CN111855262A

CN111855262A - Soil collection system and robot

Info

Publication number: CN111855262A
Application number: CN202010737817.2A
Authority: CN
Inventors: 李景潼; 牛福永; 胡炯锋; 杨宗泉; 乔飞
Original assignee: Ji Hua Laboratory
Current assignee: Ji Hua Laboratory
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2020-10-30

Abstract

The invention provides a soil collection device and a robot; soil collection system includes: the base is used for being connected with the movable chassis; the rotary seat is arranged at the front part of the base, and the upper part of the rotary seat can rotate around the vertical axial direction; the mechanical arm is arranged at the upper part of the rotating seat, and the tail end of the mechanical arm is provided with a soil collecting hand grip; the visual system is arranged at the top of the rotary seat; the storage device is arranged at the rear part of the base and is used for storing the collected soil; the soil collecting robot comprises a movable chassis and the soil collecting device; the soil collecting device and the robot can replace manpower to carry out soil collecting operation in various dangerous fields.

Description

Soil collection system and robot

Technical Field

The invention relates to the technical field of robots, in particular to a soil collection device and a robot.

Background

At present, large-scale equipment is mostly adopted for the soil collection operation to carry out fixed periodic operation, and manual matching auxiliary equipment such as a soil collection trolley and various handheld soil collection tools is also needed to carry out operation on the aspects of movement and multi-site operation. In the high-risk work occasion with dust, noise, odor, radioactivity or other toxic pollution, the collection operation is participated in manually, so that a robot collection device is required to be found to replace the manual work for carrying out the soil collection operation in various dangerous places.

Disclosure of Invention

In view of the shortcomings of the prior art, the invention aims to provide a soil collecting device and a robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

a soil collection device comprising:

the base is used for being connected with the movable chassis;

the rotary seat is arranged at the front part of the base, and the upper part of the rotary seat can rotate around the vertical axial direction;

the mechanical arm is arranged at the upper part of the rotating seat, and the tail end of the mechanical arm is provided with a soil collecting hand grip;

the visual system is arranged at the top of the rotary seat;

and the storage device is arranged at the rear part of the base and used for storing the collected soil.

In the soil collection device, the storage device comprises a protection box and a telescopic sliding frame arranged in the protection box; an outlet is formed in the front side of the protection box, and the telescopic sliding frame can extend out of the outlet and can be retracted into the protection box; a plurality of soil storage vessels are arranged on the telescopic sliding frame.

Furthermore, be provided with a installing frame in the guard box, the installing frame includes bottom plate, left side board, right side board and posterior lateral plate, be provided with the guide rail on left side board and the right side board, the left and right sides of flexible balladeur train is respectively through slider and corresponding guide rail sliding connection, be provided with on the posterior lateral plate and be used for the drive flexible balladeur train first drive arrangement who removes.

Soil collection device in, soil collection tongs includes barrel portion, barrel portion's lower extreme is provided with a plurality of lamellas form finger claws along circumference, the lamella form finger claw with barrel portion is articulated, be provided with in the barrel portion and be used for the drive a plurality of lamellas form finger claws open and shut actuating mechanism that opens and shuts.

Furthermore, a connecting rod is arranged at the upper end of the petal-shaped finger claw, the barrel body is provided with an opening through which the connecting rod passes, the connecting rod passes through the corresponding opening and is hinged with the wall of the opening, and one end of the connecting rod, which extends into the barrel body, is provided with a waist hole along the length direction; the opening and closing driving mechanism comprises a sliding plate matched with the inner hole of the barrel body and a second driving device used for driving the sliding plate to move in a reciprocating mode, a U-shaped groove for the connecting rod to stretch into is formed in the edge of the sliding plate, a sliding pin is arranged in the U-shaped groove, and the sliding pin penetrates through a waist hole of the corresponding connecting rod.

Further, the second driving device comprises a screw and a motor for driving the screw to rotate; the sliding plate is provided with a threaded hole matched with the screw rod, and the screw rod is arranged in the threaded hole in a penetrating mode.

Furthermore, the upper end of the barrel body is provided with a connecting column which is used for being connected with the tail end of the mechanical arm in an inserting and pulling mode.

Furthermore, an included angle is formed between the upper half part and the lower half part of the barrel body part, a force application column head is arranged on one side, back to the included angle, of the joint of the upper half part and the lower half part, and the force application column head is used for applying insertion and extraction force to the soil collection hand grip.

In the soil collection device, two mechanical arms are arranged, the tail end of one mechanical arm is provided with a soil collection hand grip, and the tail end of the other mechanical arm is provided with two finger hand grips.

A soil collection device robot comprises a movable chassis and the soil collection device; the soil collection device is arranged on the top of the movable chassis.

Has the advantages that:

according to the soil collection device and the robot provided by the invention, the soil collection device is arranged on the movable chassis according to needs, can go in and out of various dangerous fields, collects soil through the soil collection gripper at the tail end of the mechanical arm with the assistance of the vision system, and stores the collected soil into the storage device for subsequent detection. The soil collecting device and the robot can replace manpower to carry out soil collecting operation in various dangerous fields.

Drawings

Fig. 1 is a schematic structural diagram of a soil collection device provided by the invention.

Fig. 2 is a perspective view of a storage device in the soil collection device according to the present invention.

Fig. 3 is a perspective view of a soil collection hand grip of the soil collection device provided by the present invention.

Fig. 4 is a schematic structural diagram of an opening and closing driving mechanism in the soil collection device provided by the invention.

Fig. 5 is a schematic structural view of a sliding plate in the soil collection device provided by the invention.

Fig. 6 is a top view of a storage device in a soil acquisition device according to the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The following disclosure provides embodiments or examples for implementing different configurations of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

Referring to fig. 1 and 3, the present invention provides a soil collection device, including:

a base 1 for connecting with a mobile chassis 90;

the rotary seat 2 is arranged at the front part of the base 1, and the upper part of the rotary seat 2 can rotate around the vertical axial direction;

the mechanical arm 3 is arranged at the upper part of the rotating seat 2, and the tail end of the mechanical arm 3 is provided with a soil collecting hand grip 4;

the vision system 5 is arranged at the top of the rotary seat 2;

and a storage device 6 disposed at the rear of the base 1 and storing the collected soil.

During operation, install this soil collection system on portable chassis as required to can pass in and out all kinds of dangerous places, under visual system 5's supplementary, the soil is gathered to 3 terminal soil collection tongs 4 of accessible arm, and stores the soil of gathering in storage device 6, so that subsequent detection, thereby the fungible manual work carries out soil collection operation in all kinds of dangerous places.

In some embodiments, see fig. 1, 2, the storage device 6 comprises a protective case 6.1, and a telescopic carriage 6.2 arranged in the protective case 6.1; the front side of the protective box 6.1 is provided with an outlet, and the telescopic carriage 6.2 can extend out of the outlet and be taken into the protective box 6.1; a plurality of soil storage vessels 6.3 are arranged on the telescopic carriage 6.2. After soil was gathered to soil collection tongs 4, flexible balladeur train 6.2 stretches out to in the soil storage ware 6.3 was put into to the arm 3 to the soil of gathering, soil put into soil storage ware 6.3 after, flexible balladeur train 6.2 income guard box 6.1 to prevent that other debris or rainwater from falling into soil storage ware 6.3 and polluting the sample.

Wherein, the telescopic carriage 6.2 is provided with a plurality of positioning holes for placing the soil storage dishes 6.3, and the soil storage dishes 6.3 are placed in the corresponding positioning holes so as to be taken out and placed, as shown in fig. 2 and 6. In order to prevent the soil storage dish 6.3 from being separated from the positioning hole due to vibration in the operation process, a rubber ring 6.4 is arranged at the edge of the positioning hole, and the inner diameter of the rubber ring is slightly smaller than the outer diameter of the soil storage dish 6.3; after putting into the locating hole to soil storage ware 6.3, rubber circle 6.4 can receive soil storage ware 6.3 extrusion to guarantee to have sufficient frictional force with between the soil storage ware 6.3, and then fix soil storage ware 6.3 in the locating hole.

Furthermore, see fig. 2 and 6, a mounting frame is arranged in the protection box 6.1, the mounting frame includes a bottom plate 6.5, a left side plate 6.6, a right side plate 6.7 and a rear side plate 6.8, guide rails 6.9 are arranged on the left side plate 6.6 and the right side plate 6.7, the left side and the right side of the telescopic carriage 6.2 are respectively connected with the corresponding guide rails 6.9 in a sliding manner through sliders, and a first driving device 6.10 for driving the telescopic carriage 6.2 to move is arranged on the rear side plate 6.8. The first driving device 6.10 may be an air cylinder, a hydraulic cylinder, an electric telescopic rod, etc., and in fig. 2, the first driving device 6.10 is an electric telescopic rod.

The guide rail 6.9 and the first drive 6.10 can also be arranged directly on the inner wall of the protective housing 6.1 without the mounting frame.

In some embodiments, see fig. 3 and 4, the soil collecting gripper 4 includes a barrel portion 4.1, a plurality of petal-shaped fingers 4.2 are circumferentially disposed at a lower end of the barrel portion, the petal-shaped fingers 4.2 are hinged to the barrel portion 4.1, and an opening and closing driving mechanism for driving the plurality of petal-shaped fingers 4.2 to open and close is disposed in the barrel portion 4.1. When soil collection is carried out, the plurality of petal-shaped fingers 4.2 are driven to open, then the petal-shaped fingers 4.2 are inserted into the soil, and finally the plurality of petal-shaped fingers 4.2 are driven to close, so that the soil is dug and collected into a space surrounded by the plurality of petal-shaped fingers 4.2.

In order to insert the petals 4.2 more smoothly into the soil, the lower end of each petal may be pointed.

In order to increase the structural strength of the finger flaps 4.2, reinforcing ribs 4.3 may be provided on the finger flaps 4.2.

Further, as shown in fig. 4 and 5, a connecting rod 4.4 is arranged at the upper end of the petal-shaped finger claw 4.2, the barrel portion 4.1 is provided with an opening 4.5 through which the connecting rod 4.4 passes, the connecting rod 4.4 passes through the corresponding opening 4.5 and is hinged with the hole wall of the opening 4.5, and a waist hole 4.6 is formed in the length direction of one end of the connecting rod 4.4 extending into the barrel portion 4.1; the opening and closing driving mechanism comprises a sliding plate 4.7 matched with an inner hole of the barrel part 4.1 and a second driving device used for driving the sliding plate 4.7 to reciprocate, a U-shaped groove 4.8 for the connecting rod 4.4 to extend into is formed in the edge of the sliding plate 4.7, a sliding pin 4.9 is arranged in the U-shaped groove 4.8, and the sliding pin 4.9 penetrates through a waist hole 4.6 of the corresponding connecting rod.

Taking fig. 4 as an example, when the sliding plate 4.7 moves downward, the inward end of the connecting rod 4.4 is driven to swing downward, so that the claw 4.2 swings upward, and the plurality of claws 4.2 are opened; when the sliding plate 4.7 moves upwards, the inward end of the connecting rod 4.4 is driven to swing upwards, so that the claw 4.2 swings downwards, and the folding of the claws 4.2 is realized.

In some embodiments, the second driving device comprises a screw 4.10, and a motor 4.11 for driving the screw 4.10 to rotate; the sliding plate 4.7 is provided with a threaded hole 4.12 matched with the screw rod 4.10, and the screw rod 4.10 penetrates through the threaded hole 4.12. The screw rod 4.10 is driven to reciprocate by the motor 4.11, the sliding plate 4.7 can be driven to reciprocate, the structure of the second driving device is simple and compact, and the required installation space is small.

In order to prevent the sliding plate 4.7 from rotating, a plurality of limiting grooves 4.13 may be formed at the edge of the sliding plate 4.7, as shown in fig. 5, and a guide protrusion (not shown) may be formed on the inner wall of the barrel portion 4.1, and the guide protrusion extends into the limiting groove 4.13 to limit the rotation of the sliding plate 4.7.

Further, the upper end of the barrel part 4.1 is provided with a connecting column 4.14 for plug-in connection with the tail end of the mechanical arm 3. This spliced pole 4.14 accessible plug mode realizes the mechanical connection and the electricity of being connected with the terminal of arm 3 (the middle part of spliced pole 4.14 is provided with electric socket, and the terminal of arm 3 is provided with corresponding plug, and after spliced pole 4.1 inserted the terminal of arm 3, this plug inserts in spliced pole 4.14's electric socket).

Further, as shown in fig. 3, an included angle is formed between the upper half part and the lower half part of the cylinder part 4.1, a force application column head 4.15 is arranged on one side of the joint of the upper half part and the lower half part, which is back to the included angle, and the force application column head 4.15 is used for applying insertion and extraction force to the soil collection hand grip 4. When the soil collecting hand grip 4 is assembled and disassembled, force can be applied through the force application column heads 4.15.

In some preferred embodiments, see fig. 1, the robot arms 3 are provided in two, one of which is provided at its end with a soil-gathering grip 4 and the other of which is provided at its end with a two-finger grip 7. The two-finger grip 7 can clear away impurities on the ground and can also be used for assembling and disassembling the soil collecting grip 4.

For example, when the position needing sampling has sundries such as fallen leaves, plastic bags, broken stones and the like, the sundries can be removed by the two fingers 7;

for example, when a plurality of target positions are to be sampled, the soil sampling hand 4 needs to be replaced before each sampling in order to prevent cross contamination between samples, and in this case, a placing rack (not shown) for placing a plurality of soil sampling hands 4 may be provided on the base 1 or the protective box 6.1, a new soil sampling hand 4 may be taken out from the placing rack by the two fingers 7 and replaced, and when the replacement is performed, the two fingers 7 apply force by gripping the force applying column heads 4.15 of the soil sampling hand 4.

In some embodiments, see fig. 1, the vision system 5 comprises a pan-tilt 5.1 and a binocular camera 5.2 arranged thereon. Can drive binocular camera 5.2 through cloud platform 5.1 and rotate towards all directions to increase binocular camera 5.2's detection range. The head 5.1 may be a single degree of freedom head, a double degree of freedom head or a more degree of freedom head. In fig. 1, the pan/tilt head 5.1 is a two-degree-of-freedom pan/tilt head, and can drive the binocular camera 5.2 to perform azimuth rotation and pitch rotation.

In some embodiments, see fig. 1, the robot 3 is a seven-axis robot, which has great flexibility and can perform various motions.

The invention also provides a soil collection device robot, which comprises a movable chassis and the soil collection device; the soil collecting device is arranged on the top of the movable chassis.

In some embodiments, the mobile chassis is a tracked chassis. Has better climbing capability, can rotate in situ and can be better adapted to complex pavements. But is not limited thereto.

In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.

Claims

1. A soil collection device, comprising:

the base is used for being connected with the movable chassis;

the visual system is arranged at the top of the rotary seat;

2. The soil collection device of claim 1, wherein the storage device comprises a protective case, and a telescoping carriage disposed in the protective case; an outlet is formed in the front side of the protection box, and the telescopic sliding frame can extend out of the outlet and can be retracted into the protection box; a plurality of soil storage vessels are arranged on the telescopic sliding frame.

3. The soil collecting device as claimed in claim 2, wherein a mounting frame is arranged in the protection box, the mounting frame comprises a bottom plate, a left side plate, a right side plate and a rear side plate, guide rails are arranged on the left side plate and the right side plate, the left side and the right side of the telescopic carriage are respectively connected with the corresponding guide rails in a sliding mode through sliding blocks, and a first driving device for driving the telescopic carriage to move is arranged on the rear side plate.

4. The soil collecting device as claimed in claim 1, wherein the soil collecting hand comprises a cylindrical body, a plurality of petal-shaped fingers are arranged at the lower end of the cylindrical body along the circumferential direction, the petal-shaped fingers are hinged to the cylindrical body, and an opening and closing driving mechanism for driving the plurality of petal-shaped fingers to open and close is arranged in the cylindrical body.

5. The soil collecting device as claimed in claim 4, wherein a connecting rod is provided at the upper end of the finger claw, the cylindrical body is provided with an opening for the connecting rod to pass through, the connecting rod passes through the corresponding opening and is hinged with the wall of the opening, and a waist hole is provided at one end of the connecting rod extending into the cylindrical body along the length direction; the opening and closing driving mechanism comprises a sliding plate matched with the inner hole of the barrel body and a second driving device used for driving the sliding plate to move in a reciprocating mode, a U-shaped groove for the connecting rod to stretch into is formed in the edge of the sliding plate, a sliding pin is arranged in the U-shaped groove, and the sliding pin penetrates through a waist hole of the corresponding connecting rod.

6. The soil sampling device of claim 5 wherein said second drive means comprises a screw and a motor for driving said screw in rotation; the sliding plate is provided with a threaded hole matched with the screw rod, and the screw rod is arranged in the threaded hole in a penetrating mode.

7. The soil sampling device of claim 4, wherein the upper end of the barrel portion is provided with a connection post for plug-in connection with the end of the robotic arm.

8. The soil sampling device of claim 7, wherein an included angle is formed between the upper half portion and the lower half portion of the barrel portion, and a force application column head is arranged on a side of a joint of the upper half portion and the lower half portion, the side facing away from the included angle, and the force application column head is used for applying insertion and extraction force to the soil sampling hand grip.

9. The soil sampling device of claim 1, wherein there are two robotic arms, one of which has a soil sampling grip at its end and the other has two fingers at its end.

10. A soil collection device robot comprising a mobile chassis and a soil collection device of any one of claims 1-9; the soil collection device is arranged on the top of the movable chassis.