CN102672701B - Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination - Google Patents
Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination Download PDFInfo
- Publication number
- CN102672701B CN102672701B CN201210144118.2A CN201210144118A CN102672701B CN 102672701 B CN102672701 B CN 102672701B CN 201210144118 A CN201210144118 A CN 201210144118A CN 102672701 B CN102672701 B CN 102672701B
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- arm
- instrument
- clamping arm
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination, which is used for carrying out bomb disposal and explosion elimination by imitating the action of an operator in various complex terrains. The master-slave robot is characterized in that a left clamping hand and a right tool hand are respectively arranged on a rotating disc of a rack; the left clamping hand and the right tool hand are respectively provided with seven rotating pairs designed by imitating the hand of a human; small-sized motors and bevel gears are arranged at the finger joints of the clamping hands; a tool drum of the tool hand is provided with a rack which form a gear pair together with gears of the motors; the tool hand is respectively provided with tool pliers, a tool drilling knife and a screwdriver; the two sides of the rack are provided with crawler wheels in a staggered manner; the crawler wheels are in an assembling connection with vibrators, swinging arms and rotating-angle transmission shafts; and the front wheels of the crawler wheels are driving wheels, the motors are arranged in the axial direction of the driving wheels, a big gear is arranged in the middle and bearing wheels are arranged at the two sides. The master-slave robot has the advantages that the adaptability to more complex terrains is achieved, the obstacle-crossing capability is strong, complex and accurate bomb disposal action can be realized and the tool is easy to change due to modularization.
Description
Technical field
The present invention relates to dismantle explosive principal and subordinate robot, the particularly explosive principal and subordinate robot of the accurate bomb disposal of a kind of high obstacle detouring for carrying out bomb in the imitative consistency operation personnel action of various complex-terrains.
Background technology
Since entering 21 century, the war against terror has become current main war situation, terrorist has brought sizable harm to society, and terrorist's crime means is by mainly carrying out target to lay bomb, bring various uneasinesses with frightened to society, therefore various explosive-removal robots is used to the war against terror, but traditional explosive-removal robot is generally to detonate the device or violence destruction of bomb, and it also has certain breaking-up to scene.But sometimes on-the-spot destruction also can be brought huge loss, and traditional explosive-removal robot also has certain requirement to landform, and that adapts to various landform.So we need a kind of bomb disposal voluntarily scene also to be protected and environment is had the explosive-removal robot of high adaptive capacity.
Summary of the invention
The object of the invention is to propose a kind ofly can carry out the explosive explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring of bomb disposal at various complex-terrains.
The present invention is achieved by the following technical solutions.
The principal and subordinate robot that the accurate bomb disposal of high obstacle detouring is explosive, comprises clamping arm device, instrument arm device, frame and creeper undercarriage; Wherein: described clamping arm device forms by clamping hand, clamping arm, clamping arm the first revolute pair, clamping arm the second revolute pair, clamping arm the 3rd revolute pair, clamping arm the 4th revolute pair, clamping arm the 5th revolute pair, clamping arm the 6th revolute pair, clamping arm the 7th revolute pair; Clamping arm is flexibly connected with clamping hand by clamping arm the first revolute pair, clamping arm the second revolute pair, clamping arm the 3rd revolute pair, clamping arm the 4th revolute pair, clamping arm the 5th revolute pair, clamping arm the 6th revolute pair, clamping arm the 7th revolute pair successively;
Described clamping hand rotates finger, root fixed finger, finger cursor, mechanical palm seat, finger the first revolute pair, finger the second revolute pair and finger the 3rd revolute pair by root and forms; Machinery palm seat below is provided with finger cursor, machinery palm seat is provided with root and rotates finger, root fixed finger is flexibly connected with finger the first revolute pair that root rotates finger by mechanical palm seat, point the first revolute pair and be flexibly connected with finger the second revolute pair, finger the second revolute pair is flexibly connected with finger the 3rd revolute pair; Root rotates in finger and is provided with micro-machine;
Described instrument arm device is made up of instrument hand, instrument arm, instrument arm the first revolute pair, instrument arm the second revolute pair, instrument arm the 3rd revolute pair, instrument arm the 4th revolute pair, instrument arm the 5th revolute pair, instrument arm the 6th revolute pair, instrument arm the 7th revolute pair; Instrument arm is flexibly connected with instrument hand by instrument arm the first revolute pair, instrument arm the second revolute pair, instrument arm the 3rd revolute pair, instrument arm the 4th revolute pair, instrument arm the 5th revolute pair, instrument arm the 6th revolute pair, instrument arm the 7th revolute pair successively;
Described instrument hand is made up of tool feed gear, tool tong, tool feed tooth bar, tool barrel, instrument brill cutter, screwdriver, guide rail; The barrel of tool barrel is provided with tool feed gear, tool feed tooth bar, guide rail, and one end of tool barrel is provided with instrument and bores cutter, screwdriver and tool tong;
Described frame is made up of front damping wheel, rear damping wheel, swing arm, front wheel angle power transmission shaft, trailing wheel rotary driving axle and manipulator rotating disk; Frame is provided with swing arm, and swing arm connects by front damping wheel, rear damping wheel, front wheel angle power transmission shaft, trailing wheel rotary driving axle;
Described creeper undercarriage comprises rear Athey wheel and front Athey wheel, and rear Athey wheel and front Athey wheel mutually stagger and be installed on the both sides of frame, in rear Athey wheel and front Athey wheel, are provided with crawler driving whell.
When work, provide the power of walking by the rotation of rear crawler driving whell, and the speed difference that changes both sides crawler belts can be realized and turning to.Each Athey wheel can independently rotate around frame, so Athey wheel is collapsible also deployable, launches different angles and can cross different obstacles.
The principal and subordinate robot that the accurate bomb disposal of high obstacle detouring is explosive, wherein: described clamping arm device and instrument arm device, totally 7 frees degree; Clamping arm the first revolute pair, clamping arm the second revolute pair, clamping arm the 3rd revolute pair, clamping arm the 4th revolute pair, clamping arm the 5th revolute pair, clamping arm the 6th revolute pair and clamping arm the 7th revolute pair totally seven revolute pairs of clamping arm device, maximum elongation 950mm; Instrument arm the first revolute pair, instrument arm the second revolute pair, instrument arm the 3rd revolute pair, instrument arm the 4th revolute pair, instrument arm the 5th revolute pair, instrument arm the 6th revolute pair and instrument arm the 7th revolute pair totally seven revolute pairs of instrument arm device, maximum elongation 970mm; 0 °-360 ° of the corners of clamping arm first revolute pair of clamping arm device, 0 °-360 ° of the corners of instrument arm first revolute pair of instrument arm device; 0 °-60 ° of the corners of clamping arm second revolute pair of clamping arm device, 0 °-60 ° of the corners of instrument arm second revolute pair of instrument arm device; 60 °-150 ° of the corners of clamping arm the 3rd revolute pair of clamping arm device, 60 °-150 ° of the corners of instrument arm the 3rd revolute pair of instrument arm device; 60 °-180 ° of the corners of clamping arm the 4th revolute pair of clamping arm device, instrument arm the 4th revolute pair of instrument arm device 60 °-180 ° of corners; 0 °-230 ° of the corners of clamping arm the 5th revolute pair of clamping arm device, 0 °-230 ° of the corners of instrument arm the 5th revolute pair of instrument arm device; 0 °-150 ° of the corners of clamping arm the 6th revolute pair of clamping arm device, 0 °-150 ° of the corners of instrument arm the 6th revolute pair of instrument arm device; 0 °-360 ° of the corners of clamping arm the 7th revolute pair of clamping arm device, 0 °-360 ° of the corners of instrument arm the 7th revolute pair of instrument arm device.
The principal and subordinate robot that the accurate bomb disposal of high obstacle detouring is explosive, wherein: 60 °-90 ° of the angles of rotation of finger first revolute pair of described clamping hand, 60 °-180 ° of finger the second revolute pair corners, 90 °-180 ° of finger the 3rd revolute pair corners.
The principal and subordinate robot that the accurate bomb disposal of high obstacle detouring is explosive, wherein: it is 13km/h that the highest line of described robot enters speed, maximum ramp angle is 45 °.
The principal and subordinate robot that the accurate bomb disposal of high obstacle detouring is explosive, wherein: the flexible scope of tool barrel of described instrument hand is 0-63mm, the rotating speed 30r/min of tool barrel inside micro motor.
Advantage of the present invention is: the design of the manipulator of the explosive principal and subordinate robot of bomb disposal can make it follow consistency operation personnel's arm action by electronic inductor; reach and replaced the accurate bomb disposal of people explosive; perfection keeps the scene intact; and the design of its unique walking mechanism makes it have more environmental suitability compared with robot in the past, so its scope of application is more wide.
Brief description of the drawings
Fig. 1 is the schematic perspective view of integrated model of the present invention;
Fig. 2 is the perspective view of frame 10;
Fig. 3 is the perspective view of manipulator;
Fig. 4 is the structural upright schematic diagram of clamping hand 3;
Fig. 5 is the structural upright schematic diagram of instrument hand 1;
Number in the figure is respectively: instrument hand 1, instrument arm 2, clamping hand 3, clamping arm 4, rear Athey wheel 5, front Athey wheel 6, rear shock absorber 7, front damper 8, Athey wheel driving wheel 9, frame 10, swing arm 11, front wheel angle power transmission shaft 12, trailing wheel rotary driving axle 13, instrument arm the first revolute pair 14, instrument arm the second revolute pair 15, instrument arm the 3rd revolute pair 16, instrument arm the 4th revolute pair 17, instrument arm the 5th revolute pair 18, instrument arm the 6th revolute pair 19, instrument arm the 7th revolute pair 20, clamping arm the first revolute pair 21, clamping arm the second revolute pair 22, clamping arm the 3rd revolute pair 23, clamping arm the 4th revolute pair 24, clamping arm the 5th revolute pair 25, clamping arm the 6th revolute pair 26, clamping arm the 7th revolute pair 27, root rotates finger 28, root fixed finger 29, finger cursor 30, machinery palm seat 31, point the first revolute pair 32, point the second revolute pair 33, point the 3rd revolute pair 34, micro-machine 35, screwdriver 36, guide rail 37, tool tong 38, tool feed gear 39, tool feed tooth bar 40, tool barrel 41, instrument bores cutter 42.
Detailed description of the invention
Embodiment 1, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, comprise clamping arm device, instrument arm device, frame 10 and creeper undercarriage; Wherein: described clamping arm device forms by clamping hand 3, clamping arm 4, clamping arm the first revolute pair 21, clamping arm the second revolute pair 22, clamping arm the 3rd revolute pair 23, clamping arm the 4th revolute pair 24, clamping arm the 5th revolute pair 25, clamping arm the 6th revolute pair 26, clamping arm the 7th revolute pair 27; Described clamping hand 3 rotates finger 28, root fixed finger 29, finger cursor 30, mechanical palm seat 31, finger the first revolute pair 32, finger the second revolute pair 33 and finger the 3rd revolute pair 34 by root and forms; Described instrument arm device is made up of instrument hand 1, instrument arm 2, instrument arm the first revolute pair 14, instrument arm the second revolute pair 15, instrument arm the 3rd revolute pair 16, instrument arm the 4th revolute pair 17, instrument arm the 5th revolute pair 18, instrument arm the 6th revolute pair 19, instrument arm the 7th revolute pair 20; Described instrument hand 1 is made up of tool feed gear 39, tool tong 38, tool feed tooth bar 40, tool barrel 41, instrument brill cutter 42, screwdriver 36, guide rail 37; Described frame 10 is made up of front damping wheel 7, rear damping wheel 8, swing arm 11, front wheel angle power transmission shaft 12, trailing wheel rotary driving axle 13 and manipulator rotating disk; Described creeper undercarriage comprises rear Athey wheel 5 and front Athey wheel 6.
Embodiment 2, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, comprise clamping arm device, instrument arm device, frame 10 and creeper undercarriage; Wherein: described clamping arm device forms by clamping hand 3, clamping arm 4, clamping arm the first revolute pair 21, clamping arm the second revolute pair 22, clamping arm the 3rd revolute pair 23, clamping arm the 4th revolute pair 24, clamping arm the 5th revolute pair 25, clamping arm the 6th revolute pair 26, clamping arm the 7th revolute pair 27; Clamping arm 4 is flexibly connected with clamping hand 3 by clamping arm the first revolute pair 21, clamping arm the second revolute pair 22, clamping arm the 3rd revolute pair 23, clamping arm the 4th revolute pair 24, clamping arm the 5th revolute pair 25, clamping arm the 6th revolute pair 26, clamping arm the 7th revolute pair 27 successively;
Described clamping hand 3 rotates finger 28, root fixed finger 29, finger cursor 30, mechanical palm seat 31, finger the first revolute pair 32, finger the second revolute pair 33 and finger the 3rd revolute pair 34 by root and forms; Machinery palm seat 31 belows are provided with finger cursor 30, machinery palm seat 31 is provided with root and rotates finger 28, root fixed finger 29 is flexibly connected with finger the first revolute pair 32 that root rotates finger 28 by mechanical palm seat 31, point the first revolute pair 32 and be flexibly connected with finger the second revolute pair 33, finger the second revolute pair 33 is flexibly connected with finger the 3rd revolute pair 34; Root rotates in finger 28 and is provided with micro-machine 35;
Described instrument arm device is made up of instrument hand 1, instrument arm 2, instrument arm the first revolute pair 14, instrument arm the second revolute pair 15, instrument arm the 3rd revolute pair 16, instrument arm the 4th revolute pair 17, instrument arm the 5th revolute pair 18, instrument arm the 6th revolute pair 19, instrument arm the 7th revolute pair 20; Instrument arm 2 is flexibly connected with instrument hand 1 by instrument arm the first revolute pair 14, instrument arm the second revolute pair 15, instrument arm the 3rd revolute pair 16, instrument arm the 4th revolute pair 17, instrument arm the 5th revolute pair 18, instrument arm the 6th revolute pair 19, instrument arm the 7th revolute pair 20 successively;
Described instrument hand 1 is made up of tool feed gear 39, tool tong 38, tool feed tooth bar 40, tool barrel 41, instrument brill cutter 42, screwdriver 36, guide rail 37; The barrel of tool barrel 41 is provided with tool feed gear 39, tool feed tooth bar 40, guide rail 37, and one end of tool barrel 41 is provided with instrument and bores cutter 42, screwdriver 36 and tool tong 38;
Described frame 10 is made up of front damping wheel 7, rear damping wheel 8, swing arm 11, front wheel angle power transmission shaft 12, trailing wheel rotary driving axle 13 and manipulator rotating disk; Frame 10 is provided with swing arm 11, and swing arm 11 connects by front damping wheel 7, rear damping wheel 8, front wheel angle power transmission shaft 12, trailing wheel rotary driving axle 13;
Described creeper undercarriage comprises rear Athey wheel 5 and front Athey wheel 6, and rear Athey wheel 5 mutually staggers and is installed on the both sides of frame 10 with front Athey wheel 6, in rear Athey wheel 5 and front Athey wheel 6, is provided with crawler driving whell 9.
When work, 4 Athey wheels are installed in frame 10 both sides, and formation creeper undercarriage, front damping wheel 7, rear damping wheel 8, swing arm 11 form the shock-damping structure of robot, play cushioning effect.Front wheel angle power transmission shaft 12, trailing wheel rotary driving axle 13, motor, gearbox make each Athey wheel independently do 360 ° relative to frame 10 to rotate, improved robot to all-environment adaptability.Provide the power of walking by the rotation of crawler driving whell 9, and the speed difference that changes both sides crawler belts can be realized and turning to.Each Athey wheel can independent rotate around frame 10, so Athey wheel class is folding also deployable, launches different angles and can cross different obstacles.
Embodiment 3, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, wherein: described clamping arm device and instrument arm device, totally 7 frees degree; Clamping arm the first revolute pair 21, clamping arm the second revolute pair 22, clamping arm the 3rd revolute pair 23, clamping arm the 4th revolute pair 24, clamping arm the 5th revolute pair 25, clamping arm the 6th revolute pair 26 and clamping arm the 7th revolute pair 27 totally seven revolute pairs of clamping arm device, maximum elongation 950mm; Instrument arm the first revolute pair 14, instrument arm the second revolute pair 15, instrument arm the 3rd revolute pair 16, instrument arm the 4th revolute pair 17, instrument arm the 5th revolute pair 18, instrument arm the 6th revolute pair 19 and instrument arm the 7th revolute pair 20 totally seven revolute pairs of instrument arm device, maximum elongation 970mm; 0 °-360 ° of the corners of clamping arm first revolute pair 21 of clamping arm device, 0 °-360 ° of the corners of instrument arm first revolute pair 14 of instrument arm device; 0 °-60 ° of the corners of clamping arm second revolute pair 22 of clamping arm device, 0 °-60 ° of the corners of instrument arm second revolute pair 15 of instrument arm device; 60 °-150 ° of the corners of clamping arm the 3rd revolute pair 23 of clamping arm device, 60 °-150 ° of the corners of instrument arm the 3rd revolute pair 16 of instrument arm device; 60 °-180 ° of the corners of clamping arm the 4th revolute pair 24 of clamping arm device, instrument arm the 4th revolute pair 17 of instrument arm device 60 °-180 ° of corners; 0 °-230 ° of the corners of clamping arm the 5th revolute pair 25 of clamping arm device, 0 °-230 ° of the corners of instrument arm the 5th revolute pair 18 of instrument arm device; 0 °-150 ° of the corners of clamping arm the 6th revolute pair 26 of clamping arm device, 0 °-150 ° of the corners of instrument arm the 6th revolute pair 19 of instrument arm device; 0 °-360 ° of the corners of clamping arm the 7th revolute pair 27 of clamping arm device, 0 °-360 ° of the corners of instrument arm the 7th revolute pair 20 of instrument arm device.All the other are with embodiment 1 or 2.
Embodiment 4, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, wherein: 60 °-90 ° of the angles of rotation of finger first revolute pair 32 of described clamping hand 3,60 °-180 ° of finger the second revolute pair 33 corners, 90 °-180 ° of finger the 3rd revolute pair 34 corners.All the other are with embodiment 1 or 2.
Embodiment 5, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, wherein: it is 13km/h that the highest line of described robot enters speed, maximum ramp angle is 45 °.All the other are with embodiment 1 or 2.
Embodiment 6, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, wherein: the flexible scope of tool barrel 41 of described instrument hand 1 is 0-63mm, the rotating speed 30r/min of tool barrel 41 inside micro motors.All the other are with embodiment 1 or 2.
Embodiment 7, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, wherein: the gait of march 13km/h of described robot, ramp angle is 0 °.All the other are with embodiment 1 or 2 or 5.
Embodiment 8, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, wherein: the gait of march 9km/h of described robot, ramp angle is 20 °.All the other are with embodiment 1 or 2 or 5.
Embodiment 9, the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, wherein: the gait of march 5km/h of described robot, ramp angle is 45 °.All the other are with embodiment 1 or 2 or 5.
Operation principle:
This robot carrys out Long-distance Control by radio, and robot itself is equipped with that signal is added and transmitter, the power source of robot come from self with supply unit.
When finding somewhere bomb or needing Pai Gai robot to carry out front row bullet, the people that first starts the machine, manipulation personnel on backstage by the running gear of the live view control on workbench.The rear Athey wheel 5 of front Athey wheel 6 in running gear is all drive, and they can do taking the connecting axle that is connected with frame 10 as rotary middle spindle 360 ° of rotations.Backstage personnel realize turning by the speed difference of the left and right sides of control, directly walk.In the time being narrow and anxious bend, can make Athey wheel rotate around connecting axle above, realize inwardly folding Athey wheel, shorten the domain length of robot to pass through bend.Moreover, can also come by different obstacles by controlling left and right or the difference in height of front and back Athey wheel, as crossed gully, stair climbing etc.
Find after bomb, capture and remove the veil covering on bomb by the clamping hand of manipulation copy man arm design, to dismantle bomb below.Clamping arm 4 is designed to 7 free degree arms of copy man arm structure by low pairs replacing high pair, be respectively clamping arm the first revolute pair 21, clamping arm the second revolute pair 22, clamping arm the 3rd revolute pair 23, clamping arm the 4th revolute pair 24, clamping arm the 5th revolute pair 25, clamping arm the 6th revolute pair 26 and clamping arm the 7th revolute pair 27.Catch the action message in clothing seizure each joint of human arm by a set of arm action that is through upper part of human body, and convert action message to telecommunications breath by transcriber, the size of controlling electric current is carried out the rotating speed of the motor in each joint of control arm, the action of human arm is reproduced out on the clamping arm 4 of robot, have synchronism strong, operator is closer to direct operation form and manipulate the advantages such as easy.Clamping hand has three imitation human fingers, and two is root fixed finger 29 for root rotates 28, one, finger.Every rotation finger can be along 120 ° of rotations of mechanical palm seat, and three fingers are bending as finger, hand by people is controlled, people's left hand is with the gloves close with motion capture clothing function, catch the action of finger, pass through transcriber, the root of information being passed to robot rotates finger 28 and root fixed finger 29, in the time running into difform veil, by adjusting root rotation finger 28 and the root fixed finger 29 circumferential relative position at mechanical palm, and control finger curves inwardly to capture object.The apery of this manipulator designs, and can reproduce people's action, so operating personnel can be as controlled clamping hand, therefore more accurately efficiently the hand drawing oneself up.
Remove after veil, the type that the live view that the operating personnel on backstage can be transmitted from front by robotic vision system is observed bomb is looked for and is looked for bomb disposal countermeasure.Clamp hand by control bomb is fixed in original place, prevent from setting off an explosion because of mobile.After fixing bomb, dismantle bomb by instrument hand again, the design of instrument arm 2 is the same with the design of clamping arm 4, copy man arm also can reproduce the action of people's the right hand, and control and refer to that tool tong 38, instrument bore the switching of cutter 42 and screwdriver 36 by the finger of left hand, the real-time pictures that consistency operation personnel are transmitted by robot is carried out the contraposition of instrument and bomb, implements on-the-spot bomb disposal.This design has been brought great help for efficient accurately bomb disposal.Different instruments according to the structural material consistency operation personnel of bomb on can select tool hand 1.There are respectively tool tong 38, instrument to bore cutter 42 and screwdriver 36.Each instrument is arranged on tool barrel 41, and the dynamic device of each tool barrel 41 provides running power for instrument.And the switching of each tool barrel 41 is to feed gear 39 and tool feed tooth bar 40 by control tool to make instrument slide to realize along guide rail 37 to switch.In the face of each different demounting procedure can switch different instruments, dismounting bomb.
Claims (5)
1. the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring, comprises clamping arm device, instrument arm device, frame (10) and creeper undercarriage; It is characterized in that: described clamping arm device forms by clamping hand (3), clamping arm (4), clamping arm the first revolute pair (21), clamping arm the second revolute pair (22), clamping arm the 3rd revolute pair (23), clamping arm the 4th revolute pair (24), clamping arm the 5th revolute pair (25), clamping arm the 6th revolute pair (26), clamping arm the 7th revolute pair (27); Clamping arm (4) is flexibly connected with clamping hand (3) by clamping arm the first revolute pair (21), clamping arm the second revolute pair (22), clamping arm the 3rd revolute pair (23), clamping arm the 4th revolute pair (24), clamping arm the 5th revolute pair (25), clamping arm the 6th revolute pair (26), clamping arm the 7th revolute pair (27) successively;
Described clamping hand (3) rotates finger (28), root fixed finger (29), finger cursor (30), mechanical palm seat (31), finger the first revolute pair (32), finger the second revolute pair (33) and finger the 3rd revolute pair (34) by root and forms; Machinery palm seat (31) below is provided with finger cursor (30), machinery palm seat (31) is provided with root and rotates finger (28), root fixed finger (29) is flexibly connected with finger the first revolute pair (32) that root rotates finger (28) by mechanical palm seat (31), point the first revolute pair (32) and be flexibly connected with finger the second revolute pair (33), finger the second revolute pair (33) is flexibly connected with finger the 3rd revolute pair (34); Root rotates in finger (28) and is provided with micro-machine (35);
Described instrument arm device is made up of instrument hand (1), instrument arm (2), instrument arm the first revolute pair (14), instrument arm the second revolute pair (15), instrument arm the 3rd revolute pair (16), instrument arm the 4th revolute pair (17), instrument arm the 5th revolute pair (18), instrument arm the 6th revolute pair (19), instrument arm the 7th revolute pair (20); Instrument arm (2) is flexibly connected with instrument hand (1) by instrument arm the first revolute pair (14), instrument arm the second revolute pair (15), instrument arm the 3rd revolute pair (16), instrument arm the 4th revolute pair (17), instrument arm the 5th revolute pair (18), instrument arm the 6th revolute pair (19), instrument arm the 7th revolute pair (20) successively;
Described instrument hand (1) is made up of tool feed gear (39), tool tong (38), tool feed tooth bar (40), tool barrel (41), instrument brill cutter (42), screwdriver (36), guide rail (37); The barrel of tool barrel (41) is provided with tool feed tooth bar (40), guide rail (37), one end of tool barrel (41) is provided with instrument and bores cutter (42), screwdriver (36) and tool tong (38), tool feed gear (39) is connected with micro-machine (35), by tool feed gear (39) and tool feed tooth bar (40), instrument is slided along guide rail (37);
Described frame (10) is made up of front damping wheel (7), rear damping wheel (8), swing arm (11), front wheel angle power transmission shaft (12), trailing wheel rotary driving axle (13) and manipulator rotating disk; Frame (10) is provided with 4 swing arms (11), between 4 swing arms (11), can connect by front damping wheel (7), rear damping wheel (8), front wheel angle power transmission shaft (12), trailing wheel rotary driving axle (13);
Described creeper undercarriage comprises rear Athey wheel (5) and front Athey wheel (6), rear Athey wheel (5) mutually staggers and is installed on the both sides of frame (10) with front Athey wheel (6), in rear Athey wheel (5) and front Athey wheel (6), is provided with crawler driving whell (9).
2. the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring as claimed in claim 1, is characterized in that: described clamping arm device and instrument arm device, totally 7 frees degree; Clamping arm the first revolute pair (21), clamping arm the second revolute pair (22), clamping arm the 3rd revolute pair (23), clamping arm the 4th revolute pair (24), clamping arm the 5th revolute pair (25), clamping arm the 6th revolute pair (26) and clamping arm the 7th revolute pair (27) totally seven revolute pairs of clamping arm device, the maximum elongation 950mm of clamping arm; Instrument arm the first revolute pair (14), instrument arm the second revolute pair (15), instrument arm the 3rd revolute pair (16), instrument arm the 4th revolute pair (17), instrument arm the 5th revolute pair (18), instrument arm the 6th revolute pair (19) and instrument arm the 7th revolute pair (20) totally seven revolute pairs of instrument arm device, the maximum elongation 970mm of instrument arm; 0 °-360 ° of the corners of clamping arm first revolute pair (21) of clamping arm device, 0 °-360 ° of the corners of instrument arm first revolute pair (14) of instrument arm device; 0 °-60 ° of the corners of clamping arm second revolute pair (22) of clamping arm device, 0 °-60 ° of the corners of instrument arm second revolute pair (15) of instrument arm device; 60 °-150 ° of the corners of clamping arm the 3rd revolute pair (23) of clamping arm device, 60 °-150 ° of the corners of instrument arm the 3rd revolute pair (16) of instrument arm device; 60 °-180 ° of the corners of clamping arm the 4th revolute pair (24) of clamping arm device, 60 °-180 ° of the corners of instrument arm the 4th revolute pair (17) of instrument arm device; 0 °-230 ° of the corners of clamping arm the 5th revolute pair (25) of clamping arm device, 0 °-230 ° of the corners of instrument arm the 5th revolute pair (18) of instrument arm device; 0 °-150 ° of the corners of clamping arm the 6th revolute pair (26) of clamping arm device, 0 °-150 ° of the corners of instrument arm the 6th revolute pair (19) of instrument arm device; 0 °-360 ° of the corners of clamping arm the 7th revolute pair (27) of clamping arm device, 0 °-360 ° of the corners of instrument arm the 7th revolute pair (20) of instrument arm device.
3. the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring as claimed in claim 1 or 2, it is characterized in that: 60 °-90 ° of the angles of rotation of finger first revolute pair (32) of described clamping hand (3), point 60 °-180 ° of the second revolute pair (33) corners, 90 °-180 ° of finger the 3rd revolute pair (34) corners.
4. the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring as claimed in claim 1 or 2, is characterized in that: it is 13km/h that the highest line of described robot enters speed, maximum ramp angle is 45 °.
5. the explosive principal and subordinate robot of the accurate bomb disposal of high obstacle detouring as claimed in claim 1 or 2, it is characterized in that: the flexible scope of tool barrel (41) of described instrument hand (1) is 0-63mm, the rotating speed 30r/min of tool barrel (41) inside micro motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210144118.2A CN102672701B (en) | 2012-04-27 | 2012-04-27 | Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210144118.2A CN102672701B (en) | 2012-04-27 | 2012-04-27 | Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102672701A CN102672701A (en) | 2012-09-19 |
| CN102672701B true CN102672701B (en) | 2014-09-17 |
Family
ID=46805594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210144118.2A Expired - Fee Related CN102672701B (en) | 2012-04-27 | 2012-04-27 | Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102672701B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029116B (en) * | 2012-12-29 | 2015-03-11 | 四川汉舟电气有限公司 | Intelligent manipulator |
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
| CN105758271B (en) * | 2016-03-08 | 2017-08-25 | 北京空间飞行器总体设计部 | It is a kind of to take turns the explosive-removal robot that leg arm tank is combined |
| CN105856186A (en) * | 2016-04-11 | 2016-08-17 | 上海电力学院 | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof |
| CN106314493A (en) * | 2016-08-22 | 2017-01-11 | 国网山东省电力公司昌乐县供电公司 | Electric pole handling device for complex terrains |
| US11199381B2 (en) * | 2016-12-13 | 2021-12-14 | Demine Robotics Inc. | Landmine excabator and neutralizer and related methods |
| IT201700032682A1 (en) * | 2017-03-24 | 2018-09-24 | Zona Eng & Design S A S Di Zona Mauro & C | HIGH-MOBILITY ATV VEHICLE, FOR USE, FOR EXAMPLE, IN CIVIL EMERGENCY AND RESCUE ACTIVITIES, IN AGRICULTURAL FIELD OR IN EARTH MOVEMENT ACTIVITY |
| CN109973707A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of valve automatic open close tool |
| CN109973757B (en) * | 2017-12-28 | 2020-04-07 | 中国科学院沈阳自动化研究所 | Under-actuated climbing robot based on overrunning clutch mechanism |
| CN108408395B (en) * | 2018-03-05 | 2023-07-11 | 江南大学 | Movable asymmetric double-arm cooperative robot |
| CN108393870B (en) * | 2018-03-05 | 2023-09-15 | 江南大学 | Asymmetric double-arm cooperative robot |
| CN108748182A (en) * | 2018-06-12 | 2018-11-06 | 芜湖乐创电子科技有限公司 | A kind of wiring machines people based on visualization control |
| CN109176455A (en) * | 2018-10-13 | 2019-01-11 | 东北石油大学 | More mechanical arm quadruped robots |
| CN109434856B (en) * | 2018-12-29 | 2021-10-29 | 烟台军星特种装备有限公司 | Bullet removing robot |
| CN110451150A (en) * | 2019-08-28 | 2019-11-15 | 成都侠客颂科技有限公司 | It a kind of automated storage and retrieval system and its gets in stocks and picking working method |
| CN110774296A (en) * | 2019-12-05 | 2020-02-11 | 苏州融萃特种机器人有限公司 | Device and method for destroying unexploded bomb |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN101362330A (en) * | 2008-09-27 | 2009-02-11 | 公安部上海消防研究所 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004268184A (en) * | 2003-03-07 | 2004-09-30 | Rikogaku Shinkokai | Remote manual mechanism type operation hand |
| US20110017030A1 (en) * | 2009-01-16 | 2011-01-27 | Paul Chambers | Universal cutting tool for use with legacy and new generation explosive ordinance disposal (eod) robots |
-
2012
- 2012-04-27 CN CN201210144118.2A patent/CN102672701B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN101362330A (en) * | 2008-09-27 | 2009-02-11 | 公安部上海消防研究所 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
Non-Patent Citations (3)
| Title |
|---|
| JP特开2004-268184A 2004.09.30 |
| 刘强、张铁、李琳等.排爆机器人结构设计及其优化.《机电工程技术》.2004,第33卷(第3期),第61-62页. * |
| 聂伟,赵雁,贾小刚.六自由度排爆机器人操作臂运动分析.《设计.研究.分析》.2009,(第1期),第45-47页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102672701A (en) | 2012-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102672701B (en) | Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination | |
| Klamt et al. | Remote mobile manipulation with the centauro robot: Full‐body telepresence and autonomous operator assistance | |
| Kwon et al. | A flat pipeline inspection robot with two wheel chains | |
| CN105711672B (en) | A kind of walking climbing robot based on articular couple handwheel | |
| CN105947010B (en) | One kind becomes diameter adaptive obstacle detouring climbing robot | |
| CN102923206A (en) | Climbing robot and climbing mode thereof | |
| CN108406726A (en) | A kind of wheel type movable machine explosive-removal robot | |
| CN103895022A (en) | Wearable type somatosensory control mechanical arm | |
| CN105058413B (en) | Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism | |
| Kang et al. | ROBHAZ-DT2: Design and integration of passive double tracked mobile manipulator system for explosive ordnance disposal | |
| CN105109572A (en) | Single-leg structure for wheel-legged type robot in leg-arm mixing operation | |
| CN102773860A (en) | Throwable variable structure spherical robot | |
| Rodehutskors et al. | Intuitive bimanual telemanipulation under communication restrictions by immersive 3D visualization and motion tracking | |
| JP4299583B2 (en) | Legged mobile robot | |
| CN104526678A (en) | Explosive-handling robot | |
| CN104986240A (en) | Linear driving walking robot leg structure and parallel four-footed walking robot | |
| Yang et al. | The snake-inspired robots: a review | |
| Ryu et al. | Wearable haptic-based multi-modal teleoperation of field mobile manipulator for explosive ordnance disposal | |
| CN206748410U (en) | A kind of multi-functional mechanical arm suitable for rugged topography leg-wheel robot | |
| CN207104929U (en) | A kind of tunnel multifunctional intellectual emergency management and rescue caterpillar type robot | |
| CN102587436A (en) | Expansion and excavation device imitated from bone space of flying snake | |
| CN104635915A (en) | Far knuckle force feedback device | |
| CN112278105B (en) | Six-rod mechanism for foot type robot | |
| CN107433580A (en) | A kind of modularization orthohormbic structure snake-shaped robot | |
| Kang et al. | ROBHAZ-DT2: Passive double-tracked mobile manipulator for explosive ordnance disposal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140917 Termination date: 20150427 |
|
| EXPY | Termination of patent right or utility model |