CN108124844B

CN108124844B - Hornet's nest clearing device

Info

Publication number: CN108124844B
Application number: CN201711455911.3A
Authority: CN
Inventors: 丁婧; 余艳; 霍晓燕; 骆敏舟
Original assignee: Institute of Intelligent Manufacturing Technology JITRI
Current assignee: Institute of Intelligent Manufacturing Technology JITRI
Priority date: 2017-12-28
Filing date: 2017-12-28
Publication date: 2023-04-11
Anticipated expiration: 2037-12-28
Also published as: CN108124844A

Abstract

The invention belongs to the field of robots, and particularly relates to a hornet nest clearing device which comprises a base, a mechanical arm with four degrees of freedom and a removing mechanism, wherein one end of the mechanical arm is arranged on the base, a storage bin is fixed at the other end of the mechanical arm, the removing mechanism comprises a mechanical gripper, a camera and a spraying device, the camera and the spraying device are arranged on the storage bin, the spraying device comprises a sprayer and a medicine box for providing insecticide for the sprayer, the medicine box is arranged in the storage bin, the mechanical gripper comprises a motor I, a motor II and at least three grippers, the grippers are uniformly distributed at intervals along the circumferential direction of the output end of the motor I, the motor I is used for driving the grippers to fold inwards to cut off hornet nests, the motor II is fixedly arranged in the storage bin, the motor I is fixedly arranged on the output end of the motor II, and the output ends of the motor I and the motor II are coaxial and are parallel to the axis of a connecting rod III.

Description

Hornet's nest clearing device

Technical Field

The invention belongs to the field of robots, and particularly relates to a hornet nest removing device.

Background

Hornets are often nested in quiet places, such as on trees, balconies, or other buildings. The hornet has high toxicity and strong aggressivity, and bites human and livestock sometimes. Due to the high risk of hornets, people often interfere with their normal work and life.

At present, the removal work of hornet cells is mainly carried out by public security fire-fighting troops, and the removal method of the current public security fire-fighting troops mainly comprises the following steps:

1. the high-pressure squirt, the fire control army utilize the high-speed rivers of high-pressure squirt to impact hornet's nest to wash out the hornet's nest, drive away the hornet.

2. Burning, the fire control army goes to burn out and burns off the hornet through the mode of burning the stick.

3. The hornet nest is directly removed, and a firefighter wears a tight protective suit and directly removes the hornet nest by bare hands.

The method generally needs close-range operation of workers, cannot guarantee the safety of the operators by hundreds, has the defects of difficult overcoming, cannot effectively expel the hornets by using a high-pressure water gun, can fly back after the hornets are driven away, and is more likely to sting people after being stimulated, so that the danger is higher. The adoption of the combustion mode is easy to cause fire because of the need of using a fire source, is very unsafe and is easy to cause danger to firemen. Direct excision also mainly is suitable for the place that the fireman can direct hand contact, to some higher places, perhaps the less place in space, the fireman also can be very inconvenient owing to be difficult to touch, moreover, the protective clothing of wearing when the fireman goes to the excision hornet nest is all relatively thick usually, and is airtight moreover, especially in summer, can be very uncomfortable after the fireman wears.

Therefore, a safety and automatic hornet cell clearing device is urgently needed.

Disclosure of Invention

In order to solve the problem that no hornet cell clearing device with high safety and automation exists in the prior art, the invention provides the hornet cell clearing device.

In order to solve the technical problem, the technical scheme includes that the device comprises a base, a mechanical arm with four degrees of freedom and a removing mechanism, one end of the mechanical arm is arranged on the base, a storage bin is fixed at the other end of the mechanical arm, the removing mechanism comprises a mechanical gripper, a camera and a spraying device, the camera and the spraying device are arranged on the storage bin, the spraying device comprises a sprayer and a medicine box for providing insecticide for the sprayer, the medicine box is arranged in the storage bin, the mechanical gripper comprises a motor I, a motor II and at least three grippers, the grippers are uniformly distributed at intervals along the circumferential direction of the output end of the motor I, the motor I is used for driving the grippers to fold inwards to cut off the hornet nest, the motor II is fixedly arranged in the storage bin, the motor I is fixedly arranged on the output end of the motor II, and the output ends of the motor I and the motor II are coaxial and parallel to the axis of a connecting rod III.

Preferably, a motor support used for supporting the motor I is fixed on the output end of the motor II, the number of the clamping claws is three, three lead screws are fixedly arranged on the end face of the motor support and are uniformly distributed along the radial direction of the output end of the motor I, the bottoms of the clamping claws are fixed on nuts of the lead screws, a main helical gear is sleeved on the output end of the motor I, and auxiliary helical gears in transmission fit with the main helical gear are fixed on the three lead screws. The screw nut transmission mechanism is simple in structure, stable in function and capable of reducing cost by arranging three clamping claws.

Preferably, a screw rod support is fixed at the front end of the motor support, an installation cavity for installing a screw rod penetrates through the screw rod support, a through hole penetrates through the screw rod support, the through hole is coaxial with the output end of the motor I, a screw rod support is fixed in the through hole, a connecting block is fixed on the screw rod support, and one end of the screw rod penetrates through the installation cavity and is connected with the connecting block in a rotating mode. Simple structure, effectual outrigger lead screw prevents that the lead screw from rocking.

Preferably, a baffle is fixed to the front end of the screw bracket. The baffle blocks dust, sundries and the like from entering the inside of the mechanical gripper, so that the fault occurrence frequency of the mechanical gripper is reduced, and the service life of the mechanical gripper is prolonged.

Preferably, the clamping claw is triangular, three edges of the clamping claw are all knife edges, one edge of the clamping claw faces to the axis of the output end of the first motor, and the front end of the clamping claw is a pointed end. The clamping claws are triangular, the tips face the front to conveniently smash the hornet cells, the inner cutter blades are convenient to effectively cut off the hornet cells when the three clamping claws are closed, and the outer cutter blades are convenient to effectively cut off the hornet cells when the three clamping claws are separated, so that the success rate of the hornet cell removing device is improved.

Furthermore, hornet nest clearing device still includes collection mechanism, collection mechanism includes telescopic link one, telescopic link two and rotates the support ring that sets up on the base, the one end of telescopic link one is fixed on the support ring, and the other end is fixed with the one end of telescopic link two, the other end of telescopic link two is fixed with the collection bucket that the opening is up, telescopic link one and telescopic link two set up perpendicularly. The collecting device is under the rotation of support ring and the action of telescopic link one and telescopic link two for the hornet nest of top is aimed at to the collecting vessel, makes in the collecting vessel wraps the hornet nest, guarantees in the hornet nest drops the collecting vessel, the collection of the hornet nest of being convenient for.

Furthermore, a barrel cover hinged at the opening of the collecting barrel is arranged on the collecting barrel. When hornet cells fall into the collecting barrel, the barrel cover automatically covers the collecting barrel, so that the hornet cells which are alive are prevented from flying out of the collecting barrel, and the safety of the hornet cell clearing device is improved.

Has the advantages that: the hornet cell clearing device disclosed by the invention is operated remotely, so that the safety of operators is ensured; the mechanical arm has multiple degrees of freedom, and drives the mechanical hand to move more flexibly; a camera is matched for accurate positioning; in the operation process, the pesticide can be sprayed at the same time, so that the wasps are killed, and the safety is ensured to a greater extent.

Drawings

FIG. 1 is a schematic perspective view of the hornet cell remover of the present invention;

FIG. 2 is a schematic view of a partial perspective view of the equine honeycomb cleaning apparatus of the present invention (wherein the component storage compartment and the motor bracket are not shown);

FIG. 3 is a schematic view of the internal structure of a part manipulator of the hornet removal device of the present invention;

in the figure, the device comprises a base 1, a base 2, a mechanical arm 21, a first joint 22, a second joint 23, a third joint 24, a first connecting rod 25, a second connecting rod 26, a third connecting rod 3, a storage bin 4, a camera 5, a spraying device 51, a spray head 52, a medicine box 61, a first motor 62, a second motor 63, a clamping claw 64, a motor support 65, a lead screw 66, a main bevel gear 67, a secondary bevel gear 71, a first telescopic rod 72, a second telescopic rod 73, a support ring 74, a collecting barrel 75, a barrel cover 81, a lead screw support 811, an installation cavity 812, a through hole 82, a lead screw support 83, a connecting block 9 and a baffle.

Detailed Description

Examples

As shown in fig. 1 to 3, a hornet cell clearing device comprises a base 1, a mechanical arm 2 with four degrees of freedom and a removing mechanism, wherein the mechanical arm 2 comprises a first joint 21, a second joint 22, a third joint 23, a first connecting rod 24, a second connecting rod 25 and a third connecting rod 26, the first joint 21 is rotationally fixed on the base 1, one end of the first connecting rod 24 is rotationally fixed on the first joint 21 through the second joint 22, one end of the second connecting rod 25 is rotationally fixed with the other end of the first connecting rod 24 through the third joint 23, one end of the third connecting rod 26 is slidably connected with the other end of the second connecting rod 25, the other end of the third connecting rod 26 is fixedly provided with a storage bin 3, the first joint 21, the second joint 22 and the third joint 23 are all driven by a motor to rotate, the third connecting rod 26 is driven by an air cylinder to slide relative to the second connecting rod 25, so as to establish an X axis, a Y axis and a Z axis which are mutually perpendicular in a spatial coordinate system, the first joint 21 drives the mechanical arm to rotate around the Y axis, the second joint 22 drives the mechanical arm to tilt around the Z axis, and the third joint 23 drives the mechanical arm to rotate around the X axis to tilt;

remove the mechanism and include that the manipulator grabs, camera 4 and atomizer 5 all set up on storing storehouse 3, the manipulator grabs including motor 61, motor two 62 and three card and grabs 63, the card is grabbed 63 and is followed motor 61's output circumference interval equipartition, motor 61 is used for driving card and is grabbed 63 and fold inwards and cut off the hornet nest, motor two 62 are fixed to be set up in storing storehouse 3, motor one 61 is fixed to be set up on the output of motor two 62, motor one 61 and motor two 62's output coaxial line to it is parallel with the axis of connecting rod three 26. In order to improve the success rate of cutting or smashing hornet cells by a mechanical hand, the clamping claw 63 is triangular, three edges of the clamping claw are all cutting edges, one edge of the clamping claw faces the axis of the output end of the first motor 61, and the front end of the clamping claw 63 is a pointed end.

The output end of the second motor 62 is fixedly provided with a motor support 64 used for supporting the first motor 61, the end face of the motor support 64 is fixedly provided with three lead screws 65, the three lead screws 65 are uniformly distributed along the radial direction of the output end of the first motor 61, the bottom of the clamping claw 63 is fixed on a nut of the lead screw 65, the output end of the first motor 61 is sleeved with a main helical gear 66, and the three lead screws 65 are respectively fixedly provided with an auxiliary helical gear 67 in transmission fit with the main helical gear 66. For the stable support of lead screw 65, improve the stability of the work of grabbing of manipulator, the front end of motor support 64 is fixed with lead screw support 81, it has the installation cavity 811 that is used for installing the lead screw to run through on the lead screw support 81, it has through-hole 812 to run through on the lead screw support 81, through-hole 812 and motor 61's output coaxial line, the through-hole 812 internal fixation has lead screw support 82, be fixed with connecting block 83 on the lead screw support 82, the one end of lead screw 65 is passed installation cavity 811 and is connected with connecting block 83 rotation. In order to prevent dust, sundries and the like from entering the mechanical gripper, reduce the frequency of fault occurrence of the mechanical gripper and prolong the service life of the mechanical gripper, a baffle plate 9 is fixed at the front end of the screw rod support 81.

The hornet nest clearing device further comprises a collecting mechanism, the collecting mechanism comprises a first telescopic rod 71, a second telescopic rod 72 and a support ring 73 which is rotatably arranged on the base 1, one end of the first telescopic rod 71 is fixed on the support ring 73, the other end of the first telescopic rod is fixed with one end of the second telescopic rod 72, the other end of the second telescopic rod 72 is fixedly provided with a collecting barrel 74 with an upward opening, in order to prevent the hornet nests which are alive from flying out of the collecting barrel 74, the safety of the hornet nest clearing device is improved, a barrel cover 75 which is hinged at the opening of the collecting barrel 74 is arranged on the collecting barrel 74, the first telescopic rod 71 and the second telescopic rod 72 are vertically arranged, the support ring 73 is driven by a motor to rotate, and the first telescopic rod 71 and the second telescopic rod 72 are driven by a cylinder to stretch.

The working principle is as follows:

as shown in fig. 1 to 3, the hornet cell cleaning device is placed below a hornet cell to be cleaned, through observation and positioning of the camera 4, the mechanical arm 2 is regulated and controlled to rotate under the first joint 21, the second joint 22 and the third joint 23 and the third connecting rod 26 slides relative to the second connecting rod 25, the spraying device 5 is regulated and controlled to spray insecticide on the hornet cell, then through observation and positioning of the camera 4, the mechanical arm 2 is regulated and controlled to enable the mechanical hand to grab the hornet cell, the collecting device is regulated and controlled to rotate under the rotation of the supporting ring 73 and the action of the first telescopic rod 71 and the second telescopic rod 72, so that the collecting barrel 74 is aligned with the upper hornet cell cover, and due to the hinged arrangement of the 75 of the collecting barrel 74, when the collecting barrel 74 moves upwards, the hornet cell pushes the hornet cell to enter the collecting barrel 74, the mechanical hand is controlled to rotate by the second motor 62, and the first motor 61 is controlled to enable the grab 63 to fold inwards under the action of the screw 65 nut, so as to cut off a blade at the joint of the hornet cell or destroy the hornet cell, so that the hornet cell falls into the collecting barrel 74.

Claims

1. A hornet's nest clearing device which characterized in that: the device comprises a base (1), a mechanical arm (2) with four degrees of freedom and a removing mechanism, wherein one end of the mechanical arm (2) is arranged on the base (1), the other end of the mechanical arm is fixed with a storage bin (3), the removing mechanism comprises a mechanical hand gripper, a camera (4) and a spraying device (5), the camera (4) and the spraying device (5) are both arranged on the storage bin (3), the spraying device (5) comprises a spray head (51) and a medicine box (52) for providing insecticide for the spray head (51), the medicine box (52) is arranged in the storage bin (3), the mechanical hand gripper comprises a first motor (61), a second motor (62) and at least three grippers (63), the grippers (63) are uniformly distributed at intervals along the circumferential direction of the output end of the first motor (61), the first motor (61) is used for driving the grippers (63) to inwards cut off the hornet, the second motor (62) is fixedly arranged in the storage bin (3), the first motor (61) is fixedly arranged on the output end of the second motor (62), the first motor (61) and the connecting rod (62) is parallel to the axis of the motor (26);

be fixed with motor support (64) that are used for supporting motor one (61) on the output of motor two (62), the quantity of the card is three (63), the fixed three lead screw (65) that is provided with on the terminal surface of motor support (64), it is three lead screw (65) are along the radial evenly distributed of the output of motor one (61), the bottom of card is grabbed (63) and is fixed on the nut of lead screw (65), the cover is equipped with main helical gear (66) on the output of motor one (61), and is three all be fixed with on lead screw (65) with main helical gear (66) transmission complex vice helical gear (67).

2. The hornet cell removal device of claim 1, wherein: the front end of motor support (64) is fixed with screw bracket (81), it has installation cavity (811) that is used for installing the lead screw to run through on screw bracket (81), it has through-hole (812) to run through on screw bracket (81), the output coaxial line of through-hole (812) and motor (61), through-hole (812) internal fixation has lead screw support (82), be fixed with connecting block (83) on lead screw support (82), the one end of lead screw (65) is passed installation cavity (811) and is rotated with connecting block (83) and be connected.

3. The hornet cell removal device of claim 2, wherein: and a baffle (9) is fixed at the front end of the screw rod bracket (81).

4. The hornet cell removal device of claim 1, wherein: the clamping claw (63) is triangular, three edges are cutting edges, one edge faces to the axis of the output end of the motor I (61), and the front end of the clamping claw (63) is a tip end.

5. The hornet cell removal device of claim 1, wherein: hornet's nest clearing device still includes collection mechanism, collection mechanism includes telescopic link one (71), telescopic link two (72) and rotates support ring (73) of setting on base (1), the one end of telescopic link one (71) is fixed on support ring (73), and the other end is fixed with the one end of telescopic link two (72), the other end of telescopic link two (72) is fixed with opening collecting vessel (74) up, telescopic link one (71) and telescopic link two (72) set up perpendicularly.

6. The hornet cell removal device of claim 5, wherein: the collecting barrel (74) is provided with a barrel cover (75) hinged at the opening of the collecting barrel (74).