Anti-shielding structure for robot facing disaster scene

Abstract

The utility model provides an anti-shielding structure for a robot facing disaster scenes, and mainly relates to the field of search and rescue robot equipment. The utility model discloses an anti-shielding structure for a robot facing disaster scenes. The anti-shielding structure comprises a spider robot. The novel spider robot has the advantages that the camera structure capable of ascending, descending and rotating in a large range is arranged on the upper portion of the spider robot, the visual range of the robot is enlarged, and the search and rescue capacity is enhanced; through the structure, the upper part of the camera can be shielded, a deflector rod is further arranged on the lower side of the end part of the baffle plate, and the deflector rod is matched with the baffle plate structure to rotate, so that a shielding object in front of the camera can be removed to prevent obstacles in a disaster scene from shielding the visual field of the camera to influence the sight, and the search and rescue efficiency is further improved; the obstacle removing angle can be further adjusted through the rotating structure of the baffle.

Description

TECHNICAL FIELD

[0001] The utility model mainly relates to the search and rescue robot equipment field, concretely is a kind of robot for disaster scene with anti-shielding structure. BACKGROUND

[0002] Robot is the machine device of automatic execution work. It can accept human command, can also run prearranged program, and can also act according to the principle of artificial intelligence technology formulated program. Its task is to assist or replace human work, for example, production, construction, or dangerous work. Search and rescue robot, advanced scientific and technological development for rescue robot, such as earthquake rescue robot, it is a kind of robot specially used for searching for survivors in ruins after earthquake and performing rescue tasks.

[0003] Through the design of many legs, the robot can search and rescue in complex terrain after disaster, but the camera of the robot may be damaged or shielded due to the changeable environment after disaster, so a structure for protecting the camera and preventing the camera from being shielded is needed. UTILITY MODEL CONTENT

[0004] To solve the problems of the prior art, the utility model provides a robot for disaster scene with anti-shielding structure, which mainly has the following effects: by setting a liftable and wide-range rotatable camera structure on the upper part of the spider robot, the visual range of the robot is increased to enhance the search and rescue capability, further, a rotatable and overturnable baffle structure is arranged at the rear of the camera, which can shield the upper part of the camera, prevent the unstable structure in the disaster scene from damaging the camera, further, a lever is arranged at the lower side of the end of the baffle, which can remove the shielding object in front of the camera by rotating the lever and the baffle structure, prevent the obstacles in the disaster scene from shielding the camera field of view and affecting the line of sight, thereby improving the search and rescue efficiency, and further adjusting the obstacle removal angle by the rotating structure of the baffle, when not in use, the baffle can be rotated to the rear of the device to prevent affecting the camera angle and line of sight angle.

[0005] The utility model realizes the above-mentioned purpose by the following technical scheme:

[0006] A robot for disaster scene with anti-shielding structure, comprising a spider robot, a circuit board is arranged on the upper part of the spider robot, a plurality of power supply interfaces and video interfaces are fixedly arranged on the upper part of the circuit board, a support cover is fixedly arranged on the upper part of the circuit board, and a joint opening is formed in the corresponding position of the support cover, the power supply interface and the video interface.

[0007] Further, the upper front side of the support cover is fixedly provided with a camera lifting pipe, the front and both sides of the camera lifting pipe are provided with a camera opening, the inside bottom of the camera lifting pipe is fixedly provided with a lifting rod, the upper part of the lifting rod is fixedly provided with a limiting disc, each lifting rod is sleeved with a camera support plate, the upper part of the camera support plate is fixedly provided with a multi-directional rotating camera, the front of the camera lifting pipe is fixedly provided with a video connection line which is electrically connected with the multi-directional rotating camera, the end of the video connection line is electrically connected with the video interface, the both sides of the upper part of the multi-directional rotating camera are fixedly provided with a baffle support strip, the lower part of the rear side of the camera support plate is fixedly provided with a support rod plate, the rear of the support rod plate is fixedly provided with a support rod, the rear of the camera lifting pipe is provided with a vertical sliding groove corresponding to the support rod.

[0008] Further, the rear side of the camera lifting pipe is fixedly provided with a servo motor support plate, the rear of the servo motor support plate is fixedly provided with a servo motor one which is fixedly connected with the servo motor support plate, the servo motor one is electrically connected with the power supply interface at the corresponding position, the output end of the servo motor one is penetratingly and rotationally connected with the servo motor support plate, the output end of the servo motor one is fixedly provided with a rotating telescopic rod sleeve, the rotating telescopic rod sleeve is internally provided with a rotating telescopic pipe which is slidingly connected with the rotating telescopic rod sleeve, the upper end of the rotating telescopic pipe is sleeved with the outer periphery of the support rod and is rotationally connected with the support rod.

[0009] Further, the upper side of the support cover is fixedly provided with a servo motor support table, the inside of the servo motor support table is fixedly provided with a servo motor two, the upper part of the servo motor support table is provided with a rotating pipe which is rotationally connected with the servo motor support table and is fixedly connected with the output end of the servo motor two, the rear of the rotating pipe is provided with an electric push rod groove, the rear of the electric push rod groove is fixedly provided with an electric push rod support plate, the upper part of the electric push rod support plate is fixedly provided with an electric push rod, the rear of the servo motor support table is fixedly provided with a power line, the end of the power line is fixedly provided with a power connection head which is electrically connected with the power supply interface at the corresponding position, further electrically connecting the servo motor two, the electric push rod and the power line, the both sides of the rotating pipe are provided with a lifting plate groove, the inside of the lifting plate groove is provided with a lifting plate, the rear of the lifting plate is fixedly connected with the telescopic end of the electric push rod, the upper part of the lifting plate is provided with a baffle connecting plate which is rotationally connected with the baffle connecting plate, the end of the baffle connecting plate is fixedly provided with a baffle, the upper end of the baffle is fixedly provided with a lever connecting plate, and the lower part of the lever connecting plate is fixedly provided with a lever.

[0010] Further, the periphery of the camera opening is provided with an acrylic plate groove, and the inside of the acrylic plate groove is fixedly provided with a transparent acrylic plate.

[0011] Compared with the prior art, the present application has the following advantages:

[0012] 1. By setting the liftable and wide-range rotatable camera structure on the upper part of the spider robot, the visual range of the robot is increased and the search and rescue capability is enhanced, and further, a rotatable and overturnable baffle structure is arranged at the rear part of the camera, which can shield the upper part of the camera and prevent the unstable structure in the disaster scene from damaging the camera;

[0013] 2. A push rod is arranged at the lower side of the end part of the baffle, which can remove the front shielding object of the camera by rotating with the baffle structure, prevent the obstacles in the disaster scene from affecting the visual field of the camera and affecting the line of sight, and further improve the search and rescue efficiency, and the rotation structure of the baffle can further adjust the obstacle removal angle, and when not in use, it can be rotated to the rear part of the device to prevent affecting the angle of the camera and the line of sight. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a structural schematic view of the utility model;

[0015] Figure 2 is a structural schematic view of the utility model;

[0016] Figure 3 is a structural schematic view of the utility model;

[0017] Figure 4 is a structural schematic view of the utility model;

[0018] Figure 5 is a structural schematic view of the utility model;

[0019] Figure 6 is a structural schematic view of the utility model;

[0020] Figure 7 is a structural schematic view of the utility model;

[0021] Figure 8 is a structural schematic view of the utility model;

[0022] Figure 9 is a structural schematic view of the utility model.

[0023] 9. Labels shown in the attached diagram: 1. Spider robot; 2. Circuit board; 3. Power supply interface; 4. Video interface; 5. Support cover; 6. Connector; 7. Camera lifting tube; 8. Camera port; 9. Lifting rod; 10. Limiting plate; 11. Camera support plate; 12. Multi-directional rotating camera; 13. Video connection cable; 14. Baffle support strip; 15. Support rod plate; 16. Support rod; 17. Vertical sliding groove; 18. Servo motor support plate; 19. Servo... 20. Servo motor 1; 21. Rotating telescopic rod sleeve; 22. Rotating telescopic tube; 23. Servo motor support platform; 24. Rotating tube; 25. Electric actuator slot; 26. Electric actuator support plate; 27. Electric actuator; 28. Power cord; 29. ​​Power connector; 30. Lifting plate slot; 31. Lifting plate; 32. Baffle connecting plate; 33. Baffle; 34. Toggle rod connecting plate; 35. Toggle rod; 36. Acrylic plate slot; 37. Transparent acrylic plate. Detailed Implementation

[0024] The present invention will be further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the present invention, and these equivalent forms also fall within the scope defined in this application.

[0025] Example: An anti-occlusion structure for robots in disaster scenarios

[0026] like Figures 1-9 As shown, a robot anti-occlusion structure for disaster scenarios includes the following specific components:

[0027] An anti-occlusion structure for robots designed for disaster scenarios includes a spider robot 1, which is highly adaptable to complex terrain in disaster areas through multi-legged walking. The spider robot 1 has a circuit board 2 on its upper part for controlling and supplying power to various components or receiving signals. The circuit board 2 is fixedly provided with several power supply interfaces 3 and video interfaces 4 for powering and connecting devices such as cameras. The circuit board 2 is fixedly provided with a support cover 5 for protecting the circuit board 2. The support cover 5 has connectors 6 at corresponding positions of the power supply interfaces 3 and video interfaces 4 for connecting the connectors to the power supply interfaces 3 or the video interfaces 4.

[0028] A camera lifting tube 7 is fixedly installed on the upper front side of the support cover 5. Camera openings 8 are provided through the front and sides of the camera lifting tube 7 for observation when the multi-directional rotating camera 12 rises. Lifting rods 9 are fixedly installed at the four bottom corners inside the camera lifting tube 7. Limiting plates 10 are fixedly installed on the upper parts of the lifting rods 9. Camera support plates 11 are fitted onto each lifting rod 9. The limiting plates 10 prevent the camera support plates 11 from rising excessively. A multi-directional rotating camera 12 is fixedly installed on the upper part of the camera support plate 11 for support. The camera can be flexibly raised and lowered to change its height and shooting angle to observe the surrounding environment and further conduct search and rescue work. The front of the camera lifting tube 7 is fixedly connected to the multi-directional rotating camera 12 by a video connection cable 13. The end of the video connection cable 13 is electrically connected to the video interface 4. The upper two sides of the multi-directional rotating camera 12 are fixedly provided with baffle support bars 14. The lower rear side of the camera support plate 11 is fixedly provided with a support rod plate 15. The rear of the support rod plate 15 is fixedly provided with a support rod 16. The rear of the camera lifting tube 7 is provided with a vertical sliding groove 17 corresponding to the position of the support rod 16.

[0029] A servo motor support plate 18 is fixedly installed on one side of the rear of the camera lifting tube 7. A servo motor 19 is fixedly installed and connected to the rear of the servo motor support plate 18. The servo motor 19 is electrically connected to the power supply interface 3 at the corresponding position. The output end of the servo motor 19 passes through the servo motor support plate 18 and is rotatably connected to it. A rotating telescopic rod sleeve 20 is fixedly installed at the output end of the servo motor 19. A rotating telescopic tube 21 is slidably connected to the rotating telescopic tube 20 inside the rotating telescopic rod sleeve 20. The upper end of the rotating telescopic tube 21 is sleeved on the outer periphery of the support rod 16 and is rotatably connected to it. When the servo motor 19 rotates, it drives the rotating telescopic rod sleeve 20 to rotate, which in turn drives the rotating telescopic tube 21 to rotate, further driving the support rod 16 and the camera support plate 11 fixedly connected to it to rise or fall. At the same time, it drives the rotating telescopic tube 21 to slide inside the rotating telescopic rod sleeve 20, so that the camera support plate 11 can be raised to a higher position.

[0030] A servo motor support platform 22 is fixedly installed on the upper center of the support cover 5. A second servo motor 23 is fixedly installed inside the servo motor support platform 22. A rotating tube 24 is provided on the upper part of the servo motor support platform 22 and is rotatably connected to it and coaxially fixedly connected to the output end of the second servo motor 23. The rotation of the second servo motor 23 drives the rotating tube 24 to rotate. An electric actuator slot 25 is opened at the rear of the rotating tube 24. An electric actuator support plate 26 is fixedly installed at the rear of the electric actuator slot 25. An electric actuator 27 is fixedly installed on the upper part of the electric actuator support plate 26. A power cord 28 is fixedly installed at the rear of the servo motor support platform 22. A power connector 29 is fixedly installed at the end of the power cord 28 and electrically connected to the power supply interface 3 at the corresponding position, further enabling the second servo motor 23 and the electric actuator 27 to be electrically connected to the power cord 28. Lifting plate slots 30 are opened on both sides of the rotating tube 24. The front of the lifting plate slots 30 on both sides is set at an angle. The lowering plate groove 30 is equipped with a lifting plate 31. The rear of the lifting plate 31 is fixedly connected to the telescopic end of the electric push rod 27. The telescopic end of the electric push rod 27 drives the lifting plate 31 to rise and fall. The upper part of the lifting plate 31 is equipped with a baffle connecting plate 32, which is rotatably connected to it. The baffle connecting plate 32 contacts the inclined surface of the lifting plate groove 30. The lifting plate 31 allows the baffle connecting plate 32 to change different angles. A baffle 33 is fixedly provided at the end of the baffle connecting plate 32. The baffle 33 can be raised by the lifting plate 31 to block the upper part of the camera lifting tube 7 and protect the multi-directional rotating camera 12. A lever connecting plate 34 is fixedly provided at the upper end of the baffle 33. A lever 35 is fixedly provided at the lower part of the lever connecting plate 34. The lever 35 is driven by the rotation and flipping movement of the baffle 33 to move the obstruction in front of the camera to prevent obstruction of the camera's view.

[0031] An acrylic plate groove 36 is provided on the outer periphery of the camera port 8, and a transparent acrylic plate 37 is fixedly installed inside the acrylic plate groove 36 to further protect the multi-directional rotating camera 12.

[0032] This solution also includes a controller, the location of which is set by the operator according to the actual situation during operation. The controller is used to control the electrical components used in this solution, including but not limited to sensors, motors, telescopic rods, water pumps, solenoid valves, heating wires, heat pumps, displays, computer input devices, switches, communication devices, lights, speakers, and microphones. The controller is an Intel processor, AMD processor, PLC controller, ARM processor, or microcontroller. It is used in conjunction with a motherboard, memory modules, storage media, and power supply, which is AC power or a lithium battery. When a display screen is provided, a graphics card is also included. For the operating principle of the controller, please refer to "Principles of Automatic Control," "Microcontroller Principles and Application Simulation Cases," and "Sensor Principles and Applications" published by Tsinghua University Press. Other books in this field can also be consulted. Other automation control and electrical components not mentioned are knowledge well known to those skilled in the art and will not be described in detail here.

[0033] Working principle:

[0034] In use, this device first provides video data to the user via the multi-directional rotating camera 12, allowing the user to control the spider robot 1 to walk and search. When it is necessary to raise the multi-directional rotating camera 12, the servo motor 19 is controlled to rotate, which in turn rotates the rotating telescopic rod sleeve 20, thereby rotating the rotating telescopic tube 21. This further drives the support rod 16 and the camera support plate 11 fixedly connected to it to rise or fall. At the same time, the rotating telescopic tube 21 slides inside the rotating telescopic rod sleeve 20, allowing the camera support plate 11 to rise to a higher position, thus raising the multi-directional rotating camera 12 to provide a higher field of view. When entering a dangerous area, the extension end of the electric push rod 27 extends, causing the lifting plate 31 to rise, which in turn drives the baffle connecting plate 32 and the baffle 33 to cooperate. The lifting plate groove 30 is flipped so that the baffle 33 covers the upper part of the multi-directional rotating camera 12 for protection. The baffle support bar 14 provided on the upper part of the multi-directional rotating camera 12 abuts against the baffle 33 to prevent the baffle 33 from affecting the camera module of the multi-directional rotating camera 12. When the multi-directional rotating camera 12 is lowered, the baffle 33 covers the upper part of the camera lifting tube 7 to completely protect the multi-directional rotating camera 12. Furthermore, a lever connecting plate 34 is fixedly provided at the upper end of the baffle 33, and a lever 35 is fixedly provided at the lower part of the lever connecting plate 34. The lever 35 is driven by the rotation and flipping motion of the baffle 33. When there is an obstacle in front of the multi-directional rotating camera 12 that obstructs the view, the obstacle in front of the camera can be moved to prevent obstruction of the view.

Claims

1. A robot anti-occlusion structure for disaster scenarios, comprising a spider robot (1), characterized in that: The spider robot (1) is provided with a circuit board (2) on its upper part. Several power supply interfaces (3) and video interfaces (4) are fixedly provided on the upper part of the circuit board (2). A support cover (5) is fixedly provided on the upper part of the circuit board (2). Connectors (6) are opened at the corresponding positions of the support cover (5), the power supply interfaces (3), and the video interfaces (4).

2. The anti-occlusion structure for robots in disaster scenarios according to claim 1, characterized in that: A camera lifting tube (7) is fixedly installed on the upper front side of the support cover (5). A camera port (8) is opened through the front and both sides of the camera lifting tube (7). Lifting rods (9) are fixedly installed at the four corners of the bottom inside the camera lifting tube (7). A limiting plate (10) is fixedly installed on the upper part of the lifting rod (9). A camera support plate (11) is sleeved on each of the lifting rods (9). A multi-directional rotating camera (12) is fixedly installed on the upper part of the camera support plate (11). A video link is fixedly installed through the front of the camera lifting tube (7). The wiring (13) is electrically connected to the multi-directional rotating camera (12), and the end of the video connection cable (13) is electrically connected to the video interface (4). The upper two sides of the multi-directional rotating camera (12) are fixedly provided with baffle support strips (14). The lower rear side of the camera support plate (11) is fixedly provided with a support rod plate (15). The rear of the support rod plate (15) is fixedly provided with a support rod (16). The rear of the camera lifting tube (7) is provided with a vertical sliding groove (17) corresponding to the position of the support rod (16).

3. The anti-occlusion structure for robots in disaster scenarios according to claim 2, characterized in that: A servo motor support plate (18) is fixedly provided on one side of the rear of the camera lifting tube (7). A servo motor (19) is fixedly provided on the rear of the servo motor support plate (18) and fixedly connected to it. The servo motor (19) is electrically connected to the power supply interface (3) at the corresponding position. The output end of the servo motor (19) passes through the servo motor support plate (18) and is rotatably connected to it. A rotating telescopic rod sleeve (20) is fixedly provided on the output end of the servo motor (19). A rotating telescopic tube (21) is provided inside the rotating telescopic rod sleeve (20) and is slidably connected to it. The upper end of the rotating telescopic tube (21) is sleeved on the outer periphery of the support rod (16) and is rotatably connected to it.

4. The anti-occlusion structure for robots in disaster scenarios according to claim 1, characterized in that: A servo motor support platform (22) is fixedly installed on the upper middle part of the support cover (5). A second servo motor (23) is fixedly installed inside the servo motor support platform (22). A rotating tube (24) is provided on the upper part of the servo motor support platform (22) and is rotatably connected to it and coaxially fixedly connected to the output end of the second servo motor (23). An electric actuator slot (25) is opened at the rear of the rotating tube (24). An electric actuator support plate (26) is fixedly installed at the rear of the electric actuator slot (25). An electric actuator (27) is fixedly installed on the upper part of the electric actuator support plate (26). A power cord (28) is fixedly installed at the rear of the servo motor support platform (22). A power connector (29) is fixedly installed at the end of the power cord (28) and... The power supply interface (3) at the corresponding position is electrically connected, and the servo motor (23) and the electric push rod (27) are electrically connected to the power line (28). The rotating tube (24) has lifting plate slots (30) on both sides, and lifting plates (31) are provided inside the lifting plate slots (30) on both sides. The rear part of the lifting plate (31) is fixedly connected to the telescopic end of the electric push rod (27). The upper part of the lifting plate (31) is provided with a baffle connecting plate (32) and rotatably connected to it. The end of the baffle connecting plate (32) is fixedly provided with a baffle (33). The upper end of the baffle (33) is fixedly provided with a lever connecting plate (34), and the lower part of the lever connecting plate (34) is fixedly provided with a lever (35).

5. The anti-occlusion structure for robots in disaster scenarios according to claim 2, characterized in that: An acrylic plate groove (36) is provided on the outer periphery of the camera port (8), and a transparent acrylic plate (37) is fixedly provided inside the acrylic plate groove (36).

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