleaning device for the depth camera of a water jet anchor removal robot used in mines, wherein the cleaning module includes an air blowing unit, a scrubbing unit and a connecting and fixing unit. The connecting and fixing unit is installed above the water jet module fixing part of the end effector of the mechanical arm of the water jet anchor removal robot used in mines, and the air blowing unit and the scrubbing unit are located on the connecting and fixing unit. The connecting and fixing unit includes a mounting base, a mounting support plate, a mounting boss, a camera protective cover, and a light-transmitting sheet. The air blowing unit includes an air filter head, an air pump nozzle, and an electric air pump. The scrubbing unit includes a baffle, a rotating motor, a transmission wheel, a first transmission rod, a second transmission rod, a third transmission rod, a rotating pin, a slider, and a lens brush.
[0006] The mounting base of the connecting and fixing unit is connected to the water jet fixing part by screws, and a mounting bracket is installed above the mounting base. A mounting boss is provided on the left side of the mounting bracket through screw connection, and the right side of the mounting bracket is raised, and a depth camera and a camera protective cover are provided on the raised part. The depth camera is installed in the camera protective cover, and there are threaded holes on both sides of the camera protective cover. The camera protective cover is connected to the raised part on the right side of the mounting bracket, and there is a rectangular groove on the camera protective cover. The light-transmitting plate is installed above the camera protective cover by cooperating with the rectangular groove.
[0007] The electric air pump of the blowing unit is arranged above the mounting boss on the left side of the mounting support plate, an air filter head is installed at the air inlet of the electric air pump, an air pump nozzle is installed at the air outlet of the electric air pump, and the right end of the electric air pump nozzle is at the left end of the light-transmitting plate.
[0008] The left end of the baffle of the scrubbing unit is provided with a transmission pin hole, and the right end is provided with a sliding groove. The baffle is provided with a transmission mechanism, and the transmission mechanism includes a rotating motor, a transmission wheel, a first transmission rod, a second transmission rod, a third transmission rod and a slider. The rotating motor is fixed on the left side of the baffle, and the rotating motor shaft is connected to the transmission wheel. The center and edge of the transmission wheel are provided with transmission pin holes, and the transmission wheel is connected to the baffle through a rotating pin in the center. A first transmission rod is provided on the transmission wheel, and the right end of the first transmission rod is connected to the second transmission rod through a rotating pin, and the second transmission rod is connected to the baffle through a pin, and the second transmission rod is connected to the left end of the third transmission rod through a rotating pin, and the right end of the third transmission rod is connected to the slider through a rotating pin, and the slider is installed in the sliding groove on the right side of the baffle. A lens brush is installed on the right end of the slider, and the tip of the lens brush is located above the light-transmitting plate.
[0009] The advantages of the cleaning device for the depth camera of a water jet anchor removal robot used in a mine are:
[0010] 1. The working structure of the utility model is simple, easy to disassemble and assemble, easy to maintain, and simple to operate. It adopts a cleaning device with a protective cover, and has an extremely excellent waterproof and dustproof effect.
[0011] 2. The use of an air pump blowing device can significantly solve the problem of dust falling on the lens during the unmooring process of the depth camera, affecting the imaging effect.
[0012] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of a cleaning device for a depth camera of a water jet anchor removal robot used in a mine;
[0014] Figure 2 This is a schematic diagram of the overall structure of an embodiment of the utility model of a cleaning device for a depth camera of a water jet anchor removal robot used in mining;
[0015] Figure 3 This is a schematic diagram of the transmission structure of an embodiment of the utility model of a cleaning device for a depth camera of a mining water jet anchor removal robot;
[0016] Figure 4This is a schematic diagram of the upward-looking structure of an embodiment of the utility model of a cleaning device for a depth camera of a water jet anchor removal robot used in mining;
[0017] Figure 5 This is a schematic diagram of the side structure of a camera protection cover and a light-transmitting plate of a cleaning device for a depth camera of a water jet anchor removal robot used in a mine;
[0018] Reference numerals
[0019] 1. Third transmission rod; 2. Baffle; 3. Slider; 4. Lens brush; 5. Camera protective cover; 6. Mounting base; 7. Rotating pin; 8. Second transmission rod; 9. First transmission rod; 10. Transmission wheel; 11. Mounting bracket; 12. Rotating motor; 13. Depth camera; 14. Air pump nozzle; 15. Air filter head; 16. Electric air pump; 17. Mounting boss; 18. Translucent plate; 19. Cleaning module; 20. Water jet module DETAILED DESCRIPTION
[0020] The technical solution of the present utility model is further described below through the accompanying drawings and embodiments.
[0021] Unless otherwise defined, the technical or scientific terms used in this utility model shall have the usual meanings understood by persons of ordinary skill in the field to which this utility model belongs. The words "first", "second" and similar terms used in this utility model do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly. Specific embodiments
[0023] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5As shown, a deep camera cleaning device for a water jet anchor removal robot used in mines, wherein the cleaning module 19 includes an air blowing unit, a scrubbing unit and a connecting and fixing unit. The connecting and fixing unit is installed above the water jet module fixing part of the end effector of the manipulator arm of the water jet anchor removal robot used in mines. The air blowing unit and the scrubbing unit are located on the connecting and fixing unit. The connecting and fixing unit includes a mounting base 6, a mounting support plate 11, a mounting boss 17, a camera protective cover 5, and a light-transmitting plate 18. The air blowing unit includes an air filter head 15, an air pump nozzle 14, and an electric air pump 16. The scrubbing unit includes a baffle 2, a rotating motor 12, a transmission wheel 10, a first transmission rod 9, a second transmission rod 8, a third transmission rod 1, a rotating pin 7, a slider 3, and a lens brush 4. The mounting base 6 of the connecting and fixing unit is connected to the water jet fixing part by screws, and a mounting bracket 11 is installed above the mounting base 6. A mounting boss 17 is provided on the left side of the mounting bracket 11 through screw connection. The right side of the mounting bracket 11 is raised, and a depth camera 13 and a camera protective cover 5 are provided on the raised part. The depth camera is installed in the camera protective cover 5, and the camera protective cover 5 is connected to the raised part on the right side of the mounting bracket 11. There is a rectangular groove on the camera protective cover 5, and the light-transmitting plate 18 is installed above the camera protective cover 5 by cooperating with the rectangular groove.
[0024] like Figure 2 、 Figure 3 As shown, the rotary motor 12 rotates, the motor shaft drives the transmission wheel 10 to rotate, and the transmission wheel 10 drives the first transmission rod 9 to move while performing circular motion. The first transmission rod 9 drives the second transmission rod 8 to move, and the second transmission rod 8 drives the third transmission rod 1 to move. The third transmission rod 1 cooperates with the slider 3 through the rotating pin 7. The slider 3 is fixed in the sliding groove on the right side of the baffle, and the slider reciprocates with the third transmission rod 1.
[0025] like Figure 2 、 Figure 3 、 Figure 5 As shown, the slider 3 reciprocates in the sliding groove on the right side of the baffle, and the lens brush 4 is fixed to the slider 3 by a pin hole on the inner side of the depth camera 13. It moves with the reciprocating motion of the slider 3. The tip of the lens brush 4 is in contact with the light-transmitting plate 18, and the stains on the light-transmitting plate 18 are removed during the reciprocating motion.
[0026] like Figure 2 As shown, the air inlet of the electric air pump 16 is equipped with an air filter head 15. When the electric air pump 16 is working, the air is filtered through the air inlet. The air outlet of the electric air pump 16 is connected to the air pump nozzle 14. The air outlet end of the air pump nozzle 14 faces the light-transmitting plate 18, maintaining a certain jet power, so as to remove dust from the light-transmitting plate 18.
[0027] Therefore, the utility model adopts the above-mentioned depth camera cleaning device applied to the mining water jet anchor removal robot, so that the depth camera can keep the camera lens clean in a dusty environment, accurately collect image information, and enable the mining water jet anchor removal robot to accurately complete the anchor removal work.
[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.
Claims
1. A deep camera cleaning device for a water jet anchor removal robot used in a mine, characterized in that: The cleaning module includes an air blowing unit, a scrubbing unit and a connection and fixing unit. The connection and fixing unit is installed above the water jet fixing part of the mechanical arm end effector of the mining water jet anchor removal robot. The air blowing unit and the scrubbing unit are located on the connection and fixing unit. The connecting and fixing unit includes a mounting base, a mounting support plate, a mounting boss, a camera protective cover, and a light-transmitting sheet. The mounting base of the connecting and fixing unit is connected to the top of the water jet module fixing part by screws. A mounting support plate is installed above the mounting base. The left side of the mounting support plate is provided with a mounting boss by screw connection. The right side of the mounting support plate is raised, and a depth camera and a camera protective cover are arranged on the raised part. The depth camera is installed in the camera protective cover. There are threaded holes on both sides of the camera protective cover. The camera protective cover is connected to the raised part on the right side of the mounting support plate by screws. There is a rectangular groove on the camera protective cover. The light-transmitting sheet is installed above the camera protective cover by cooperating with the rectangular groove. The air blowing unit comprises an air filter head, an air pump nozzle and an electric air pump. The electric air pump of the air blowing unit is arranged above the mounting boss on the left side of the mounting support plate. The air filter head is installed at the air inlet of the electric air pump. The air pump nozzle is installed at the air outlet of the electric air pump. The right end of the air pump nozzle is at the left end of the light-transmitting plate. The scrubbing unit includes a baffle, a rotating motor, a transmission wheel, a first transmission rod, a second transmission rod, a third transmission rod, a rotating pin, a slider, and a lens brush. A transmission pin hole is provided at the left end of the baffle, and a sliding groove is provided at the right end. The rotating motor is fixed to the left side of the baffle, and the rotating motor shaft is connected to the transmission wheel. Transmission pin holes are provided at the center and edge of the transmission wheel. The transmission wheel is connected to the baffle through a rotating pin in the center. A first transmission rod is provided on the transmission wheel. The right end of the first transmission rod is connected to the second transmission rod through a rotating pin. The second transmission rod is connected to the baffle through a pin. The second transmission rod is connected to the left end of the third transmission rod through a rotating pin. The right end of the third transmission rod is connected to the slider through a pin. The slider is installed in the sliding groove on the right side of the baffle. A lens brush is installed at the right end of the slider, and the tip of the lens brush is located above the light-transmitting plate.