Complex environment operation robot

Abstract

A complex environment operation robot, comprising a central module (1), and a first operation module (2), a second operation module (3), a third operation module (4), a fourth operation module (5), a fifth operation module (6), a sixth operation module (7), a seventh operation module (8) and an eighth operation module (9) which are mounted around the central module (1), can be integrated to form a whole and can operate independently. The central module (1) first attracts, by means of magnetic heads mounted in magnetic head recesses thereon, magnetic heads mounted in magnetic head recesses corresponding to the operation modules, so as to achieve integrated configuration of the operation modules around the central module. Omnidirectional travel wheels (2-7, 2-8) at the bottoms of the operation modules drive the corresponding operation modules to leave the central module for independent operation, and then the operation modules return to original positions after the operation is completed. The complex environment operation robot has high efficiency, can achieve large-area collaborative operation in a large space range, thereby meeting the requirements on operation of the robot at different positions in a complex environment, and has strong adaptability.

Description

A robot for working in complex environments Technical Field

[0001] This invention relates to a robot for working in complex environments. It primarily uses a central module to control eight surrounding sub-modules to perform robotic tasks at different positions and heights in various environments. The robot utilizes three different robotic arms mounted on different modules to work simultaneously and collaboratively in complex environments. This not only results in high efficiency but also allows for large-area collaborative operation within a wide spatial range, meeting the needs of robot work in different locations within complex environments, demonstrating high efficiency and strong adaptability. Background Technology

[0002] In complex environments, tasks often have varying requirements in terms of location and position, necessitating multi-point, multi-location, or other demands. Traditional single robots struggle to meet these requirements. To better facilitate collaborative work across multiple points and locations, this invention designs and manufactures a robot with a central module acting as its control brain. Eight other sub-modules are attached to the periphery of the central module. Upon receiving signals from the central module, the different sub-modules disperse to their designated positions, activating their respective robotic arm structures to perform tasks at different locations. This design and manufacture of a robot for complex environments not only features a compact structure but also integrates operational modules. It can simultaneously deploy eight sub-modules within a short period, with each module capable of simultaneously operating three robotic arms, resulting in a total of twenty-four simultaneous operational positions. This approach offers high efficiency and a wide range of work points, fulfilling the needs of multi-location collaborative work in complex environments. This invention is based on optimizations in both structure and control, and possesses significant engineering application value. Summary of the Invention

[0003] This invention addresses the problem that robots working in complex environments often struggle to simultaneously fulfill multiple work requirements. It designs a robot capable of simultaneously deploying eight work modules within a short period, with each module capable of operating three robotic arms at the same time, allowing it to perform work at a total of twenty-four locations simultaneously. By having three different robotic arms mounted on different work modules work collaboratively to complete tasks in complex environments, the robot not only boasts high work efficiency but also offers numerous work points, meeting the needs for multi-location collaborative work in complex environments.

[0004] The technical solution of this invention is:

[0005] A robot for working in complex environments is characterized in that: the robot is mainly composed of a central module 1 and a first working module 2, a second working module 3, a second working module 4, a fourth working module (5), a fifth working module 6, a sixth working module 7, a seventh working module 8 and an eighth working module 9 installed around the central module 1, which can be assembled into a whole and can work independently; the central module 1 first attracts the magnetic heads installed in the magnetic head slots of each working module through the magnetic heads installed in the magnetic head slots on it, so as to realize the aggregation configuration of each working module around the central module; the universal wheels at the bottom of each working module drive the corresponding working module to leave the central module to work independently, and return to the original position after the work is completed.

[0006] The central module 1 mainly consists of a remote sensing probe structure 1-1 (containing four probes), sensing probes 1-2, 1-3, 1-4, 1-5, 1-6, 1-7, 1-8, and 1-9, magnetic heads 1-10, 1-11, 1-12, 1-13, 1-14, 1-15, 1-16, and 1-17, omnidirectional wheels 1-18 and 1-19, magnetic head slots 1-20, 1-21, 1-22, 1-23, 1-24, 1-25, 1-26, and 1-27, a monitoring panel 1-28, a power supply 1-29, a memory 1-30, a control system 1-31, and a column 1-32.

[0007] The working module 2 mainly consists of telescopic grooves 2-1, 2-2, and 2-3, a magnetic head groove 2-4, a magnetic head 2-5, a sensing probe 2-6, omnidirectional wheels 2-7 and 2-8. Telescopic groove 2-1 further comprises telescopic plates 2-1-1, 2-1-2, 2-1-3, and 2-1-4, a telescopic rod 2-1-5, and a robotic arm 2-1-6; telescopic groove 2-2 further comprises telescopic plates 2-2-1, 2-2-2, 2-2-3, and 2-2-4, a telescopic rod 2-2-5, and a robotic arm 2-2-6; telescopic groove 2-3 further comprises telescopic plates 2-3-1, 2-3-2, 2-3-3, and 2-3-4, a telescopic rod 2-3-5, and a robotic arm 2-3-6. The structures of working modules 3, 4, 5, 6, 7, 8 and 9 are basically the same as those of working module 2.

[0008] The central module 1 first connects the magnetic heads (such as heads 1-10, 1-11, 1-12, 1-13, 1-14, 1-15, 1-16, and 1-17) installed in its head slots (such as head slots 1-20, 1-21, 1-22, 1-23, 1-24, 1-25, 1-26, and 1-27) with the corresponding magnetic heads. The magnetic heads (e.g., magnetic head 2-5) installed in the head slots (e.g., head slot 2-4) attract each other, allowing the working modules (e.g., working modules 2, 3, 4, 5, 6, 7, 8, and 9) to be connected solely to the central module 1. They then move via omnidirectional wheels (e.g., omnidirectional wheels 1-18, 1-19, 2-7, and 2-8) mounted at the bottom. During the movement of the central module 1, the surrounding environment is detected by the remote sensing probe structure 1-1 mounted on the column 1-32. The remote sensing probe structure 1-1 mounted on the column 1-32 can rotate 360° to accommodate changes in the surrounding environment during observation. Simultaneously, the height of the column 1-32 can be adjusted as needed to ensure observation from various perspectives at different heights. The sensors installed on the central module 1 (such as sensors 1-2, 1-3, 1-4, 1-5, 1-6, 1-7, 1-8, and 1-9) correspond to sensors on each working module (e.g., sensor 1-2 on the central module 1 corresponds to sensor 2-6 on the working module 2). Information is transmitted through the corresponding sensors to the magnetic heads in their respective head slots to determine whether they attract or separate (e.g., magnetic head 1-10 in head slot 1-20 of the central module 1 attracts or separates from magnetic head 2-5 in head slot 2-4 of the working module 2). The monitoring tablet 1-28 in the central module 1 is powered by power supply 1-29, and the information it monitors is stored in memory 1-30. The operation of the entire working center 1 is controlled by the control system 1-31, and relevant information is fed back to the operator's field of vision through the monitoring tablet 1-28 to control the movement of the robot in complex environments.When the central module 1 learns that an operation is required at a certain location, it transmits the information to a certain sensing probe (such as sensing probe 1-2 and sensing probe 2-6) through the control system 1-31. The sensor will then separate the magnetic head 1-10 in the magnetic head slot 1-20 of the central module 1 from the magnetic head 2-5 in the magnetic head slot 2-4 of the working module 2. Under the control of the control system 1-31 of the central module 1, the working module 2 reaches the designated position and opens the corresponding telescopic slot (such as telescopic slot 2-1). Through calculation and analysis, the telescopic lengths of telescopic plates 2-1-1, 2-1-2, 2-1-3, 2-1-4 and 2-1-5 are determined, and the final working position of the robot arm 2-1-6 is determined. Under the control of the control system 1-31, the robot arm 2-1-6 is controlled to complete the required work. After the work is completed, telescopic plates 2-1-1, 2-1-2, 2-1-3, 2-1-4, telescopic rod 2-1-5, and robotic arm 2-1-6 retract into telescopic slot 2-1. Working module 2 can simultaneously complete work at three different positions within a specified range, centered on itself. If work at other positions needs to be completed, the central module 1 can use the same method to move working modules 3, 4, 5, 6, 7, 8, and 9 to different positions to perform work, achieving multi-position collaborative operation. After all work is completed, the central module 1 can use the same method to reassemble working modules 2, 3, 4, 5, 6, 7, 8, and 9 back together to form a whole, and then move them to the designated position for power-off and return to their original positions.

[0009] Each of the central module 1, working module 2, working module 3, working module 4, working module 5, working module 6, working module 7, working module 8 and working module 9 is equipped with two omnidirectional wheels, which are arranged to be centered to ensure the stable movement of each module.

[0010] The beneficial effects of this invention are:

[0011] This invention relates to a robot for working in complex environments. It primarily uses a central module to control eight surrounding sub-modules to perform robotic tasks in various locations and at different heights. Its structure is ingeniously simple, its control and operation are straightforward and convenient, and it is easy to promote and apply. Attached Figure Description

[0012] Figure 1. Schematic diagram of the overall structure of the robot for working in complex environments.

[0013] Figure 2. Schematic diagram of the central module structure of the robot for complex environment operations.

[0014] Figure 3. Schematic diagram of the bottom structure of the robot for working in complex environments.

[0015] Figure 4. Schematic diagram of the working module structure of the robot for complex environment operations. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] As shown in Figure 1-4.

[0018] A robot for working in complex environments mainly consists of a central module 1 and a first working module 2, a second working module 3, a second working module 4, a fourth working module (5), a fifth working module 6, a sixth working module 7, a seventh working module 8, and an eighth working module 9 surrounding the central module 1, which can be assembled as a whole or work independently, as shown in Figure 1. The central module 1 first attracts the magnetic heads installed in the magnetic head slots of each working module with the magnetic heads installed in the corresponding magnetic head slots of each working module, so as to realize the aggregation configuration of each working module around the central module. The omnidirectional wheels at the bottom of each working module drive the corresponding working module to leave the central module to perform work independently, and return to the original position after the work is completed.

[0019] As shown in Figures 2 and 3, the central module 1 mainly consists of a remote sensing probe structure 1-1 (containing four probes), sensing probes 1-2, 1-3, 1-4, 1-5, 1-6, 1-7, 1-8, 1-9, magnetic heads 1-10, 1-11, 1-12, 1-13, 1-14, 1-15, 1-16, 1-17, omnidirectional wheels 1-18, 1-19, magnetic head slots 1-20, 1-21, 1-22, 1-23, 1-24, 1-25, 1-26, 1-27, a monitoring panel 1-28, a power supply 1-29, a memory 1-30, a control system 1-31, and a column 1-32.

[0020] As shown in Figures 3 and 4, working module 2 mainly consists of telescopic groove 2-1, telescopic groove 2-2, telescopic groove 2-3, magnetic head groove 2-4, magnetic head 2-5, sensing probe 2-6, omnidirectional wheels 2-7 and omnidirectional wheels 2-8. Telescopic groove 2-1 further comprises telescopic plate 2-1-1, telescopic plate 2-1-2, telescopic plate 2-1-3, telescopic plate 2-1-4, telescopic rod 2-1-5, and robotic arm 2-1-6; telescopic groove 2-2 further comprises telescopic plate 2-2-1, telescopic plate 2-2-2, telescopic plate 2-2-3, telescopic plate 2-2-4, telescopic rod 2-2-5, and robotic arm 2-2-6; telescopic groove 2-3 further comprises telescopic plate 2-3-1, telescopic plate 2-3-2, telescopic plate 2-3-3, telescopic plate 2-3-4, telescopic rod 2-3-5, and robotic arm 2-3-6. The structures of working modules 3, 4, 5, 6, 7, 8 and 9 are basically the same as those of working module 2.

[0021] As shown in Figures 1, 2, 3, and 4, the central module 1 first connects with the magnetic heads (such as heads 1-10, 1-11, 1-12, 1-13, 1-14, 1-15, 1-16, and 1-17) installed in its head slots (such as head slots 1-20, 1-21, 1-22, 1-23, 1-24, 1-25, 1-26, and 1-27). The magnetic heads (e.g., head 2-5) installed in the corresponding head slots (e.g., head slot 2-4) attract each other, allowing the working modules (e.g., working modules 2, 3, 4, 5, 6, 7, 8, and 9) to be connected solely to the central module 1. They then move via omnidirectional wheels (e.g., omnidirectional wheels 1-18, 1-19, 2-7, and 2-8) mounted at the bottom. During the movement of the central module 1, the surrounding environment is detected by the remote sensing probe structure 1-1 mounted on the column 1-32. The remote sensing probe structure 1-1 mounted on the column 1-32 can rotate 360° to accommodate changes in the surrounding environment during observation. Simultaneously, the height of the column 1-32 can be adjusted as needed to ensure observation from various perspectives at different heights. The sensors installed on the central module 1 (such as sensors 1-2, 1-3, 1-4, 1-5, 1-6, 1-7, 1-8, and 1-9) correspond to sensors on each working module (e.g., sensor 1-2 on the central module 1 corresponds to sensor 2-6 on the working module 2). Information is transmitted through the corresponding sensors to the magnetic heads in their respective head slots to determine whether they attract or separate (e.g., magnetic head 1-10 in head slot 1-20 of the central module 1 attracts or separates from magnetic head 2-5 in head slot 2-4 of the working module 2). The monitoring tablet 1-28 in the central module 1 is powered by power supply 1-29, and the information it monitors is stored in memory 1-30. The operation of the entire working center 1 is controlled by the control system 1-31, and relevant information is fed back to the operator's field of vision through the monitoring tablet 1-28 to control the movement of the robot in complex environments.When the central module 1 learns that an operation is required at a certain location, it transmits the information to a certain sensing probe (such as sensing probe 1-2 and sensing probe 2-6) through the control system 1-31. The sensor will then separate the magnetic head 1-10 in the magnetic head slot 1-20 of the central module 1 from the magnetic head 2-5 in the magnetic head slot 2-4 of the working module 2. Under the control of the control system 1-31 of the central module 1, the working module 2 reaches the designated position and opens the corresponding telescopic slot (such as telescopic slot 2-1). Through calculation and analysis, the telescopic lengths of telescopic plates 2-1-1, 2-1-2, 2-1-3, 2-1-4 and 2-1-5 are determined, and the final working position of the robot arm 2-1-6 is determined. Under the control of the control system 1-31, the robot arm 2-1-6 is controlled to complete the required work. After the work is completed, telescopic plates 2-1-1, 2-1-2, 2-1-3, 2-1-4, telescopic rod 2-1-5, and robotic arm 2-1-6 retract into telescopic slot 2-1. Working module 2 can simultaneously complete work at three different positions within a specified range, centered on itself. If work at other positions needs to be completed, the central module 1 can use the same method to move working modules 3, 4, 5, 6, 7, 8, and 9 to different positions to perform work, achieving multi-position collaborative operation. After all work is completed, the central module 1 can use the same method to reassemble working modules 2, 3, 4, 5, 6, 7, 8, and 9 back together to form a whole, and then move them to the designated position for power-off and return to their original positions.

[0022] As shown in Figure 3, two omnidirectional wheels are installed on each of the central module 1, working module 2, working module 3, working module 4, working module 5, working module 6, working module 7, working module 8 and working module 9. Their arrangement is mainly to ensure that each module moves stably by centering it.

[0023] The parts not covered in this invention (such as the drive structure of the omnidirectional wheel) are the same as or can be implemented using existing technologies.

Claims

1. A robot for working in complex environments, characterized in that: The robot is mainly composed of a central module (1) and a first working module (2), a second working module (3), a second working module (4), a fourth working module (5), a fifth working module (6), a sixth working module (7), a seventh working module (8), and an eighth working module (9) installed around the central module (1). The central module (1) first attracts the magnetic heads installed in the magnetic head slots of each working module with the magnetic heads installed in the corresponding magnetic head slots of each working module, so as to realize the integrated configuration of each working module around the central module. The universal wheels at the bottom of each working module drive the corresponding working module to leave the central module to perform work independently. After the work is completed, it returns to its original position.

2. The robot for complex environment operations according to claim 1, characterized in that: The central module (1) mainly consists of a column (1-0) and a column (1-32) installed on the upper surface of the column (1-0). The module also includes a first sensing probe (1-2), a second sensing probe (1-3), a third sensing probe (1-4), a fourth sensing probe (1-5), a fifth sensing probe (1-6), a sixth sensing probe (1-7), a seventh sensing probe (1-8), and an eighth sensing probe (1-9). -4) The fourth sensor (1-5), fifth sensor (1-6), sixth sensor (1-7), seventh sensor (1-8), and eighth sensor (1-9) are arranged in a ring around the center of the column (1-0). A remote sensing probe structure (1-1) is installed on the column (1-32). The first magnetic head slot (1-20), second magnetic head slot (1-21), third magnetic head slot (1-22), and fourth magnetic head slot (1-23) are provided on the cylindrical surface of the column (1-0). The fifth head slot (1-24), sixth head slot (1-25), seventh head slot (1-26), and eighth head slot (1-27), and the first head slot (1-20), second head slot (1-21), third head slot (1-22), fourth head slot (1-23), fifth head slot (1-24), sixth head slot (1-25), seventh head slot (1-26), and eighth head slot (1-27) are respectively equipped with the first head (1-10) and the second head (1-11). The column (1-0) is equipped with a third magnetic head (1-12), a fourth magnetic head (1-13), a fifth magnetic head (1-14), a sixth magnetic head (1-15), an open magnetic head (1-16), and an eighth magnetic head (1-17). The bottom surface of the column (1-0) is equipped with a first omnidirectional wheel (1-18) and a second omnidirectional wheel (1-19) to drive its movement. The upper surface of the column (1-0) is also equipped with a monitoring plate (1-28), a power supply (1-29), a memory (1-30), and a control system (1-31).

3. The robot for complex environment operations according to claim 1, characterized in that: The first working module (2), second working module (3), second working module (4), fourth working module (5), fifth working module (6), sixth working module (7), seventh working module (8), and eighth working module (9) have the same structure. They all consist of a quadrilateral module carrier (2-0) and three expansion grooves (2-1), second expansion groove (2-2), and third expansion groove (2-3) on three surfaces around the module carrier (2-0) that do not contact the central module (1). A magnetic head groove (2-4) is designed on the surface of the module carrier (2-0) that contacts the central module (1). A magnetic head (2-5) is installed in the head slot (2-4); a sensing probe (2-6) is installed on the upper surface of the module carrier (2-0), and a third omnidirectional wheel (2-7) and a fourth omnidirectional wheel (2-8) are installed on the lower surface; a first telescopic plate (2-1-1) is installed in the first telescopic slot (2-1), a second telescopic plate (2-1-2) is installed in the first telescopic plate (2-1-1), a third telescopic plate (2-1-3) is installed in the second telescopic plate (2-1-2), and a fourth telescopic plate (2-1-4) is installed in the third telescopic plate (2-1-3). A first telescopic rod (2-1-5) is installed on the outer side of 2-1-4, and a first robotic arm (2-1-6) is installed on the first telescopic rod (2-1-5); a fifth telescopic plate (2-2-1) is installed in the second telescopic groove (2-2), a sixth telescopic plate (2-2-2) is installed in the fifth telescopic plate (2-2-1), a seventh telescopic plate (2-2-3) is installed in the sixth telescopic plate (2-2-2), an eighth telescopic plate (2-2-4) is installed in the seventh telescopic plate (2-2-3), and a second telescopic rod (2-2-5) is installed on the outer side of the seventh telescopic plate (2-2-3). A second robotic arm (2-2-6) is installed on the telescopic rod (2-2-5); a ninth telescopic plate (2-3-1) is installed in the third telescopic groove (2-3); a tenth telescopic plate (2-3-2) is installed on the ninth telescopic plate (2-3-1); an eleventh telescopic plate (2-3-3) is installed on the tenth telescopic plate (2-3-2); a twelfth telescopic plate (2-3-4) is installed on the eleventh telescopic plate (2-3-3); a third telescopic rod (2-3-5) is installed on the outside of the twelfth telescopic plate (2-3-4); and a third robotic arm (2-3-6) is installed on the third telescopic rod (2-3-5).

4. The robot for complex environment operations according to claim 1, characterized in that: The central module (1) first connects the working module to the central module (1) by attracting the magnetic heads installed in the magnetic head slots on it, and then connects them by the universal wheels installed at the bottom. During the movement of the central module (1), the remote sensing probe structure (1-1) installed on the column (1-32) on it detects the surrounding environment. The remote sensing probe structure (1-1) installed on the column (1-32) can rotate 360° to ensure that the surrounding environment changes during the observation period. At the same time, the column (1-32) can also adjust its height as needed to ensure that various perspectives can be observed at different heights. The sensing probes installed on the central module (1) correspond to the probes on each working module. The corresponding sensing probes transmit information to the magnetic heads in their respective magnetic head slots to determine whether to attract or separate. The monitoring tablet (1-28) in the central module (1) is powered by the power supply (1-29), and the information it monitors is stored in the memory (1-30). The operation of the entire working center (1) is controlled by the control system (1-31). The relevant information is fed back to the operator's field of vision of the complex environment operation robot through the monitoring tablet (1-28) to control the movement of the complex environment operation robot. When the central module (1) learns that it needs to operate at a certain position, it will transmit the information to a certain sensing probe through the control system (1-31). It will arrange the magnetic head (1-10) in the magnetic head slot (1-20) in the central module (1) to separate from the magnetic head (2-5) in the magnetic head slot (2-4) in the working module (2). Under the control of the control system (1-31) of the central module (1), the working module (2) reaches the designated position, opens the corresponding telescopic slot, and then calculates and analyzes the first telescopic plate (2-1-1), the second telescopic plate (2-1-2), the third telescopic plate (2-1-3), and the first roller extension. The telescopic lengths of the retractable plate (2-1-4) and the first telescopic rod (2-1-5) determine the final working position of the first robotic arm (2-1-6), and under the control of the control system (1-31), the first robotic arm (2-1-6) is controlled to complete the required work. After the work is completed, the first telescopic plate (2-1-1), the second telescopic plate (2-1-2), the third telescopic plate (2-1-3), the telescopic plate (2-1-4), the first telescopic rod (2-1-5), and the first robotic arm (2-1-6) retract into the first telescopic groove (2-1). The working module (2) can simultaneously complete the work of three different positions within a specified range with itself as the center. If the work of other positions needs to be completed, the central module (1) can use the same method to allow the second working module (3), the third working module (4), the fourth working module (5), the fifth working module (6), the sixth working module (7), the seventh working module (8), and the eighth working module (9) to reach different positions to carry out work, thereby realizing multi-position collaborative operation. After all the work is completed, the central module (1) can use the same method to re-attract the first working module (2), the second working module (3), the third working module (4), the fourth working module (5), the fifth working module (6), the sixth working module (7), the third working module (8), and the eighth working module (9) to form a whole, and run to the designated position for power outage and return to their original positions.

5. The robot for complex environment operations according to claim 1, characterized in that... Two omnidirectional wheels are installed on each of the first working module (2), the second working module (3), the third working module (4), the fourth working module (5), the fifth working module (6), the sixth working module (7), the third working module (8), and the eighth working module (9). Their arrangement is mainly to center them to ensure the stability of each module's movement.

6. The robot for complex environment operations according to claim 2, characterized in that: The remote sensing probe structure (1-1) consists of four probes installed in the front, back, left, and right directions.

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