CN102490171A - Robot for disposing dangerous goods and ammunition - Google Patents

Robot for disposing dangerous goods and ammunition Download PDF

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Publication number
CN102490171A
CN102490171A CN2011103729683A CN201110372968A CN102490171A CN 102490171 A CN102490171 A CN 102490171A CN 2011103729683 A CN2011103729683 A CN 2011103729683A CN 201110372968 A CN201110372968 A CN 201110372968A CN 102490171 A CN102490171 A CN 102490171A
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China
Prior art keywords
arm
hinged
wrist
robot
forearm
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CN2011103729683A
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Chinese (zh)
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CN102490171B (en
Inventor
马振书
穆希辉
杜峰坡
孙华刚
卞学良
罗磊
张攀峰
郝建滨
朱汉青
Original Assignee
中国人民解放军总装备部军械技术研究所
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Priority to CN201110372968.3A priority Critical patent/CN102490171B/en
Publication of CN102490171A publication Critical patent/CN102490171A/en
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Abstract

The invention relates to a robot for disposing dangerous goods and ammunition, which is structurally characterized in that a rotation platform and a crawler-type travelling mechanism are mounted on a frame, a mechanical arm is mounted on the rotation platform, a manipulator is connected to the front end of the mechanical arm, a rotation cylinder is mounted on the lower portion of the rotation platform, the mechanical arm comprises a large arm, a small arm, a telescopic arm, a large arm cylinder, a small arm cylinder and a telescopic control motor, and the manipulator comprises a wrist lifting mechanism, a wrist rotating mechanism and a pick-and-place mechanism. The robot is large in grabbing torque, high in precision, fine in stability, wide in operation range, convenient and flexible in control, convenient in operation, stable and reliable in running, high in cost performance and capable of disposing the dangerous goods, the ammunition and the like within a limited distance by means of remote control.

Description

Handle the robot that dangerous material and ammunition are used
Technical field
The present invention relates to a kind of robot, specifically a kind ofly handle the robot that dangerous material and ammunition are used.
Background technology
The work of treatment of dangerous material or ammunition is the work of a thorny also danger close of ten minutes, adopts the mode of artificial treatment to operate at present mostly, and not only explosion hazard is high, and operating efficiency is low.Characteristics of handling to dangerous ammunition and needing are applied to dangerous ammunition work of treatment with Robotics and just seem very necessary.The complete machine structure of current domestic and international similar robot is complicated, and volume is bigger, and weight capacity is less than normal, and operation amplitude and scope also receive certain limitation, and the cost of high performance robot all compares costliness, and has defective such as dismounting maintenance difficult.
Summary of the invention
The object of the invention just provides a kind of robot that dangerous material and ammunition are used that handles, with solve existing high-performance machine people complex structure, weight capacity is little and operation amplitude and range limited problem.
The present invention is achieved in that a kind of robot that dangerous material and ammunition are used that handles, and revolving dial and crawler type walking mechanism are housed on vehicle frame, and mechanical arm is installed on the said revolving dial, is connected to manipulator at the front end of said mechanical arm; The angling cylinder that the control revolving dial rotates is housed in the bottom of said revolving dial; Said mechanical arm comprises big arm, forearm, telescopic arm, big arm oil cylinder, forearm oil cylinder and extension and contraction control motor; Said big arm is hinged on respectively on the said revolving dial with big arm oil cylinder, and the piston rod of the other end of said big arm and said big arm oil cylinder is connected on the said forearm through hinge altogether; Said forearm oil cylinder is hinged on the said big arm, and the piston rod of said forearm oil cylinder is hinged on the said forearm; Said telescopic arm cross-under is installed in the flexible of the said telescopic arm of extension and contraction control Electric Machine Control on the said forearm in said forearm.
Robot of the present invention is the waist joint that joins and constitute robot with angling cylinder and revolving dial, connects and composes shoulder joint with the hinge between big arm and the revolving dial, and with big arm hydraulic oil cylinder driving, realizes the elevating movement of big arm; Between forearm and the big arm is the formation elbow joint that is connected through the hinge, and employing is hinged on the forearm hydraulic oil cylinder driving forearm on the big arm, the elevating movement of realization forearm; Utilize the extension and contraction control motor,, realize the stretching motion of telescopic arm through reducing gear and screw pair.
Said manipulator comprises lifts wrist mechanism, commentaries on classics wrist mechanism and pick-and-place mechanism;
The said wrist mechanism of lifting is hinged with Telescopic handle on said telescopic arm; The back termination pull bar driving mechanism of said Telescopic handle; The front end of said Telescopic handle connects the wrist pedestal through hinged first connecting rod, and said wrist pedestal is hinged on the front end of said telescopic arm;
Said commentaries on classics wrist mechanism is fixed with to change wrist control motor on said wrist pedestal; In the rotating shaft of said commentaries on classics wrist control motor, be connected to driving gear; Said driving gear is meshed with said stem gear, and the rear sleeve of said stem gear is installed in the sleeve pipe of said wrist pedestal through bearing;
Said pick-and-place mechanism is cross-under and be fixed with pick-and-place control motor in the rear sleeve of said stem gear, and the rotating shaft of said pick-and-place control motor is docked with leading screw through shaft coupling, on said leading screw, is connected with nut; Front end face at said stem gear is fixed with terminal pad, on said terminal pad, is hinged with two position opposite finger mechanisms, between each said finger mechanism and said nut, is hinged with the second connecting rod of pulling finger mechanism folding respectively.
Manipulator in the robot of the present invention is with the shelf-reacher of telescopic arm as manipulator, so that manipulator can be deep into working region far away.The said pull bar driving mechanism of lifting in the wrist mechanism is used to control the elongation and the amount of recovery of Telescopic handle, and carries out the elevating movement in the certain angle through the first connecting rod pulling wrist pedestal with the Telescopic handle interlock, realizes that thus the wrist of lifting of manipulator moves.Commentaries on classics wrist control motor-driven driving gear in the said commentaries on classics wrist mechanism drives stem gear and on the wrist pedestal, turns round, and drives the terminal pad that finger mechanism is installed and rotate together, realizes turning over of manipulator thus.Pick-and-place control motor-driven leading screw rotation in the said pick-and-place mechanism through the front and back position conversion of nut on leading screw, drives the finger opening and closing movement that finger mechanism on the terminal pad is realized manipulator.
Said finger mechanism is on the folding arm that refers to rod rear end, to be hinged with the first parallel supporting linkage and second supporting linkage respectively; The rear end of said first supporting linkage and second supporting linkage is hinged on respectively on the said terminal pad, and said second connecting rod and said first supporting linkage are hinged.
Manipulator in the robot of the present invention is through to the elevating movement of manipulator wrist joint part and the control respectively that rotatablely moves; Can make manipulator realize neatly being similar to the pitching of human wrist and rotatablely moving; And can make the finger bar in the finger mechanism of manipulator accurately be in desired various locus and operating attitude; Can in bigger spatial dimension, realize the grasping movement of more complicated, the operation amplitude broad, scope is big.The cooperation control of pick-and-place mechanism through the precision lead screw pair of nut makes that the grip force of finger mechanism of manipulator is big, grasping movement steadily, accurately, weight capacity is big, and continuation is good.
Said crawler type walking mechanism comprises main drive wheel, from driving wheel, traveling crawler, BOGEY WHEEL and travel driving motor, said main drive wheel, the wheel shaft on driving wheel and BOGEY WHEEL are installed on the said vehicle frame through bearing respectively.
In said crawler type walking mechanism, also be provided with track tension device and damping; Said damping is on said vehicle frame, to be hinged with the V-arrangement rocking bar, and a rocking arm of said V-arrangement rocking bar joins through damping spring and said vehicle frame, and another rocking arm of said V-arrangement rocking bar and the axle sleeve of said BOGEY WHEEL join.
On said forearm, camera is installed, on the car body of above-mentioned robot, two-degree-of-freedom cradle head is installed.
The setting of the crawler type walking mechanism of robot of the present invention; Robot can be walked at a high speed on the level land, but also can make the robot road surface of can ascending, leaping over obstacles trench; But have the ability of long-distance remote control operation, thereby be particularly suitable for handling high-risk work such as dangerous material and ammunition.Robot of the present invention make to control simply, and output torque is big through the gyration of angling cylinder drive revolving dial; The pitching of the elevating movement through hydraulic system and the big forearm of electric control system controls, the stretching motion of telescopic arm and wrist pedestal and rotatablely moving makes manipulator can reach desired operating position and is in desired various extracting attitude; Through digital signal processor DSP control pick-and-place control motor, make robot the manipulator grasping objects steadily, strong.
The extracting moment of robot of the present invention is big, and precision is high, and stationarity is good, and job area is wide, control convenient, flexiblely, can limit interior remote control processing dangerous material of distance and ammunition.The weight of robot of the present invention is moderate, can satisfy complicated traffic condition; Its climbing obstacle climbing ability is strong, can be fit to various complex working conditions; Its operation amplitude is wide, and it is big to grasp moment, and stable working property is good, can accomplish the harsh Processing tasks of condition.Robot of the present invention can realize straighforward operation, and is safe and efficient, lower than cost with similar machine physiognomy.
The present invention has the following advantages:
(1) adopt battery, motor-driven, drive the main drive wheel running through turbine and worm decelerator, driving-chain is shorter, and drive system structure is simple, and is easy to maintenance;
(2) on the BOGEY WHEEL of creeper undercarriage, adopt spring shock absorption, improved stationarity and the obstacle climbing ability of robot when walking;
(3) revolution in employing hydraulic-driven waist joint drives the pitching of shoulder joint, elbow joint and wrist pedestal, controls simply, and cost reduces, and output torque improves, and job area is widened;
(4) the opening and hold with a firm grip of the rotation of wrist pedestal, finger mechanism all adopts DC servo motor to drive, and can make that the manipulator location is quick, chucking power is steadily lasting, improved the homework precision of robot;
(5) adopt DSP and optimized Algorithm that hydraulic system and each servomotor are controlled, the control system stability, control accuracy is higher, can satisfy the requirement of the various harsh conditions of dangerous material and ammunition processing preferably;
(6) use The Cloud Terrace and a high-resolution video camera of a two-freedom, constituted robotic vision of the present invention system, be convenient to long-distance remote control operation robot through image processing system;
(7) adopt multi-sensor information fusion technology and man-machine interaction mode, realized the straighforward operation tasks such as safe walking, excavation, clamping, carrying Conveying Dangerous Ammunition of robot.
Robot of the present invention has satisfied versatility, reliability, economy and the standardized requirement of product, convenient operation and control, and stable and reliable operation, cost performance is high.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the structural representation of the manipulator part of robot of the present invention.
Fig. 3 is the partial enlarged drawing of manipulator among Fig. 2.
Among the figure: 1, telescopic arm, 2, change wrist control motor, 3, pick-and-place control motor, 5, the wrist pedestal, 7, bearing, 8, stem gear; 9, first connecting rod, 10, second connecting rod, 11, nut, 12, driving gear, 13, terminal pad, 14, leading screw; 15, refer to bar, 16, first supporting linkage, 17, second supporting linkage, 18, Telescopic handle, 19, the pull bar driving mechanism, 21, the extension and contraction control motor; 22, forearm, 23, big arm, 24, travel driving motor, 25, main drive wheel, 26, traveling crawler, 27, lithium power battery pack; 28, vehicle frame, 29, damping spring, 30, the V-arrangement rocking bar, 31, BOGEY WHEEL, 32, track tension device; 33, angling cylinder, 34, revolving dial, 35, from driving wheel, 36, big arm oil cylinder, 37, the forearm oil cylinder.
The specific embodiment
As shown in Figure 1, robot of the present invention includes car body, mechanical arm and three major parts of manipulator.
Wherein, be provided with vehicle frame 28 in the car body, revolving dial 34 is housed on vehicle frame 28, the angling cylinder 33 that the control revolving dial rotates is housed in the bottom of revolving dial 34.Crawler type walking mechanism also is housed on vehicle frame 28.Crawler type walking mechanism comprises main drive wheel 25, from driving wheel 35, traveling crawler 26, BOGEY WHEEL 31 and travel driving motor 24 etc., main drive wheel 25, the wheel shaft on driving wheel 35 and BOGEY WHEEL 31 are installed on the vehicle frame 28 through bearing respectively.Travel driving motor 24 is driven main drive wheel 25 through the turbine and worm deceleration device and rotates, thereby driven robot ride through traveling crawler 26 by lithium power battery pack 27 power supplies.
In crawler type walking mechanism, also be provided with track tension device 32 and damping.Track tension device 32 is realized crawler tensioning through adjustment main drive wheel 25 and from the distance between the driving wheel 35.Damping is on vehicle frame 28, to be hinged with V-arrangement rocking bar 30, and a rocking arm of V-arrangement rocking bar 30 connects damping spring 29, and the axle sleeve on another rocking arm and BOGEY WHEEL 31 wheel shafts joins.Damping spring 29 is connected on the vehicle frame 28, and has certain initial tensile force, so that the overwhelming majority vibration of robot decay car body through roughness pavement the time guarantees smooth-ride.
Mechanical arm is installed on the revolving dial 34 on the car body.As shown in Figure 1, mechanical arm comprises parts such as big arm 23, forearm 22, telescopic arm 1, big arm oil cylinder 36, forearm oil cylinder 37 and extension and contraction control motor 21.The lower end of big arm 23 and big arm oil cylinder 36 is hinged on respectively on the revolving dial 34, and the piston rod of the upper end of big arm 23 and big arm oil cylinder 36 is connected on the stage casing of forearm 22 altogether through hinge.On big arm 23, be hinged with forearm oil cylinder 37, the piston rod of forearm oil cylinder 37 is hinged on the forearm 22.Telescopic arm 1 cross-under is equipped with extension and contraction control motor 21 at the end of forearm 22 in forearm 22, extension and contraction control motor 21 is flexible through reducing gear and feed screw nut sub-control telescopic arm 1.
Manipulator comprises lifts wrist mechanism, commentaries on classics wrist mechanism and pick-and-place mechanism three parts.
As shown in Figure 2; The said wrist mechanism of lifting is a hinged Telescopic handle 18 on telescopic arm 1; Pull bar driving mechanism 19 is connected on the rear end of Telescopic handle 18; The hinged first connecting rod 9 of the front end of Telescopic handle 18, the other end of first connecting rod 9 is connected on the wrist pedestal 5, and wrist pedestal 5 is hinged on the front end of telescopic arm 1 through bearing pin.What pull bar driving mechanism 19 adopted is the DC brush servomotor, through the motor rotation, controls stretching out and amount of recovery of Telescopic handle 18, and the first connecting rod 9 pulling wrist pedestals 5 through linking, and realizes the elevating movement of wrist in certain angle.
Among Fig. 3, said commentaries on classics wrist mechanism is fixed with to change wrist control motor 2 on wrist pedestal 5, and key is connected with driving gear 12 in the rotating shaft of changeing wrist control motor 2, and driving gear 12 is meshed with stem gear 8.On stem gear 8, be shaped on a rear sleeve with the gear one; This rear sleeve cross-under is fixed in the bearing 7, and bearing 7 can adopt needle bearing, and cross-under also is fixed in the sleeve pipe on the wrist pedestal 5; Thus stem gear 8 is installed on the wrist pedestal 5, and wrist pedestal 5 rotates relatively.Change wrist control motor 2 and on wrist pedestal 5, rotate, realize rotatablely moving of wrist through driving gear 12 drive stem gears 8.
Like Fig. 2, shown in Figure 3, said pick-and-place mechanism is cross-under and be fixed with pick-and-place control motor 3 in the rear sleeve of stem gear 8, and stem gear 8 is passed in the rotating shaft of pick-and-place control motor 3, and connects through shaft coupling and leading screw 14.On leading screw 14, be connected with nut 11, on the front end face of stem gear 8, be fixed with terminal pad 13, on terminal pad 13, be hinged with two relative finger mechanisms of upper-lower position.
Described finger mechanism is that the rear end that on the folding arm that refers to bar 15 rear ends, is hinged with the first parallel supporting linkage 16 and second supporting linkage, 17, the first supporting linkages 16 and second supporting linkage 17 respectively is hinged on respectively on the terminal pad 13.Between the nut 11 and first supporting linkage 16, be hinged with the second connecting rod 10 of pulling finger mechanism folding.Pick-and-place control motor 3 drives leading screw 14 rotations, makes nut 11 on leading screw 14, carry out the front and back position conversion, drives the opening and closing movement that finger mechanism realizes grasping or putting down article through second connecting rod 10 again.
Robot also is equipped with camera (not shown) on said forearm 22, two-degree-of-freedom cradle head (not shown) is installed on the car body of above-mentioned robot, and camera and The Cloud Terrace constitute the robotic vision system through image processing system.
During work, travel driving motor 24 is by lithium power battery pack 27 power supplies, and drive machines people advances, turns to and start-stop; Drive the revolution that revolving dial 34 is realized mechanical arm through angling cylinder 33; Control through hydraulic control system and electric-control system; Realize elevating movement, the telescopic arm 1 of elevating movement, the forearm 22 of big arm 23 stretching motion, wrist pitching and rotatablely move; Make manipulator be in desired operating position and extracting attitude, carry out the pick-and-place of accurate, steady, strong dangerous goods by pick-and-place control motor 3 drives mechanical hand of DSP control.

Claims (6)

1. handle the robot that dangerous material and ammunition are used for one kind; Revolving dial (34) and crawler type walking mechanism are housed on vehicle frame (28); Mechanical arm is installed on the said revolving dial (34); Front end at said mechanical arm is connected to manipulator, it is characterized in that, the angling cylinder (33) that the control revolving dial rotates is housed in the bottom of said revolving dial (34); Said mechanical arm comprises big arm (23), forearm (22), telescopic arm (1), big arm oil cylinder (36), forearm oil cylinder (37) and extension and contraction control motor (21); Said big arm (23) and big arm oil cylinder (36) are hinged on respectively on the said revolving dial (34), and the piston rod of the other end of said big arm (23) and said big arm oil cylinder (36) is connected on the said forearm (22) through hinge altogether; Said forearm oil cylinder (37) is hinged on the said big arm (23), and the piston rod of said forearm oil cylinder (37) is hinged on the said forearm (22); Said telescopic arm (1) cross-under is in said forearm (22), and the extension and contraction control motor (21) that is installed on the said forearm (22) is controlled the flexible of said telescopic arm (1).
2. the robot that processing dangerous material according to claim 1 and ammunition are used is characterized in that, said manipulator comprises lifts wrist mechanism, commentaries on classics wrist mechanism and pick-and-place mechanism;
The said wrist mechanism of lifting is hinged with Telescopic handle (18) on said telescopic arm (1); The back termination pull bar driving mechanism (19) of said Telescopic handle (18); The front end of said Telescopic handle (18) connects wrist pedestal (5) through hinged first connecting rod (9), and said wrist pedestal (5) is hinged on the front end of said telescopic arm (1);
Said commentaries on classics wrist mechanism is fixed with to change wrist control motor (2) on said wrist pedestal (5); In the rotating shaft of said commentaries on classics wrist control motor (2), be connected to driving gear (12); Said driving gear (12) is meshed with said stem gear (8), and the rear sleeve of said stem gear (8) is installed in the sleeve pipe of said wrist pedestal (5) through bearing (7);
Said pick-and-place mechanism is cross-under and be fixed with pick-and-place control motor (3) in the rear sleeve of said stem gear (8); The rotating shaft of said pick-and-place control motor (3) is docked with leading screw (14) through shaft coupling, on said leading screw (14), is connected with nut (11); Front end face at said stem gear (8) is fixed with terminal pad (13); On said terminal pad (13), be hinged with two position opposite finger mechanisms, between each said finger mechanism and said nut (11), be hinged with the second connecting rod (10) of pulling finger mechanism folding respectively.
3. the robot that processing dangerous material according to claim 2 and ammunition are used; It is characterized in that; Said finger mechanism is on the folding arm that refers to bar (15) rear end, to be hinged with parallel first supporting linkage (16) and second supporting linkage (17) respectively; The rear end of said first supporting linkage (16) and second supporting linkage (17) is hinged on respectively on the said terminal pad (13), and said second connecting rod (10) is hinged with said first supporting linkage (16).
4. the robot that uses according to claim 1,2 or 3 described processing dangerous material and ammunition; It is characterized in that; Said crawler type walking mechanism comprises main drive wheel (25), from driving wheel (35), traveling crawler (26), BOGEY WHEEL (31) and travel driving motor (24), said main drive wheel (25), the wheel shaft on driving wheel (35) and BOGEY WHEEL (31) are installed on the said vehicle frame (28) through bearing respectively.
5. the robot that processing dangerous material according to claim 4 and ammunition are used is characterized in that, in said crawler type walking mechanism, also is provided with track tension device (32) and damping; Said damping is on said vehicle frame (28), to be hinged with V-arrangement rocking bar (30); A rocking arm of said V-arrangement rocking bar (30) joins through damping spring (29) and said vehicle frame (28), and the axle sleeve of another rocking arm of said V-arrangement rocking bar (30) and said BOGEY WHEEL (31) joins.
6. the robot that uses according to claim 1,2,3 or 5 described processing dangerous material and ammunition is characterized in that, on said forearm (22), camera is installed, and on the car body of above-mentioned robot, two-degree-of-freedom cradle head is installed.
CN201110372968.3A 2011-11-22 2011-11-22 Robot for disposing dangerous goods and ammunition CN102490171B (en)

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