CN101434268B - Dual-purpose double-arm mobile robot for moving on ground and climbing on space truss - Google Patents
Dual-purpose double-arm mobile robot for moving on ground and climbing on space truss Download PDFInfo
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- CN101434268B CN101434268B CN2008102097754A CN200810209775A CN101434268B CN 101434268 B CN101434268 B CN 101434268B CN 2008102097754 A CN2008102097754 A CN 2008102097754A CN 200810209775 A CN200810209775 A CN 200810209775A CN 101434268 B CN101434268 B CN 101434268B
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Abstract
A dual-purpose double-arm movable-hand robot used for both ground moving and space truss climbing relates to a movable robot and aims at solving the defects of the existing movable robot that the robot can not adopts hands or feet to hold fixedly a truss and can not move on a space truss. A convertor and a controller are arranged on a panel; two first visual sensors are symmetrically arranged on the upper end surface of the panel; a computer is arranged under the panel; a holding mechanism is arranged on the outer side face of a claw seat; a wheel-style moving mechanism is arranged on the upper part of the holding mechanism; a connecting flange on a left hand is connected through a torque sensor with the left end of a left arm; a connecting flange on a right hand is connected through a torque sensor with the right end of a right arm; and the left hand and right hand are symmetrically arranged. The invention adopts the holding mechanism and the wheel-style moving mechanism on both the left hand and right hand so as to lead the robot to move flexibly and hold the truss rods with different sections and sizes in the space truss and also to lead the robot to move on the ground with less energy consumption.
Description
Technical field
The present invention relates to a kind of mobile robot.
Background technology
In current mobile robot and the industrial robot motion arm investigative technique, the wheeled mobile robot at ground running that has been developed out, leg type mobile robot, caterpillar mobile robot are a lot, all there is the shortcoming that mobile function is single, compatible with environment is not strong, mostly be in continuous medium surface or pipeline and move, can't on discontinuous media, move.The leg type mobile robot that has been studied at present mostly is apery bipod walking robot, four-footed, six foots, eight foot walking machines, the apery bipod walking robot always alternately becomes feet and trip pin by biped in the half space below waist and realizes walking, and the drive motor that needs is more than ten several; The polypody walking robot robot mechanism complexity that four-footed is above is more suitable for ground running in the open air; The above polypody walking machine of biped, four-footed does not possess by foot and goes the grasping ability of truss rod of holding, and they all are unsuitable for moving in the small space in space truss.Quick professor man in Japan Nagoya university Feitian as far back as the end of the eighties in last century begin one's study the imitation monkey swing that branch moves, have only two bars that drive the joint to owe to drive the mobile robot, and obtained success.But because what adopt is the form of owing to drive, and so-called paw only is the hook of very simple, no any driving, and this robot does not find application prospect as yet so far, also can not finish function such as mobile in ground running and the space truss at all.In addition, at present no matter be that the multi-finger dexterous hand of robot or the research and development of paw all are to consider its end-effector of going into motion arm as machine is used, only on its rigidity, structure design and function, can't catch truss rod to bear simultaneously as both arms hand mobile robot's foundation at all and support the ability that whole arm moves.
Summary of the invention
The objective of the invention is not possess by hand or foot and go the grasping ability of truss rod of holding for solving existing mobile robot and industrial robot motion arm, can not finish the problem that moves in the space truss, provide a kind of ground to move and space truss climbing dual-purpose double-arm hand mobile robot.
The present invention includes left arm, middle deck, right arm and power supply, middle deck is made up of platen and four terminal pads, be respectively equipped with a terminal pad on four side end faces of platen, left arm and right arm are by the first cross joint, the second cross joint, arm, first motor, second motor, the 3rd motor, the 4th motor and the 5th motor are formed, one end of arm is connected with left interface on the first cross joint, the other end of arm is connected with right interface on the second cross joint, first motor is arranged in the right side tube on the first cross joint, second motor is arranged in the left side tube on the second cross joint, the 3rd motor is arranged in the arm, the 4th motor is arranged on the bottom of right side, second cross joint tube, the 5th motor is arranged on the bottom of left side, first cross joint tube, the 4th motor and the 5th motor are connected with a horizontal tube input end on the second cross joint by synchronous strap drive and the first cross joint respectively, the terminal pad symmetry that left arm and right arm symmetry are held about by middle deck be fixed in middle deck about on the end, power supply is arranged on the platen, it also comprises conv, controller, two first vision sensors, computing machine, the left hand pawl, right hand pawl and two torque sensors, controller is arranged on the platen, conv is arranged on the controller, two first vision sensors are symmetricly set on the upper surface of platen and near the outside, computer installation is on the lower surface of platen, left hand pawl and right hand pawl are by butt flange, the pawl seat, grasping mechanism and wheeled travel mechanism form, butt flange is arranged on the inboard face of pawl seat, grasping mechanism is arranged on the lateral surface of pawl seat, wheeled travel mechanism be arranged on grasping mechanism above, butt flange on the left hand pawl is connected with the left end of left arm by torque sensor, butt flange on the right hand pawl is connected with the right-hand member of right arm by torque sensor, and left hand pawl and right hand pawl are symmetrical arranged.
Advantage of the present invention is: one, because the present invention has designed grasping mechanism and wheeled travel mechanism on pawl and the right hand pawl leftward, make the present invention in space truss, to move flexibly and energy grasping different section shape and big or small truss rod, can also move on the ground with less energy consumption.Two, energy consumption of the present invention is low, compatible with environment is strong, can imitate animal flexible move modes between trunk such as monkey, utilizes both arms hand implementation space truss inside and outside mobile, and has the ground locomotive function.Three, tool foot type of the present invention walking, wheeledly move, function such as the climbing truss moves, be applicable to the detection and the upkeep operation of building structure such as bridge, elevated line tower class, be specially adapted to move automatically on the outer platform of station, space station, climb the demanding limit operations of degree of automation such as station external space truss building structure, nuke industry.
Description of drawings
Fig. 1 is a both arms hand mobile robot's of the present invention integral structure scheme drawing, Fig. 2 is the structural representation of middle deck 7, Fig. 3 is the structural representation of left arm 6 or right arm 8, Fig. 4 is the structural representation of left hand pawl 5 or right hand pawl 9, Fig. 5 is the structural representation of the wheeled 5-4 of travel mechanism, Fig. 6 is the structural representation of the 5-3 of grasping mechanism, Fig. 7 is that the A of Fig. 5 is to view, Fig. 8 is the structural representation (the circular truss rod 13 of grasping) of the specific embodiment four, Fig. 9 is the structural representation (removing circular truss rod 13) of the specific embodiment four, Figure 10 is the structural representation (grasping angle steel 17) of the specific embodiment four, Figure 11 is that the road wheel 5-4-23 on both arms hand mobile robot left hand pawl 5 and the right hand pawl 9 lands simultaneously and carries out wheeled mobile constitution diagram, Figure 12 is that the road wheel 5-4-23 on both arms hand mobile robot left hand pawl 5 and right hand pawl 9 one of them paw lands and carries out wheeled mobile constitution diagram, Figure 13 is that the road wheel 5-4-23 on both arms hand mobile robot left hand pawl 5 and the right hand pawl 9 regains simultaneously, decide pawl 5-3-1 and moving pawl 5-3-2 on left hand pawl 5 or the right hand pawl 9 land and make the constitution diagram of pin formula walking, Figure 14 is that the road wheel 5-4-23 on both arms hand mobile robot left hand pawl 5 and the right hand pawl 9 regains simultaneously, decide pawl 5-3-1 and moving pawl 5-3-2 on left hand pawl 5 and the right hand pawl 9 land simultaneously and make the constitution diagram of pin formula walking, Figure 15 is both arms hand mobile robot climbing, the process scheme drawing of grasping space truss bar 12, Figure 16 is the structural representation of the specific embodiment seven, and Figure 17 is the structural representation of the specific embodiment eight.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1～Fig. 4, present embodiment comprises left arm 6, middle deck 7, right arm 8 and power supply 10, middle deck 7 is made up of platen 7-1 and four terminal pad 7-2, be respectively equipped with a terminal pad 7-2 on four side end faces of platen 7-1, left arm 6 and right arm 8 are by the first cross joint 6-1, the second cross joint 6-2, arm 6-3, the first motor 6-4, the second motor 6-5, the 3rd motor 6-6, the 4th motor 6-7 and the 5th motor 6-8 form, the end of arm 6-3 is connected with left interface 6-1-2 on the first cross joint 6-1, the other end of arm 6-3 is connected with right interface 6-2-1 on the second cross joint 6-2, the first motor 6-4 is arranged in the right side tube on the first cross joint 6-1, the second motor 6-5 is arranged in the left side tube on the second cross joint 6-2, the 3rd motor 6-6 is arranged among the arm 6-3, the 4th motor 6-7 is arranged on the bottom of 6-2 right side, second cross joint tube, the 5th motor 6-8 is arranged on the bottom of first cross joint 6-1 left side tube, the 4th motor 6-7 and the 5th motor 6-8 are connected with a horizontal tube input end on the second cross joint 6-2 by synchronous strap drive and the first cross joint 6-1 respectively, the first motor 6-4 drives the first cross joint 6-1 and turns round around longitudinal axis X, the left side interface portion 6-2-2 that the second motor 6-5 drives the second cross joint 6-2 rotates around X-axis, the 3rd motor 6-6 drives the second cross joint 6-2 and rotates around X-axis, the 4th motor 6-7 drives horizontal tube on the second cross joint 6-2 around second axis Y ' rotation by synchronous strap drive, the 5th motor 6-8 rotates around first axle Y by horizontal tube and the arm 6-3 that synchronous strap drive drives on the first cross joint 6-1, left arm 6 and the right arm 8 symmetries terminal pad 7-2 symmetry by middle deck about 7 end be fixed in middle deck 7 about on the end, power supply 10 is arranged on the platen 7-1, it also comprises conv 1, controller 2, two first vision sensors 3, computing machine 4, left hand pawl 5, right hand pawl 9 and two torque sensors 11, controller 2 is arranged on the platen 7-1, conv 1 is arranged on the controller 2, two first vision sensors 3 are symmetricly set on the upper surface of platen 7-1 and near the outside, computing machine 4 is arranged on the lower surface of platen 7-1, left hand pawl 5 and right hand pawl 9 are by butt flange 5-1, pawl seat 5-2,5-3 of grasping mechanism and the wheeled 5-4 of travel mechanism form, butt flange 5-1 is arranged on the inboard face of pawl seat 5-2, the 5-3 of grasping mechanism is arranged on the lateral surface of pawl seat 5-2, the wheeled 5-4 of travel mechanism be arranged on the 5-3 of grasping mechanism above, butt flange 5-1 on the left hand pawl 5 is connected with the left end of left arm 6 by torque sensor 11, butt flange 5-1 on the right hand pawl 9 is connected with the right-hand member of right arm 8 by torque sensor 11, and left hand pawl 5 is symmetrical arranged with right hand pawl 9.Pin when left hand pawl 5 all can be used as the walking of pin formula with right hand pawl 9 uses, and left hand pawl 5 is a foot plate surface with the outside end face of right hand pawl 9.The first motor 6-4, the second motor 6-5 and the 3rd motor 6-6 are the drive motor of band photoelectric encoder, and the 4th motor 6-7 and the 5th motor 6-8 are the drive motor that has retarder and photoelectric encoder.Conv 1, controller 2, two first vision sensors 3 and computing machine 4 constitute integrated control systems, middle deck 7 for left arm 6 and right arm 8 and when expanding to the multi-arm hand connecting arm and carry integrated control system; The first cross joint 6-1 on left arm 6 and the right arm 8 and the second cross joint 6-2 are the rotary type joint; Two torque sensors 11 are respectively the 5-3 of grasping mechanism on the left hand pawl 5 and the control of the 5-3 of the grasping mechanism power in the process of grasping truss rod 12 on the right hand pawl 9 provides the feedback information of power and moment, thereby control is mixed in the power position of carrying out grasping; Two torque sensors 11 are respectively the wheeled 5-4 of travel mechanism on the left hand pawl 5 and the wheeled 5-4 of travel mechanism on the right hand pawl 9 and provide the feedback information of power and moment when walking and wheeled mobile control on the ground, thereby carry out walking and wheeled mobile stable control.The graphicinformation of two first vision sensors 3 is used for controlling grasping object, grip locations, power control and the mobile control of both arms hand mobile robot in finishing the climbing process after machine 4 is handled as calculated.Left hand pawl 5 and right hand pawl 9 are the folding paw of high rigidity and many perception function.
The working process that both arms hand mobile robot of the present invention climbs on space truss: see Figure 15, after holding truss rod 13, the right hand pawl 9 in the both arms hand becomes fixed jaw, support whole arm and under described integrated control system control each shoulder joint revolution with left arm 6, middle deck 7, right arm 8 and left hand pawl 5 shift to truss rod 13 as the grasping target ', the back left hand pawl 5 of holding becomes fixed jaw, original fixed jaw 9 unclamped from truss rod 13 becomes the trip pawl, and under described integrated control system control, shift to new grasping target truss rod, so in truss, move down continuously until fulfiling assignment.Both arms hand mobile robot of the present invention is when walking is moved on the ground, and 5-3 of grasping mechanism on the left hand pawl 5 and the 5-3 of grasping mechanism on the right hand pawl 9 use as pin, see Figure 13 and Figure 14; The wheeled 5-4 of travel mechanism of outside of foot can realize the wheeled locomotive function of robot, and is wheeled when mobile, and the 5-3 of grasping mechanism that uses as pin is lifted away from ground, sees Figure 11 and Figure 12.
The specific embodiment two: present embodiment is described in conjunction with Fig. 4 and Fig. 6, the 5-3 of grasping mechanism of present embodiment is by deciding pawl 5-3-1, moving pawl 5-3-2, screw rod 5-3-3, the first nut 5-3-4, baffle plate 5-3-5, driven gear 5-3-6, driving gear 5-3-7, the first retarder 5-3-8, the 6th motor 5-3-9, ultrasonic range finder sensor 5-3-11, neglecting the inboard contact force sensor 5-3-13 of sense sensor 5-3-12 and pawl forms, the two ends of screw rod 5-3-3 are arranged on by bearing respectively decides among pawl 5-3-1 and the baffle plate 5-3-5, hole on the first nut 5-3-4 and the moving pawl 5-3-2 is press-fitted affixed and together is sleeved on the screw rod 5-3-3, the first nut 5-3-4 and moving pawl 5-3-2 move on screw rod 5-3-3, driven gear 5-3-6 is sleeved on to expose to and decides on the outer screw rod 5-3-3 of pawl 5-3-1, driven gear 5-3-6 and driving gear 5-3-7 engagement, driving gear 5-3-7 is sleeved on the mouth of the first retarder 5-3-8, the first retarder 5-3-8 is connected with the 6th motor 5-3-9, the first retarder 5-3-8 is packed on the lower surface of deciding pawl 5-3-1, deciding pawl 5-3-1 is provided with respect to the end face of moving pawl 5-3-2 and decides pawl and hold groove 5-3-1-1, moving pawl 5-3-2 is provided with moving pawl with respect to the end face of deciding pawl 5-3-1 and holds groove 5-3-2-1, the inboard contact force sensor 5-3-13 of pawl is arranged on moving pawl and holds in the baseplane at groove 5-3-2-1 place, neglect sense sensor 5-3-12 and be arranged on moving pawl and hold on the lateral surface of baseplane, groove 5-3-2-1 place, ultrasonic range finder sensor 5-3-11 is arranged in the facade in the moving pawl 5-3-2 outside.The 6th motor 5-3-9 is the drive motor of band photoelectric encoder.In moving process, ultrasonic range finder sensor 5-3-11 and neglect the distance that sense sensor 5-3-12 is used for measuring, calculating the grasping object.Realize the working process of grasping: start the 6th motor 5-3-9 and drive driving gear 5-3-7 rotation by the first retarder 5-3-8, driving gear 5-3-7 drives driven gear 5-3-6 and rotates, driven gear 5-3-6 drives screw rod 5-3-3 and rotates, the first nut 5-3-4 drives moving pawl 5-3-2 and moves as straight line along screw rod 5-3-3, thereby has realized deciding pawl 5-3-1 and moving pawl 5-3-2 grasping and unclamped the opening and closing movement of truss rod 13 on the truss 12 (see among Figure 10 among angle steel shape truss rod, Figure 15 rectangle truss rod).
The specific embodiment three: in conjunction with Fig. 4, Fig. 5 and Fig. 7 illustrate present embodiment, the wheeled 5-4 of travel mechanism of present embodiment is by support plate 5-4-1, primary shaft 5-4-2, main gear 5-4-3, pinion 5-4-4, driving pulley 5-4-5, passive belt wheel 5-4-6, the second retarder 5-4-7, the 7th motor 5-4-8, first is with 5-4-9 synchronously, screw shaft 5-4-10, the first stay bearing plate 5-4-11, the second stay bearing plate 5-4-12, third axle 5-4-13, wheel seat 5-4-14, connecting rod 5-4-15, transmission shaft 5-4-16, the 8th motor 5-4-17, main pulley 5-4-18, second is with 5-4-19 synchronously, secondary pulley 5-4-20, fulcrum 5-4-21, two road wheel 5-4-23, the 3rd retarder 5-4-24, the second nut 5-4-25 and axle sleeve 5-4-26 form, primary shaft 5-4-2 is arranged among the support plate 5-4-1 by bearing, pinion 5-4-4 and driving pulley 5-4-5 are sleeved on the primary shaft 5-4-2, pinion 5-4-4 and main gear 5-4-3 engagement, main gear 5-4-3 is sleeved on the second retarder 5-4-7, the second retarder 5-4-7 is connected with the 7th motor 5-4-8, the second retarder 5-4-7 is packed on the support plate 5-4-1, driving pulley 5-4-5 is with 5-4-9 to link to each other with passive belt wheel 5-4-6 by first synchronously, passive belt wheel 5-4-6 is sleeved on the screw shaft 5-4-10, the end of screw shaft 5-4-10 is arranged among the support plate 5-4-1 by bearing, the other end of screw shaft 5-4-10 is arranged among the first stay bearing plate 5-4-11 by bearing, the first stay bearing plate 5-4-11 and the second stay bearing plate 5-4-12 are packed on the upper surface of deciding pawl 5-3-1, the end of third axle 5-4-13 is arranged among the second stay bearing plate 5-4-12, the other end of third axle 5-4-13 is arranged among the support plate 5-4-1, wheel seat 5-4-14 is sleeved on screw shaft 5-4-10 and the third axle 5-4-13 by the second nut 5-4-25 and axle sleeve 5-4-26 respectively, the end of connecting rod 5-4-15 and the outside end face of wheel seat 5-4-14 are affixed, be arranged in the endoporus of the connecting rod 5-4-15 other end with the mouth of the 8th motor 5-4-17 bonded assembly the 3rd retarder 5-4-24, the input end of transmission shaft 5-4-16 is connected with the mouth of the 3rd retarder 5-4-24, main pulley 5-4-18 is housed on the mouth of transmission shaft 5-4-16, main pulley 5-4-18 is with 5-4-19 to be connected with secondary pulley 5-4-20 by second synchronously, secondary pulley 5-4-20 is packed on the end of fulcrum 5-4-21, fulcrum 5-4-21 is contained in the wheel seat 5-4-14 by bearing, two road wheel 5-4-23 are packed in the two ends of fulcrum 5-4-21 respectively, and support plate 5-4-1 is packed on the upper surface of deciding pawl 5-3-1 by attaching parts.The 7th motor 5-4-8 and the 8th motor 5-4-17 are the drive motor of band photoelectric encoder.The wheeled 5-4 of travel mechanism can singlehanded pawl road wheel 5-4-23 lands and realizes wheeled moving, also can left hand pawl 5 and right hand pawl 9 on road wheel 5-4-23 land simultaneously and realize wheeled moving.Wheeled mobile realization: see Fig. 7 and Figure 11, when landing, supports under the state of both arms hand left hand pawl 5, the first motor 6-4 on left arm 6 and the right arm 8, the second motor 6-5, the 3rd motor 6-6, the 4th motor 6-7 and the 5th motor 6-8 drive the first cross joint 6-1 under the control of controller 2 and second cross joint 6-2 revolution coordination is placed right hand pawl 9 on the ground, and right hand pawl 9 end faces land; Wheeled travel mechanism on left hand pawl 5 and the right hand pawl 9 drives the 7th motor 5-4-8 under controller 2 controls, through the band 5-4-9 → driven pulley 5-4-6 drive screw shaft 5-4-10 revolution synchronously of second retarder 5-4-7 → main gear 5-4-3 → pinion 5-4-4 → driving pulley 5-4-5 → first, the second nut 5-4-25 that is sleeved on the screw shaft 5-4-10 is moved, put down two road wheel 5-4-23 on the wheel seat 5-4-14 and land, at this moment left hand pawl 5 and right hand pawl 9 are lifted away from ground simultaneously, this moment, both arms hand robot was fully by left hand pawl 5, road wheel 5-4-23 on the right hand pawl 9 supports, and has finished by the pin formula and has supported to wheeled mobile conversion; Under the wheeled mobile control command of controller 2, the 8th motor 5-4-17 revolution, drive main pulley 5-4-18 → second band 5-4-19 → secondary pulley 5-4-20 synchronously, driving two road wheel 5-4-23 rotates, drive both arms hand robot movement, thereby realized wheeled the moving that the road wheel 5-4-23 on left hand pawl 5, the right hand pawl 9 lands simultaneously; Land at both arms hand mobile robot left hand pawl 5 and to support under the state of both arms hand, left arm 6, middle deck 7, the first motor 6-4 on the right arm 8, the second motor 6-5, the 3rd motor 6-6, the 4th motor 6-7 and the 5th motor 6-8 drive the first cross joint 6-1 under the control of controller 2 and the second cross joint 6-2 turns round coordination with right hand pawl 9, right arm 8, middle deck 7 is transferred to lower the center of gravity, but right hand pawl 9 is in the air and is not placed on the ground, by above-mentioned wheeled moving process the road wheel 5-4-23 of left hand pawl 5 is fallen kiss the earth, the 5-3 of grasping mechanism is lifted away from ground, see Figure 12 state, pass through controller 2 in this process, the torque sensor 11 may command both arms hand robots that left hand pawl 5 and left arm are 6 keep dynamical equilibrium, and the wheeled 5-4 of travel mechanism can realize wheeled the moving that singlehanded pawl road wheel 5-4-23 lands.
The specific embodiment four: present embodiment is described in conjunction with Fig. 8 and Fig. 9, present embodiment and the specific embodiment two are different is that it also increases and has two to pawl 5-3-10, the baseplane that moving pawl on the described moving pawl 5-3-2 is held groove 5-3-2-1 is provided with moving pawl dovetail furrow 5-3-2-2, the described pawl of deciding on the pawl 5-3-1 of deciding is held groove 5-3-1-1 and moving pawl and is held the relative plane of groove 5-3-2-1 and be provided with and decide pawl dovetail furrow 5-3-1-2, each is provided with groove 5-3-10-1 to pawl 5-3-10 one side end face, each is provided with dovetail 5-3-10-2 to pawl 5-3-10 opposite side end face, and two are oppositely arranged on moving pawl dovetail furrow 5-3-2-2 to pawl 5-3-10 and decide among the pawl dovetail furrow 5-3-1-2.Design makes left hand pawl 5 and right hand pawl 9 adapt to the truss of grasping different section shape like this, as circular truss rod 13.Other composition and annexation are identical with the specific embodiment two.
The specific embodiment five: in conjunction with Fig. 9 present embodiment is described, the groove 5-3-10-1 of present embodiment is semi-circular recesses or rectangular recess.Design is to adapt to grasping different section shape and size truss rod like this.
The specific embodiment six: present embodiment is described in conjunction with Fig. 6 and Figure 10, the pawl 5-3-1 that decides of present embodiment goes up and to decide pawl and hold the entrance of groove 5-3-1-1 and be provided with and decide pawl groove 5-3-1-3, and the entrance that moving pawl 5-3-2 upper moveable claw is held groove 5-3-2-1 is provided with moves pawl groove 5-3-2-3.Design makes and decides pawl 5-3-1 and moving pawl 5-3-2 easier grasping when grasping truss rod 12 or angle steel 17 like this.
The specific embodiment seven: present embodiment is described in conjunction with Figure 16, present embodiment and the specific embodiment two are different is that it also increases to have and takes over 14 and according to the specific embodiment one stack-mounted second both arms hand mobile robot 16, take over an end of 14 and be connected by the terminal pad 7-2 on the specific embodiment one stack-mounted first both arms hand mobile robot 15, the other end of adapter 14 is connected with the terminal pad 7-2 on the second both arms hand mobile robot 16.Be the four-footed mobile robot after design makes both arms hand mobile robot be unified into four arm hand mobile robots like this, locomotivity, load-carrying capacity, climbing ability all have further raising than both arms hand mobile robot.
The specific embodiment eight: present embodiment is described in conjunction with Figure 17, present embodiment and the specific embodiment seven are different is that its also laterally increases by the second left hand pawl 5, second left arm 6, second right arm 8 and second right hand pawl 9 are arranged, interface end 6-1-1 on second left arm 6 is connected with the terminal pad 7-2 of the second both arms hand mobile robot, 16 front ends, the other end of second left arm 6 is connected with the second left hand pawl 5, interface end 6-1-1 on second right arm 8 is connected with the terminal pad 7-2 of the first both arms hand mobile robot, 15 rear ends, and the other end of second right arm 8 is connected with second right hand pawl 9.Be six sufficient mobile robots after design makes both arms hand mobile robot be unified into six arm hand mobile robots like this, locomotivity, load-carrying capacity, climbing ability all have bigger raising than four arm hand mobile robots.The rest may be inferred, and the present invention also can be unified into the above multi-arm hand of eight arms mobile robot.Multi-arm hand mobile robot can solve both arms hand mobile robot ground and move and carry problems such as the both arms arm is short when mobile in the load-carrying capacity deficiency under the condition of loading, large space truss structure, single paw grippage is limited, operator perforniance is limited.
The specific embodiment nine: present embodiment is described in conjunction with Figure 13, Figure 14.Both arms hand mobile robot left hand pawl 5 state that supports the both arms hand that lands is used as lower margin down, the first motor 6-4 on left arm 6, the right arm 8, the second motor 6-5, the 3rd motor 6-6, the 4th motor 6-7 and the 5th motor 6-8 drive the first cross joint 6-1 under the control of controller 2 and second cross joint 6-2 revolution coordination is placed right hand pawl 9 on the ground, right hand pawl 9 lands with pawl seat 5-2 opposite external side end face, and being that left hand pawl 5 shown in Figure 14 and right hand pawl 9 land is the both feet states that land.The first motor 6-4 on left arm 6 and the right arm 8, the second motor 6-5, the 3rd motor 6-6, the 4th motor 6-7 and the 5th motor 6-8 drive the first cross joint 6-1 and second cross joint 6-2 revolution coordination under the control of controller 2 carries out autokinesis the heavy-handed heart of both arms is shifted to the forward foot in a step (being right hand pawl 9), continue the control first motor 6-4 then, the second motor 6-5, the 3rd motor 6-6, the 4th motor 6-7 and the 5th motor 6-8 are lifted away from ground with left hand pawl 5 becomes the pawl and lift and be Figure 13 state of moving about, different is that the feet that lands is changed to right hand pawl 9, the both arms left hand pawl 5 of side on hand become the pawl that moves about aloft, repetition is placed the both feet that become Figure 14 on the ground state that lands by the said process of Figure 13 to Figure 14 with left hand pawl 5, in the above-mentioned pin formula walking moving process, the both arms hand supports to alternate with the trip pin in upper half-space has realized that is moved a step, repeats said process and is implemented in the walking of ground continuous pin formula and moves.Its walking feature is to support in the upper half-space with the trip pin to alternate to realize walking, is different from present apery bipod walking robot and supports the manner of walking that alternates and realize with the trip pin in the lower half-space.
Claims (6)
1. move and space truss climbing dual-purpose double-arm hand mobile robot on a ground, it comprises left arm (6), middle deck (7), right arm (8) and power supply (10), middle deck (7) is made up of platen (7-1) and four terminal pads (7-2), be respectively equipped with a terminal pad (7-2) on four side end faces of platen (7-1), left arm (6) and right arm (8) are by the first cross joint (6-1), the second cross joint (6-2), arm (6-3), first motor (6-4), second motor (6-5), the 3rd motor (6-6), the 4th motor (6-7) and the 5th motor (6-8) are formed, one end of arm (6-3) is connected with left interface (6-1-2) on the first cross joint (6-1), the other end of arm (6-3) is connected with right interface (6-2-1) on the second cross joint (6-2), first motor (6-4) is arranged in the right side tube on the first cross joint (6-1), second motor (6-5) is arranged in the left side tube on the second cross joint (6-2), the 3rd motor (6-6) is arranged in the arm (6-3), the 4th motor (6-7) is arranged on the bottom of right side, the second cross joint (6-2) tube, the 5th motor (6-8) is arranged on the bottom of left side, the first cross joint (6-1) tube, the 4th motor (6-7) and the 5th motor (6-8) are connected with a horizontal tube input end on the second cross joint (6-2) by synchronous strap drive and the first cross joint (6-1) respectively, terminal pad (7-2) symmetry of left arm (6) and right arm (8) symmetry by end about middle deck (7) be fixed in middle deck (7) about hold, power supply (10) is arranged on the platen (7-1), it is characterized in that: it also comprises conv (1), controller (2), two first vision sensors (3), computing machine (4), left hand pawl (5), right hand pawl (9) and two torque sensors (11), controller (2) is arranged on the platen (7-1), conv (1) is arranged on the controller (2), two first vision sensors (3) are symmetricly set on the upper surface of platen (7-1) and near the outside, computing machine (4) is arranged on the lower surface of platen (7-1), left hand pawl (5) and right hand pawl (9) are by butt flange (5-1), pawl seat (5-2), grasping mechanism (5-3) and wheeled travel mechanism (5-4) form, butt flange (5-1) is arranged on the inboard face of pawl seat (5-2), grasping mechanism (5-3) is arranged on the lateral surface of pawl seat (5-2), wheeled travel mechanism (5-4) be arranged on grasping mechanism (5-3) above, butt flange (5-1) on the left hand pawl (5) is connected with the left end of left arm (6) by torque sensor (11), butt flange (5-1) on the right hand pawl (9) is connected with the right-hand member of right arm (8) by torque sensor (11), and left hand pawl (5) is symmetrical arranged with right hand pawl (9).
2. move and space truss climbing dual-purpose double-arm hand mobile robot on ground according to claim 1, it is characterized in that: described grasping mechanism (5-3) is by deciding pawl (5-3-1), moving pawl (5-3-2), screw rod (5-3-3), first nut (5-3-4), baffle plate (5-3-5), driven gear (5-3-6), driving gear (5-3-7), first retarder (5-3-8), the 6th motor (5-3-9), ultrasonic range finder sensor (5-3-11), the inboard contact force sensor of little vision sensor (5-3-12) and pawl (5-3-13) is formed, the two ends of screw rod (5-3-3) are separately positioned on decides in pawl (5-3-1) and the baffle plate (5-3-5), hole on first nut (5-3-4) and the moving pawl (5-3-2) is press-fitted affixed and together is sleeved on the screw rod (5-3-3), driven gear (5-3-6) is sleeved on to expose to be decided on the outer screw rod (5-3-3) of pawl (5-3-1), driven gear (5-3-6) and driving gear (5-3-7) engagement, driving gear (5-3-7) is sleeved on the mouth of first retarder (5-3-8), first retarder (5-3-8) is connected with the 6th motor (5-3-9), first retarder (5-3-8) is packed on the lower surface of deciding pawl (5-3-1), deciding pawl (5-3-1) is provided with respect to the end face of moving pawl (5-3-2) and decides pawl and hold groove (5-3-1-1), moving pawl (5-3-2) is provided with moving pawl with respect to the end face of deciding pawl (5-3-1) and holds groove (5-3-2-1), the inboard contact force sensor of pawl (5-3-13) is arranged on moving pawl and holds in the baseplane at groove (5-3-2-1) place, little vision sensor (5-3-12) is arranged on moving pawl and holds on the lateral surface of groove (5-3-2-1) baseplane, place, and ultrasonic range finder sensor (5-3-11) is arranged in the facade in moving pawl (5-3-2) outside.
3. move and space truss climbing dual-purpose double-arm hand mobile robot on ground according to claim 2, it is characterized in that: described wheeled travel mechanism (5-4) is by support plate (5-4-1), primary shaft (5-4-2), main gear (5-4-3), pinion (5-4-4), driving pulley (5-4-5), passive belt wheel (5-4-6), second retarder (5-4-7), the 7th motor (5-4-8), first is with (5-4-9) synchronously, screw shaft (5-4-10), first stay bearing plate (5-4-11), second stay bearing plate (5-4-12), third axle (5-4-13), wheel seat (5-4-14), connecting rod (5-4-15), transmission shaft (5-4-16), the 8th motor (5-4-17), main pulley (5-4-18), second is with (5-4-19) synchronously, secondary pulley (5-4-20), fulcrum (5-4-21), two road wheels (5-4-23), the 3rd retarder (5-4-24), second nut (5-4-25) and axle sleeve (5-4-26) are formed, primary shaft (5-4-2) is arranged in the support plate (5-4-1), pinion (5-4-4) and driving pulley (5-4-5) are sleeved on the primary shaft (5-4-2), pinion (5-4-4) and main gear (5-4-3) engagement, main gear (5-4-3) is sleeved on second retarder (5-4-7), second retarder (5-4-7) is connected with the 7th motor (5-4-8), second retarder (5-4-7) is packed on the support plate (5-4-1), driving pulley (5-4-5) is with (5-4-9) to link to each other with passive belt wheel (5-4-6) by first synchronously, passive belt wheel (5-4-6) is sleeved on the screw shaft (5-4-10), one end of screw shaft (5-4-10) is arranged in the support plate (5-4-1), and the other end of screw shaft (5-4-10) is arranged on first stay bearing plate
(5-4-11), one end of third axle (5-4-13) is arranged in second stay bearing plate (5-4-12), the other end of third axle (5-4-13) is arranged in the support plate (5-4-1), wheel seat (5-4-14) is sleeved on screw shaft (5-4-10) and the third axle (5-4-13) by second nut (5-4-25) and axle sleeve (5-4-26) respectively, the outside end face of one end of connecting rod (5-4-15) and wheel seat (5-4-14) is affixed, be arranged in the endoporus of connecting rod (5-4-15) other end with the mouth of the 8th motor (5-4-17) bonded assembly the 3rd retarder (5-4-24), the input end of transmission shaft (5-4-16) is connected with the mouth of the 3rd retarder (5-4-24), main pulley (5-4-18) is housed on the mouth of transmission shaft (5-4-16), main pulley (5-4-18) is with (5-4-19) to be connected with secondary pulley (5-4-20) by second synchronously, secondary pulley (5-4-20) is packed on the end of fulcrum (5-4-21), fulcrum (5-4-21) is contained in the wheel seat (5-4-14), and two road wheels (5-4-23) are packed in the two ends of fulcrum (5-4-21) respectively.
4. move and space truss climbing dual-purpose double-arm hand mobile robot on ground according to claim 2, it is characterized in that: it also contains two to pawl (5-3-10), the baseplane that moving pawl on the described moving pawl (5-3-2) is held groove (5-3-2-1) is provided with moving pawl dovetail furrow (5-3-2-2), the described pawl of deciding on the pawl (5-3-1) of deciding is held groove (5-3-1-1) and moving pawl and is held the relative plane of groove (5-3-2-1) and be provided with and decide pawl dovetail furrow (5-3-1-2), each is provided with groove (5-3-10-1) to pawl (5-3-10) side end face, each is provided with dovetail (5-3-10-2) to pawl (5-3-10) opposite side end face, and two are separately positioned on moving pawl dovetail furrow (5-3-2-2) to pawl (5-3-10) and decide in the pawl dovetail furrow (5-3-1-2).
5. move and space truss climbing dual-purpose double-arm hand mobile robot on ground according to claim 4, it is characterized in that: described groove (5-3-10-1) is semi-circular recesses or rectangular recess.
6. move and space truss climbing dual-purpose double-arm hand mobile robot on ground according to claim 5, it is characterized in that: decide pawl (5-3-1) and go up and to decide pawl and hold the entrance of groove (5-3-1-1) and be provided with and decide pawl groove (5-3-1-3), the entrance that moving pawl (5-3-2) upper moveable claw is held groove (5-3-2-1) is provided with moves pawl groove (5-3-2-3).
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| CN2008102097754A CN101434268B (en) | 2008-12-24 | 2008-12-24 | Dual-purpose double-arm mobile robot for moving on ground and climbing on space truss |
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| CN2008102097754A CN101434268B (en) | 2008-12-24 | 2008-12-24 | Dual-purpose double-arm mobile robot for moving on ground and climbing on space truss |
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| CN101434268B true CN101434268B (en) | 2010-06-02 |
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| CN102923206A (en) * | 2012-11-02 | 2013-02-13 | 上海电机学院 | Climbing robot and climbing mode thereof |
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| CN103950030B (en) * | 2014-04-28 | 2015-11-04 | 东北大学 | A kind of four-footed climbing mobile robot |
| CN104802156A (en) * | 2015-05-15 | 2015-07-29 | 广东中聪机器人科技有限公司 | Dual-arm robot |
| CN106410544A (en) * | 2015-07-22 | 2017-02-15 | 北京雷动云合智能技术有限公司 | Robot universal expansion interface |
| CN109048961B (en) * | 2018-09-19 | 2021-10-01 | 哈尔滨工业大学 | Truss climbing robot capable of swinging and grabbing remote truss rod and control method thereof |
| CN111376263B (en) * | 2018-12-29 | 2022-08-02 | 沈阳新松机器人自动化股份有限公司 | Human-computer cooperation system of compound robot and cross coupling force control method thereof |
| CN111673340A (en) * | 2020-06-19 | 2020-09-18 | 刘晨辉 | Welding robot |
| CN115488872B (en) * | 2022-09-23 | 2023-07-14 | 哈尔滨工业大学（深圳） | Motor and compensation mechanism hybrid driving rope driven mechanical leg based on suspension arm hinge type joint |
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