CN214728401U - Automatic operation control system of vehicle-mounted robot - Google Patents
Automatic operation control system of vehicle-mounted robot Download PDFInfo
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- CN214728401U CN214728401U CN202120452552.1U CN202120452552U CN214728401U CN 214728401 U CN214728401 U CN 214728401U CN 202120452552 U CN202120452552 U CN 202120452552U CN 214728401 U CN214728401 U CN 214728401U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The utility model discloses an automatic operation control system of a vehicle-mounted robot, which comprises a chassis and a carriage, wherein the carriage is divided into an operation chamber and a robot cabin, a controller is arranged in the operation chamber, the robot, an automatic cleaning system and an automatic charging device are arranged in the robot cabin, a hydraulic tail plate is arranged at the rear part of the carriage, and a walking guide line and a laser radar detector are uniformly distributed on a flat plate of the hydraulic tail plate and a bottom plate of the robot cabin; and a hydraulic sensor is arranged on the hydraulic tail plate. The utility model discloses a combine together hydraulic pressure tailboard control system and robot control system, and be equipped with the robot on the hydraulic pressure tailboard and get on or off bus guide circuit and laser radar detector, realize that the robot is automatic to get on or off the bus. Meanwhile, an automatic rotating standing platform is arranged to clean the station of the robot, and the cleaning mechanisms above, on the side face and at the bottom of the robot clean the robot completely, so that the robot is cleaned automatically, and is provided with a charging device to be automatically butted and charged, and the full-automatic operation of the robot is realized.
Description
Technical Field
The utility model relates to a special-purpose vehicle field especially relates to an automatic operation control system of on-vehicle robot.
Background
In the scene of an emergency accident in the fields of petroleum, chemical engineering and the like, the scene is generally required to be detected so as to make a rescue measure in a targeted manner, the environment of the general accident scene is severe, the scene of a detection person under the detection person per se causes certain threat to the personal safety, and even the life is threatened in severe cases, so that the detection without taking off a vehicle is generally adopted, even more deep detection is required under extreme conditions, and a detection robot is required to be equipped for detection. The existing detection robot for the radiation-proof sampling vehicle needs to manually control to get on and off the vehicle, is complex in operation and low in efficiency, and is easy to cause equipment damage caused by falling, collision and the like of the robot due to misoperation; and the robot is cleaned through manual control, so that the cleaning is not comprehensive.
Disclosure of Invention
The utility model aims at providing an automatic operation control system of on-vehicle robot that radiation protection sampling car was used to realize that the robot is automatic to get on or off the bus, self-cleaning, automatic charging.
The utility model provides a technical problem can adopt following technical scheme to realize:
an automatic operation control system of a vehicle-mounted robot is arranged on a radiation-proof sampling vehicle, the radiation-proof sampling vehicle comprises a chassis and a carriage, the carriage is divided into an operation chamber and a robot cabin through a partition plate, the robot cabin is arranged at the rear part of the carriage, a controller is arranged in the operation chamber, a crawler-type robot, an automatic cleaning system and an automatic charging device are arranged in the robot cabin, the automatic cleaning system comprises an automatic rotating standing platform and an automatic rotating spray head, and the automatic charging device comprises a rotator and a quick connector; a hydraulic tail plate is arranged at the rear part of the carriage, and walking guide lines and laser radar detectors are uniformly distributed on a flat plate of the hydraulic tail plate and a bottom plate of the robot cabin; and a hydraulic sensor is arranged on the hydraulic tail plate.
Preferably, the controller is connected with the hydraulic sensor, the walking guide line and the laser radar detector, receives data of the hydraulic sensor, the walking guide line and the laser radar detector, and is connected with the robot, the automatic cleaning system and the automatic charging device, and sends out an instruction for control.
Preferably, the tail plate is a vertical lifting hydraulic tail plate.
Preferably, a pan-tilt camera is arranged in the robot cabin and connected with the controller.
Preferably, an alarm module is arranged in the operating room and connected with the controller.
Preferably, the alarm module is an audible and visual alarm.
Preferably, the automatic rotating standing platform is installed on the hydraulic tail plate, the automatic rotating nozzles are multiple and installed through automatic telescopic rods respectively, the top of the automatic rotating nozzles is close to the side position of the carriage, and the nozzles face the center of the hydraulic tail plate.
Preferably, the automatic rotating standing platform is a lifting rotating platform.
Preferably, the hydraulic tail plate is provided with tail plate nozzles which are distributed around the outer side of the automatic rotating standing platform.
Preferably, the rotator is a rotary disc and a multi-stage telescopic arm, the rotary disc is fixedly mounted on the partition plate, one end of the multi-stage telescopic arm is eccentrically and fixedly mounted on the rotary disc, the other end of the multi-stage telescopic arm is suspended, and the quick connector is mounted at the suspended end of the multi-stage telescopic arm.
The utility model combines the hydraulic tail plate control system at the rear part of the carriage of the radiation-proof sampling car with the robot control system, the robot starts the operation of getting off the car after the hydraulic tail plate is put down in place, and the hydraulic tail plate is closed after the robot returns to the place; and a robot getting-on and getting-off guide line and a laser radar detector are arranged on the hydraulic tail plate, so that the robot can automatically get on and get off. Meanwhile, an automatic rotating standing platform is arranged to clean the station of the robot, and the cleaning mechanisms above, on the side face and at the bottom of the robot clean the robot completely, so that the robot is cleaned automatically, and is provided with a charging device to be automatically butted and charged, and the full-automatic operation of the robot is realized.
Drawings
Fig. 1 is a front view structure schematic diagram of a radiation-proof sampling vehicle.
Fig. 2 is a schematic top view of the radiation-proof sampling vehicle.
Fig. 3 is a schematic view of the hydraulic tailgate in a reversed state.
Fig. 4 is a schematic view of the hydraulic tailgate in a lowered state.
Fig. 5 is a schematic diagram of a robotic automatic work control system module.
In the figure, 1 chassis, 2 carriages, 3 controllers, 4 robots, 5 automatic cleaning systems, 6 automatic charging devices, 7 alarm modules, 8 hydraulic tail plates, 9 pan-tilt cameras, 21 operation rooms, 22 robot cabins, 23 partition plates, 51 automatic rotary cleaning platforms, 52 automatic rotary nozzles, 53 automatic telescopic rods, 61 rotators, 611 turntables, 612 multistage telescopic arms, 62 quick connectors, 81 walking guide lines, 82 laser radar detectors and 83 tail plate nozzles.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
Fig. 1~5 are the utility model discloses a preferred scheme, as shown in fig. 1~4, radiation protection sampling car includes chassis 1 and carriage 2, is equipped with control chamber 21 and robot cabin 22 in the carriage 2, is equipped with baffle 23 between control chamber 21 and the robot cabin 22, separates into two independent cabins that do not communicate with each other with control chamber 21 and robot cabin 22, and baffle 23 has the fire prevention, and is thermal-insulated, characteristics such as airtight can guarantee staff's safety in the control chamber 21. The robot compartment 22 is provided at the rear of the vehicle compartment 2.
The operation chamber 21 is provided with an automatic controller 3. The robot cabin 22 is provided with a crawler-type detection robot 4, an automatic robot cleaning system 5 and an automatic robot charging device 6.
The controller 3, namely, a central module of the automatic control system, is installed in the operation room 21, is arranged close to the partition 23, is provided with an automatic start-stop button, a manual fine-adjustment control handle and a display panel (not shown in the figure), is connected with the crawler-type detection robot 4, the automatic robot cleaning system 5 and the automatic robot charging device 6 through a circuit and a communication line, and is used for automatic control of automatic charging, getting-on and getting-off and automatic cleaning of the robot. An alarm module 7 is further arranged in the operation room 21, and the alarm module 7 is an audible and visual alarm and is used for prompting that the robot 4 is in place and deviates, the cleaning is started and completed, and the automatic charging is started and completed.
The rear part of the carriage 2 is provided with a hydraulic tail plate 8, the hydraulic tail plate 8 is also connected with the controller 3, the embodiment adopts a Kezhuo vertical lifting tail plate, and a flat plate of the tail plate is provided with a hydraulic sensor (not shown in the figure). When the robot 4 gets off the vehicle to execute a task, when the hydraulic tail plate 8 is turned to the right position, the hydraulic sensor transmits a signal to the controller 3, and the controller 3 controls the robot 4 to run on a flat plate. When the hydraulic tail plate 8 descends to touch the ground, the hydraulic sensor transmits a signal to the controller 3, and the controller 3 controls the robot 4 to leave the flat plate and run to the sampling place.
The hydraulic tail plate 8 is provided with a walking guide line 81 and a laser radar detector 82, the bottom plate of the carriage 2 is also provided with the walking guide line and the laser radar detector, the walking guide line 81 limits the walking route of the robot, and the laser radar detectors 82 are distributed at equal intervals to detect the distance of the robot 4. When the robot 4 finishes the sampling task and needs to automatically get on and return to the position, after the controller 3 sends out a robot getting on command, the hydraulic tail plate 8 is firstly lowered to the ground, the robot 4 drives onto the hydraulic tail plate 8 through the identification walking guide line 8, the position of the robot 4 on the hydraulic tail plate 8 is automatically sensed through the laser radar detector 82 on the hydraulic tail plate 8, and the automatic controller 3 sends out a corresponding robot 4 position adjusting command until the robot 4 drives at a preset position of the hydraulic tail plate 8. After the robot 4 is stably stopped at the hydraulic tail plate 8, the hydraulic tail plate 8 rises to be flush with the bottom plate of the carriage 2, and then the robot 4 is combined with a walking guide line and a laser radar detector in the carriage 2 to reach a preset position.
The automatic getting-off and walking processes of the robot 4 are similar to the automatic getting-on principle. The robot cabin 22 is also provided with a pan-tilt camera 9, the getting-on and walking of the robot 4 can be observed at any time through the pan-tilt camera 9, and the robot can be finely adjusted manually through the controller 3.
Robot automatic cleaning system 5 includes autogiration cleaning platform 51 and autogiration shower nozzle 52, autogiration cleaning platform 51 is installed on the flat board of hydraulic pressure tailboard 8, for over-and-under type rotary platform, when not using, fall to and flush with the flat board of hydraulic pressure tailboard 8, after robot 4 accomplished the sampling and travel to hydraulic pressure tailboard 8, hydraulic pressure tailboard 8 rises to and flushes with the bottom plate of carriage 2, controller 3 controls autogiration cleaning platform 51 and leaves the flat board with 4 jack-up tracks of robot to 4, it is rotatory again, so that autogiration shower nozzle 52 sprays the washing to the robot. The lifting mechanism of the automatic rotary cleaning station 51 can adopt a common lifting mechanism such as an oil cylinder or a worm gear, and the like, and can realize lifting and rotating operation by combining a rotary oil cylinder or a rotary motor.
Automatic rotatory nozzle 52 installs top in carriage 2 through automatic telescopic link 53, can extend outside carriage 2 to carriage 2 rear portion, and nozzle 52 can set up a plurality ofly, and this embodiment is equipped with two automatic rotatory nozzles 52, installs respectively through two automatic telescopic links 53 and locates near carriage 2 both sides face, and the nozzle is towards the center of hydraulic pressure tailboard 8, sets up relatively, connects outside water tank (not shown in the figure) through the pipeline, and the spraying action is controlled by controller 3 and is carried out the rotation and spray the washing to robot 4. The flat plate of the hydraulic tail plate 8 is also provided with tail plate spray heads 83, and the tail plate spray heads 83 are distributed around the outer part of the automatic rotating cleaning platform 51 and can spray and clean the bottom of the robot 4.
After the robot reaches the automatic rotating cleaning platform 51 on the hydraulic tail plate 8, the controller 3 sends an automatic cleaning command, firstly, the automatic rotating nozzle 52 at the top of the carriage 2 is adjusted, the hydraulic pressure sensor data installed on the rotating nozzle 52 is acquired, the water pressure is adjusted, the cleaning of the upper side and the side surface of the robot 4 is carried out after the adjustment is completed, and the cleaning time can be adjusted through the controller 3 until the cleaning is completed. After the cleaning of the upper side and the side surface is completed, the automatic rotary cleaning platform 51 is automatically lifted and rotated, and simultaneously the tail plate spray head 83 on the hydraulic tail plate 8 is opened until the cleaning is completed, and the cleaning time can be adjusted by the controller 3.
The automatic robot charging device 6 is installed in the robot cabin 22 and comprises a rotator 61 and a quick connector 62, the rotator 61 is a rotary disc 611 and a multi-stage telescopic arm 612, the rotary disc 611 is fixedly installed on the partition 23, one end of the multi-stage telescopic arm 612 is eccentrically and fixedly installed on the rotary disc 611, the other end of the multi-stage telescopic arm 612 is suspended, and the quick connector 62 is installed at the suspended end of the multi-stage telescopic arm 612. After the robot 4 finishes the task cleaning and homing, after the controller 3 sends out an automatic charging command, the robot 4 runs to the front of the automatic charging device 6, the rotator 61 automatically adjusts the vertical and horizontal positions through rotation, and after the quick connector 62 is aligned with a charging socket (not shown in the figure) on the robot 4, the controller 3 sends out an inserting command, the rotator 61 extends out, and the quick connector 62 is inserted into the charging socket to start charging; when the robot 4 is fully charged, the controller 3 is fed with a full signal, the multi-stage telescopic arm 612 of the rotator 61 retracts, the quick connector 62 is disengaged, and the rotating disc 611 of the rotator 61 rotates to the initial position.
The utility model discloses an automatic operation control system module of robot is connected as shown in figure 5, and the perception module is constituteed to walking guide line, laser radar, hydraulic sensor and cloud platform camera, is equipped with automatic module of getting on or off the bus in the robot 4, constitutes execution module together with self-cleaning system 5 and automatic charging device 6, and each device in perception module, alarm module and the execution module is connected to controller 3. The sensing module transmits the acquired signals to the automatic controller 3, and the automatic controller 3 sends action instructions to the execution module and the alarm module according to the acquired data information, so that the robot 4 can automatically get on and off, automatically clean and automatically charge.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any slight modifications, equivalent changes and modifications made by the technical spirit of the present invention to the above embodiments still belong to the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic operation control system of on-vehicle robot, sets up on the sampling car of protecting against radiation which characterized in that: the anti-radiation sampling vehicle comprises a chassis and a carriage, wherein the carriage is divided into an operation chamber and a robot cabin through a partition plate, the robot cabin is arranged at the rear part of the carriage, a controller is arranged in the operation chamber, a crawler-type robot, an automatic cleaning system and an automatic charging device are arranged in the robot cabin, the automatic cleaning system comprises an automatic rotating standing platform and an automatic rotating spray head, and the automatic charging device comprises a rotator and a quick connector; a hydraulic tail plate is arranged at the rear part of the carriage, and walking guide lines and laser radar detectors are uniformly distributed on a flat plate of the hydraulic tail plate and a bottom plate of the robot cabin; and a hydraulic sensor is arranged on the hydraulic tail plate.
2. The in-vehicle robot automatic work control system according to claim 1, characterized in that: the controller is connected with the hydraulic sensor, the walking guide line and the laser radar detector, receives data of the hydraulic sensor, the walking guide line and the laser radar detector, is connected with the robot, the automatic cleaning system and the automatic charging device, and sends out instructions to control.
3. The in-vehicle robot automatic work control system according to claim 1, characterized in that: the tail plate is a vertical lifting hydraulic tail plate.
4. The in-vehicle robot automatic work control system according to claim 1, characterized in that: and a pan-tilt camera is arranged in the robot cabin and is connected with the controller.
5. The in-vehicle robot automatic work control system according to claim 1, characterized in that: and an alarm module is arranged in the operating room and connected with the controller.
6. The in-vehicle robot automatic work control system according to claim 5, characterized in that: the alarm module is an audible and visual alarm.
7. The in-vehicle robot automatic work control system according to claim 1, characterized in that: the automatic rotating standing platform is installed on the hydraulic tail plate, the automatic rotating spray heads are multiple and are installed through automatic telescopic rods respectively, the top of the automatic rotating standing platform is close to the side position of the carriage 2, and the nozzles face the center of the hydraulic tail plate.
8. The in-vehicle robot automatic work control system according to claim 7, characterized in that: the automatic rotating standing platform is a lifting rotating platform.
9. The in-vehicle robot automatic work control system according to claim 7, characterized in that: and the hydraulic tail plate is provided with tail plate nozzles which are distributed on the periphery outside the automatic rotating standing platform.
10. The in-vehicle robot automatic work control system according to claim 1, characterized in that: the rotator is a rotary disc and a multi-stage telescopic arm, the rotary disc is fixedly installed on the partition plate, one end of the multi-stage telescopic arm is eccentrically and fixedly installed on the rotary disc, the other end of the multi-stage telescopic arm is suspended, and the quick connector is installed at the suspended end of the multi-stage telescopic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120452552.1U CN214728401U (en) | 2021-03-02 | 2021-03-02 | Automatic operation control system of vehicle-mounted robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120452552.1U CN214728401U (en) | 2021-03-02 | 2021-03-02 | Automatic operation control system of vehicle-mounted robot |
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| Publication Number | Publication Date |
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| CN214728401U true CN214728401U (en) | 2021-11-16 |
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| CN202120452552.1U Active CN214728401U (en) | 2021-03-02 | 2021-03-02 | Automatic operation control system of vehicle-mounted robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977232A (en) * | 2021-03-02 | 2021-06-18 | 龙岩市海德馨汽车有限公司 | Automatic operation control system of vehicle-mounted robot |
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2021
- 2021-03-02 CN CN202120452552.1U patent/CN214728401U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977232A (en) * | 2021-03-02 | 2021-06-18 | 龙岩市海德馨汽车有限公司 | Automatic operation control system of vehicle-mounted robot |
| CN112977232B (en) * | 2021-03-02 | 2023-09-29 | 龙岩市海德馨汽车有限公司 | Automatic operation control system of vehicle-mounted robot |
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