CN103786159B - Robot - Google Patents
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- CN103786159B CN103786159B CN201410038168.1A CN201410038168A CN103786159B CN 103786159 B CN103786159 B CN 103786159B CN 201410038168 A CN201410038168 A CN 201410038168A CN 103786159 B CN103786159 B CN 103786159B
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Abstract
The invention relates to robots, and discloses a robot for rescuing. The robot comprises a controller, a base plate, a traveling device arranged at the lower end of the base plate, arm devices arranged on the base plate and grapping devices connected with the arm devices. The robot is simple in structure production, no complicated equipment is used, and many functions can be achieved; the control mode that manual control and wired control are combined is adopted in the robot, thus the control difficulty is lowered, the overall construction cost of the robot is low relatively, and meanwhile, the stability and the reliability are also increased; the arm devices can rotate by three hundred and sixty degrees; the width of the robot can be changed, the change range is from 260mm to 410mm, and the robot can pass through a barrier with the width being 240mm to 400mm; the speed is adjustable, and two kinds of speed of low-speed fine adjustment and high-speed running are set.
Description
Technical field
The present invention relates to robot, more particularly to a kind of robot for rescue.
Background technology
The whole world suffers from every year the destruction of substantial amounts of natural calamity and man-made disaster.Huge disaster can cause big face
Long-pending building collapse and casualties, disaster thing most urgent after occurring is exactly to search and rescue the survival being trapped in ruins
Person.Research shows, if these survivors cannot effectively succour within 48 hours, dead possibility will drastically increase
Plus.However, complicated dangerous disaster field brings huge security threat to rescue personnel and survivor, rescue can be also hindered
Work is fast and effeciently carried out.
Disaster field is generally complicated and dangerous, and the factor of impact rescue work mainly has following three kinds：
(1) space limits.Rescue practice have shown that, survivor is generally trapped in those and caves in formed space, fully
Search for these spaces significant.Regrettably these spaces and passage are generally very narrow and small so that rescue personnel is basic
Cannot be introduced into, the prominent reinforcing bar in these places and fragment and other construction materials can bring wound to rescue personnel and rescue dogs again
Evil.
(2) structural instability.The secondary of building collapse may be caused in rescue work to cave in, this can be to rescue personnel
Physiology and psychologically bring huge wound, affect rescue work rapid deployment.
(3) dangerous goods and big fire.After some area damages, inflammable and explosive article etc. is easy to cause big fire.If
It is the occasions such as nuclear power station, chemical plant, without corresponding protection and support, even if well-trained professional rescue personnel can not be light
Easily carry out the work, and putting on safety device can limit perception of the rescue personnel to environment, delay the process of rescue work.
These hazards bring greatly obstruction to disaster assistance work, usually make rescue pay a high price for.
The statistics of emergency relief office of the U.S. shows that 1 survivor is succoured from narrow and small closing space averagely needs 10
The time of 4 hours of rescue personnel's membership dues.
It is therefore desirable to research one kind can improve rescue efficiency, rescued with the miniature of injures and deaths for avoiding or reducing rescue personnel
Help robot.
The content of the invention
Object of the present invention is to provide one kind can improve rescue efficiency, to avoid or reduce the injures and deaths of rescue personnel
Miniature rescue robot.
In order to solve above-mentioned technical problem, the present invention is addressed by following technical proposals：
Robot, including controller, chassis, be arranged on chassis lower end running gear, be arranged on chassis arm dress
The grabbing device put and be connected with arm apparatus；Running gear include being arranged on the first tire of chassis both sides, the second tire and
The retractor device being connected with the second tire, each first tire and the second tire are equipped with first motor；Arm apparatus include
Electric rotating machine, robotic arm upper junction plate and robotic arm upper junction plate that the connecting plate and connecting plate being rotatably connected with chassis is connected
First joint motor of connection, robotic arm lower connecting plate and the second joint motor that is connected with robotic arm lower connecting plate；Crawl dress
The crawl motor being connected with support including pedestal, the claw being connected with pedestal by support and by gear is put, claw is by propping up
Frame is connected with gear；Controller includes control circuit and controlling switch, and the contactor of control circuit is threephase switch.
Preferably, first tire includes left front tire, left rear tire, right front fire and right rear fire, retractor device bag
Screw rod and telescope motor are included, screw rod one end is connected by screw rod shaft coupling with telescope motor, corresponding with the second tire first is electric
Machine lower section is provided with expansion plate, and expansion plate and the first motor corresponding with the second tire are fixedly connected, and chassis lower section is provided with and stretches
The screw rod fixed seat that plate is fixedly connected, screw rod is connected by screw rod fixed seat with expansion plate, and telescope motor passes through screw rod shaft coupling
Screw rod, screw rod is driven to drive expansion plate movement, expansion plate to drive the first motor movement corresponding with the second tire.
Preferably, connecting plate is arranged on chassis by robotic arm shaft coupling, connecting plate is joined by the first joint motor
Axle device is connected with robotic arm upper junction plate one end, and the robotic arm upper junction plate other end is by second joint motor coupler and machine
Arm lower connecting plate one end connects.
Preferably, pedestal is fixedly installed on the robotic arm upper junction plate other end, claw includes the sub and right claw of left claw,
Frame includes first support, second support, the 3rd support and the 4th support, and first support one end and second support one end are and left claw
Son is hinged by rivet, and the first support other end and the second support other end are hinged with pedestal；3rd support one end and the 4th
Support one end is hinged with right claw by rivet, and the 3rd support other end and the 4th support other end are hinged with pedestal.
Preferably, gear includes driving gear and the driven gear engaged with driving gear, crawl motor and driving tooth
Wheel connection, driving gear and driven gear are fixedly installed on pedestal by axle, and driving gear is consolidated with the second support other end
Fixed connection, driven gear is fixedly connected with the 4th support other end.
Preferably, controlling switch is Switching Power Supply.
Preferably, threephase switch is six contacts, and it is three contacts per side, the contact on the left side is named as connects from front to back
Point A, contact B and contact C, the contact on the right is named as from front to back contact D, contact E and contact F, and contact A connects with contact F,
Contact C connects with contact D；Switching Power Supply includes first switch power supply and second switch power supply；Control circuit includes two power supplys
Circuit, is respectively designated as the first power circuit and second source circuit.
Preferably, telescope motor, electric rotating machine, the first joint motor, second joint motor and crawl motor and first
Power circuit connects；Telescope motor, electric rotating machine, the first joint motor, second joint motor and crawl motor are equipped with one
Threephase switch；Telescope motor two ends, electric rotating machine two ends, the first joint motor two ends, second joint motor two ends and crawl electricity
Machine two ends are respectively connected with the contact C and contact F of provisioned threephase switch, and the contact E of threephase switch and the first power supply are electric
The positive source connection on road, the contact B of threephase switch is connected with the power cathode of the first power circuit.
Preferably, corresponding with left front tire the first motor the first motor corresponding with left rear tire and with the second wheel
Corresponding first motor of tire is controlled by two threephase switches, and two threephase switches are respectively designated as the first threephase switch and the two or three
Mutually switch；The contact B of the first threephase switch is connected with the power cathode of second source circuit, the contact E of the first threephase switch with
The positive source connection of second source circuit；The contact B of the second threephase switch is connected with the power cathode of the first power circuit, the
The contact E of two threephase switches is connected with the positive source of the first power circuit；
Lead is drawn after the contact C of the first threephase switch is in parallel with the contact F of the second threephase switch and is defined as lead G, the
Lead is drawn after the contact F of one threephase switch is in parallel with the contact C of the second threephase switch and is defined as lead H；With left front tire pair
One end of one end first motor corresponding with left rear tire of the first motor answered and the first motor corresponding with the second tire
Lead being drawn after the parallel connection of one end and being defined as lead I, the other end of the first motor corresponding with left front tire is corresponding with left rear tire
The first motor the other end and the first motor corresponding with the second tire the other end parallel connection after draw lead be defined as lead
J；Lead G is connected with lead I, and lead H is connected with lead J.
Preferably, the first motor corresponding with right front fire and the first motor corresponding with right rear fire are by two three-phases
Switch control rule, two threephase switches are respectively designated as the 3rd threephase switch and the 4th threephase switch, the contact B of the 3rd threephase switch
It is connected with the power cathode of the first power circuit, the contact E of the 3rd threephase switch is connected with the positive source of the first power circuit；
The contact B of the 4th threephase switch is connected with the power cathode of second source circuit, the contact E and the 4th power supply of the 4th threephase switch
Positive source connection；
Lead is drawn after the contact C of the 3rd threephase switch is in parallel with the contact F of the 4th threephase switch and is defined as lead K, the
Lead is drawn after the contact F of three threephase switches is in parallel with the contact C of the 4th threephase switch and is defined as lead L；With right front fire pair
Lead is drawn after one end parallel connection of one end first motor corresponding with right rear fire of the first motor answered be defined as lead M, with
Lead is drawn after the other end parallel connection of the other end first motor corresponding with right rear fire of corresponding first motor of right front fire
It is defined as lead N；Lead K is connected with lead M, and lead L is connected with lead N.
Advantage of the miniature rescue robot in rescue work：
(1) dull searching rescue task can be continuously performed, without feeling tired as people；
(2) danger such as not inflammable, dense smoke and harmful substance；
(3) danger zone shooting data can be goed deep into search for researcher's analysis；
(4) flexibly, people or the unapproachable danger zone of rescue dogs can be entered.
Robot not only can rescue people, can also rescue some precious articles in disaster, retrieve the damage of mankind's property
Lose.
The structure fabrication of the present invention is simple and application without complex device, it is possible to achieve many functions；Robot
Control this reduces the difficulty of control using manually control mode of the control in combination with having line traffic control, robot it is whole
Body cost is also relatively cheap, while also increasing stability and reliability；Arm apparatus can be with 360 degree of rotations；Robot can change
Become the width of itself, excursion is：260mm-410mm, and barrier of the width for 240mm-400mm can be passed through；Speed
It is adjustable, it is provided with two kinds of speeds：Finely tune at a slow speed and quickly run；Most of requirement of rescue work can be met, be rescue
One big strength assistant.Concrete advantage is as follows：
1., equipped with infrared inductor and minisize pick-up head at arm apparatus, trapped personnel and transmission shooting data can be detected
Search for researcher's analysis.
2. robot which decreases the difficulty of control, together using controlling, having the control mode that line traffic control combines manually
When also increase control stability and control reliability.
3. robot is provided with the second tire, and the second tire can change horizontal between-wheel spacing, and its spacing excursion is
260-410mm, can by bridge that width is 240～400mm and other because of the too small and intransitable road of body width
Face.
4. using elastic off-the-highway tire, tire has elasticity, plays cushioning effect, the energy on the rugged road surface of the disaster relief tire
Normal walking.
5. the parameter such as moment of torsion, rotating speed of arm apparatus and motor corresponding with arm apparatus can meet the requirement of design.
Outstanding, the Jing test of many times that the performance of each motor all compares on whole vehicle body, it is 1.5 times of rated voltage to apply motor both end voltage
In the case of, what energy normal work was minimum in all motors of robot also has 5 minutes.
6. voltage required on each part of robot improves manipulator and other staff within the scope of safe voltage
Safety, it is to avoid manipulator or other staff cause security incident because of accident.
7. the arc sections office of claw is equipped with elastomeric material protecting block, it is ensured that active force can be pressed on preferably during gripping object
On object, while the device can also alleviate mechanical finger presses on intensifying force unnecessary on object, it is ensured that object is in handling process
In security reliability.
8. the standby frame of 180 × 180 × 120 (length × width × height mm) is had on vehicle body, and the inside can deposit rescue thing
Money, disaster relief personnel etc., it might even be possible to serve as emergent transport vehicle and use.
9. arm apparatus energy bending elongation, realizes rotating on a large scale, in the case where keeping robot automobile body motionless, hand
Arm assembly is by changing the flexible angle of robotic arm upper junction plate, robotic arm lower connecting plate so as to realize the far and near distance object such as not
Gripping.
10. the first motor adopts variable speed：By changing the voltage in the first motor permission range of nominal tension, so as to
The speed change of the first motor is realized, to reach the needs of relief car speed of travel change.
11. robot accommodations：
1.1. can be in ground runnings such as potted road surface, hillside, sand ground, meadow, road, ordinary highways.
1.2 can detect trapped personnel and can go deep into danger zone shooting data；
1.3. manpower can be replaced to realize the search-and-rescue work of target.Assisting people to complete some people can not complete or complete
Relatively difficult work.
1.4. small-sized emergent transport vehicle can be served as in certain circumstances to use.
Description of the drawings
Fig. 1 is the top view of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is design on control circuit figure.
The toponym that each number designation is referred in accompanying drawing is as follows：Wherein 1-chassis, 2-left front tire, 3-it is left back
Tire, 4-right front fire, 5-right rear fire, the 6-the first motor, 7-motor coupler, the 8-the second tire, 9-screw rod,
10-telescope motor, 11-screw rod shaft coupling, 12-expansion plate, 13-screw rod fixed seat, 14-motor fixing seat, 15-connection
Plate, 16-robotic arm upper junction plate, 17-robotic arm lower connecting plate, 18-robotic arm shaft coupling, 19-electric rotating machine, 20-the
One joint motor shaft coupling, 21-second joint motor coupler, the 22-the first joint motor, 23-second joint motor,
24-pedestal, 25-crawl motor, 26-left claw, 27-right claw, 28-first support, 29-second support, 30-the
Three supports, the 31-the four support, 32-rivet, 33-driving gear, 34-driven gear, 35-left slide plate, 36-right slide plate,
37-first switch power supply, 38-second switch power supply, 39-standby frame, 40-standby frame fence, the 41-the first threephase switch,
42-the second threephase switch.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail with embodiment.
Embodiment 1
Robot, as shown in Figure 1 to Figure 2, including controller, chassis 1, the running gear for being arranged on the lower end of chassis 1, setting
In the One On The Chassis arm apparatus and the grabbing device being connected with arm apparatus.Arm apparatus are provided with infrared inductor and miniature
Camera, infrared inductor and minisize pick-up head can detect trapped personnel and transmission shooting data and look into for researcher's analysis
Look for.Rear and front end is provided with standby frame fence 40 on chassis 1, and standby frame 39, the length of standby frame 39 are provided between standby frame fence 40
For relief goods, disaster relief personnel etc. can be deposited in 180mm, a width of 180mm, a height of 120mm, standby frame 39, it might even be possible to
Serve as emergent transport vehicle to use.
Running gear includes being arranged on the first tire of the both sides of chassis 1, and first tire includes left front tire 2, left rear tire
3rd, right front fire 4 and right rear fire 5, left front tire 2, left rear tire 3, right front fire 4 and right rear fire 5 are respectively furnished with one
Individual first motor 6, first tire is connected by motor coupler 7 with the first motor 6.First motor 6 is powered, and is joined by motor
Axle device 7 drives first tire, realizes the walking function of robot.The lower end of chassis 1 middle part is provided with telescoping mechanism and the second tire 8,
Second tire 8 is furnished with first motor 6, and the second tire 8 is connected by motor coupler 7 with the first motor 6.
Due to being to combat a natural disaster rescue, so ground is usually rugged, first tire, the second tire 8 are using cross-country
Tire, four-wheel drive increases power, increases bearing capacity.
1. the selection of the first motor
Estimate the weight (vehicle body is filled) of whole robot, about 10KG.Load T=10kg i.e. needed for the first motor
G.cm, amplifies this load 1.5 times and calculates as nominal load T1：
T1=1.5T=1.5 × 10kggcm=15kggcm
=15 × 9.8 × 10-2=1.47Ngm (1-1)
Take the rotating speed n of the first motor1=80r/min；
The calculating of (1) first power of motor
By formula (1-2)
The selection of (2) first motors
If from the first motor power be p0, only need p0＞ p1, so selected first motor is qualified, according to market institute
The motor sold, selection is 540 reducing motors, i.e. the direct current generator with reduction box.Simultaneously as think speed Control, so selected
The first motor will can realize two kinds of different speed.But, it is thus understood that the rotating speed of reducing motor is directly proportional with the voltage to it,
The higher rotating speed of voltage is also faster, certainly no more than his rated voltage.The scope of the first electric moter voltage therefore selected is 3v-
12v, because the robot needs to use variable speed, and the parameter such as rotating speed, moment of torsion of the first motor with its two ends voltage into
Proportional relation, to the first motor two kinds of power supplys have been matched somebody with somebody, and one kind is 6v, and another kind is 12v.The parameter of the first motor is shown in Table 1-1.
The parameters of electric machine of table 1-1 first：
Telescoping mechanism adopts thread screw, retractor device to include screw rod 9 and telescope motor 10, and the one end of screw rod 9 passes through screw rod
Shaft coupling 11 is connected with telescope motor 10, and with the lower section of the second 8 corresponding first motor of tire 6 expansion plate 12, expansion plate 12 are provided with
And be fixedly connected with corresponding first motor 6 of the second tire 8, the lower section of chassis 1 is provided with the screw rod being fixedly connected with expansion plate 12 and consolidates
Reservation 13, screw rod 9 is connected by screw rod fixed seat 13 with expansion plate 12, and telescope motor 10 drives screw rod by screw rod shaft coupling 11
9, screw rod 9 transfers torque to the fixing nut on expansion plate 12 so as to drive expansion plate 12 to move, and expansion plate 12 drives and second
Corresponding first motor 6 of tire 8 is moved, and so as to drive the second tire 8 to move, realizes the Telescopic of the second tire 8.
2. the selection of telescope motor
It is that spacing between thread screw, and screw thread and screw thread is smaller due to what is used, it is desirable in the short period of time
Flexible, telescope motor can only adopt rotating speed motor faster.Here we have selected the reducing motor that rotating speed is 1000r/min,
Moment of torsion also compares to power, and this is mainly in view of the friction on ground.
Estimate that the periderm of the second tire is 1KG with the friction on ground.Load T i.e. needed for telescope motor0=1kg g.cm,
1.5 times of calculating are amplified in this load：
T2=1.5T0=1.5 × 1kggcm=1.5kggcm
=1.5 × 9.8 × 10-2=0.147Ngm (2-1)
Take the rotating speed n of telescope motor2=1000r/min；
(1) calculating of telescope motor power
By formula (2-2)
(2) selection of telescope motor
If from telescope motor power be p0, only need p0＞ p2, so selected telescope motor is qualified.Flexible electricity
The parameter of machine is shown in Table 1-2
Table 1-2 telescope motor parameters：
Motor fixing seat 14 is provided with the first motor 6, the relevant position of telescope motor 10 on chassis 1, motor fixing seat 14 is consolidated
Surely it is arranged on the lower end of chassis 1.
Arm apparatus include being connected under the connecting plate 15 being rotatably connected with chassis 1, robotic arm upper junction plate 16 and robotic arm
Plate 17, connecting plate 15 is movably arranged on chassis 1 by robotic arm shaft coupling 18, is provided with by robotic arm shaft coupling 18 and robotic arm
The electric rotating machine 19 of the connection of shaft coupling 18；Connecting plate 15 is by the first joint motor shaft coupling 20 and robotic arm upper junction plate 16 1
End connection, connecting plate 15 is named as the first joint, the first joint motor shaft coupling 20 with the junction of robotic arm upper junction plate 16
Side is provided with the first joint motor 22 being connected with the first joint motor shaft coupling 20, and the other end of robotic arm upper junction plate 16 is by the
Two joint motor shaft couplings 21 are connected with the one end of robotic arm lower connecting plate 17, robotic arm upper junction plate 16 and robotic arm lower connecting plate
17 junction is named as second joint, is provided with by second joint motor coupler 21 and is connected with second joint motor coupler 21
Second joint motor 23.
Arm apparatus simple structure, using the structure of most original, directly by Motor drive, saves time, laborsaving, material saving.
To several motors are installed at arm joint, arm just has several frees degree.Therefore want several frees degree and several arms passes are set
Section.Simultaneously arm is also convenient for tearing open and fills.The present invention adopts minimum resource, and for conveniently saving trouble, only arranges
Three arm joints：One rotation, two bendings.
3. the selection of electric rotating machine
The motor of rotating mechanism, probably required load is m=1.5kg gcm, this amplification 1.5 is calculated, i.e. T3
=1.5m=2.25kg gcm=2.25 × 9.8 × 10-2=0.221Ngm (3-1)
Take the rotating speed n of electric rotating machine3=2r/min；
(1) calculating of electric rotating machine power
Can be obtained by formula (3-2)
(2) selection of electric rotating machine
If from electric rotating machine power be P0, only need p ＞ p3, so selected electric rotating machine is qualified, is sold according to market
Motor, selection is turbine and worm motor, i.e. turbine and worm motor belt motor auto-lock function.The parameter of electric electric rotating machine is shown in Table 1-3.
Table 1-3 electric rotating machine parameters：
4. the selection of the first joint motor and second joint motor
Because arm is long, so there is the relation of moment, i.e., succeeds in one's scheme when load considers and count in, the first joint
The probably required load in place is m0=6kg gcm, amplify 1.5 times, i.e., by this
T4=1.5m0=9kggcm=9 × 9.8 × 10-2=0.882Ngm (4-1)
Take the rotating speed n of the first joint motor4=8r/min；
The calculating of (1) first joint motor power
Can be obtained by formula (4-2)
The selection of (2) first joint motors
If from the first joint motor power be P0, only need p0＞ p4, so selected motor is qualified, according to market institute
The motor sold, because the motor of rotating part just can meet the requirements, although power is big a bit, but even if single go choosing to buy therewith
Corresponding motor, it is in price or much the same, but also more labor intensive and time.Grasp economical, laborsaving, timesaving sight
Point, the motor selected as electric rotating machine type, i.e. the first joint motor select turbine and worm motor, but selected electricity
Machine parameter is different.The parameter of the first joint motor is shown in Table 1-4.
Table 1-4 the first joint motor parameters：
(3) selection of second joint motor
Motor at second joint considers that load is also to want computing power away from because the moment is less than the power of the first joint
Away from, so the motor of the first joint is entirely capable of being useful at second joint, therefore the first joint motor and second joint motor
Selection it is identical.
Grabbing device is including pedestal 24, the claw being connected with pedestal 24 by support and by grabbing that gear is connected with support
Power taking machine 25.Pedestal 24 is fixedly installed on the other end of robotic arm upper junction plate 16, and claw includes left claw 26 and right claw 27,
Frame includes first support 28, second support 29, the 3rd support 30 and the 4th support 31, and left claw 26 and right claw 27 include straight
Section part and the circular arc portion being connected with straight part integral type.The one end of first support 28 and the one end of second support 29 are and left claw
Son 26 is hinged by rivet 32, and the one end of first support 28 is connected with straight part one end of left claw 26, the one end of second support 29
It is connected with the straight part other end of left claw 26；The other end of first support 28 and the other end of second support 29 cut with scissors with pedestal 24
Connect；The one end of 3rd support 30 is connected with straight part one end of right claw 27, the straight section of the one end of the 4th support 31 and right claw 27
Part other end connection；The one end of 3rd support 30 and the one end of the 4th support 31 are hinged with right claw 27 by rivet 32, and the 3rd
The other end of support 30 and the other end of the 4th support 31 are hinged with equal pedestal 24.Spring is provided between support, the spring of setting is played and subtracted
The effect of shake.
Elastomeric material protecting block is housed, gripping the active force pressed on object during object can preferably be maintained at one on claw
On bar straight line, it is ensured that the stability and reliability of gripping.
Gear includes driving gear 33 and the driven gear 34 engaged with driving gear 33, crawl motor 25 and driving gear
33 connections, driving gear 33 and driven gear 34 are fixedly installed on pedestal 24 by axle, driving gear 33 and second support
29 other ends are fixedly connected, and driven gear 34 is fixedly connected with the other end of the 4th support 31；Crawl motor 25 drives driving gear
33, driving gear 33 drives second support 29 and driven gear 34, driven gear 34 to drive the 4th support 31, the He of second support 29
4th support 31 drives respectively left claw 26 and right claw 27, so as to realize opening the function with closure.
Grabbing device also includes being arranged on the slide plate above claw, and slide plate includes left slide plate 35 and right slide plate 36, left slide plate
35 and right slide plate 36 left claw 26 and the top of right claw 27 are separately positioned on by stud.There is 20-60 ° between slide plate and claw
Inclination angle, slide plate front portion withstands on claw front end.Slide plate is the part for opening the door, and claw is gate or barrier one during operation
Arch, gate or barrier are along slide plate upward sliding, it is possible to take the thing in door.
5. the selection of motor model is captured
The probably required load of claw is m1=1kg gcm, amplify 1.5 times, i.e., by this
T5=1.5m1=1.5kggcm=1.5 × 9.8 × 10-2=0.147 (5-1)
Take the rotating speed n of crawl motor5=16r/min
(1) calculating of crawl power of motor is taken
Can be obtained by formula (5-1)
(2) selection of motor is captured
If from crawl motor power be P0, only need p0＞ p5, so selected motor is qualified, is sold according to market
Motor, selection is turbine and worm motor, i.e. turbine and worm motor belt motor auto-lock function.The parameter of crawl motor is shown in Table 1-5.
Table 1-5 takes the parameter of crawl motor
Controller includes control circuit and controlling switch.
6. the selection of controlling switch
The first motor, crawl motor due to selection etc. is typically all 12V DC voltages, it is therefore desirable to can handle from one
Exchange is converted into the instrument of direct current.What here controlling switch was selected is Switching Power Supply, and Switching Power Supply can be converted into direct current exchange,
Its stability is also relatively good.Again because robot employs variable-speed processing, the rated voltage of the first motor is 3V-12V, because
The rotating speed of motor, moment of torsion are directly proportional with voltage, so using the Switching Power Supply of a 5V, mainly by changing the first motor two
The voltage at end is so as to changing the rotating speed of the first motor.The parameter of Switching Power Supply is shown in Table 1-6.
The parameter of table 1-6 Switching Power Supplies：
7. the design of control circuit
(1) what robot was adopted has line traffic control, and one is reduces cost, and two are to increase the stability of control circuit.Control electricity
Contactor in road adopts threephase switch.Electric operation control circuit figure is very simple, exactly realizes the rotating of each motor.And each is electric
The rotating of machine only needs a threephase switch just can control.
(2) arrangement of controlling switch
The control of robot is operated by two bit manipulation hands, therefore is provided with two controlling switches.Although in control circuit
Contactor adopt AC threephase switches, and we adopt motor be direct current, so the bearing capacity of threephase switch is complete
Without considering.
As shown in figure 3, threephase switch is six contacts, and it is three contacts per side, the contact on the left side is named as from front to back
Contact A, contact B and contact C, the contact on the right is named as from front to back contact D, contact E and contact F, contact A and contact F phases
Connect, contact C connects with contact D.
Switching Power Supply includes first switch power supply 37 and second switch power supply 38.Control circuit includes two power circuits,
It is respectively designated as the first power circuit and second source circuit.First switch power supply 37 controls the opening and closing of the first power circuit, the
Two Switching Power Supply 38 controls the opening and closing of second source circuit.
Telescope motor 10, electric rotating machine 19, the first joint motor 22, second joint motor 23 and crawl motor 25 and first
Power circuit connects.Telescope motor 10, electric rotating machine 19, the first joint motor 22, second joint motor 23 and crawl motor 25
It is equipped with a threephase switch.The two ends of telescope motor 10, the two ends of electric rotating machine 19, the two ends of the first joint motor 22, second joint
The two ends of motor 23 and crawl motor 25 two ends are respectively connected with the contact C and contact F of provisioned threephase switch, threephase switch
Contact E be connected with the positive source of the first power circuit, the power cathode of the contact B of threephase switch and the first power circuit connects
Connect.
Corresponding with left front tire 2 first motor 6 first motor 6 corresponding with left rear tire 3 and with 8 pairs, the second tire
The first motor 6 answered is controlled by two threephase switches, and two threephase switches are respectively designated as the first threephase switch 41 and the 2nd 3
Mutually switch 42.The contact B of the first threephase switch 41 is connected with the power cathode of second source circuit, and first threephase switch 41 connects
Point E is connected with the positive source of second source circuit；The contact B of the second threephase switch 42 and the power cathode of the first power circuit
Connection, the contact E of the second threephase switch 42 is connected with the positive source of the first power circuit.
Lead is drawn after the contact C of the first threephase switch 41 is in parallel with the contact F of the second threephase switch 42 and is defined as lead
Lead is drawn after G, the contact F of the first threephase switch 41 are in parallel with the contact C of the second threephase switch 42 and is defined as lead H；With a left side
One end of one end first motor 6 corresponding with left rear tire 3 of corresponding first motor 6 of front tyre 2 and with 8 pairs, the second tire
The first motor 6 answered one end parallel connection after draw lead be defined as lead I, first motor 6 corresponding with left front tire 2 it is another
The other end of end first motor 6 corresponding with left rear tire 3 and the other end parallel connection with corresponding first motor 6 of the second tire 8
Lead is drawn afterwards is defined as lead J；Lead G is connected with lead I, and lead H is connected with lead J.
First motor 6 corresponding with right front fire 4 and first motor 6 corresponding with right rear fire 5 are by two threephase switches
Control, two threephase switches are respectively designated as the 3rd threephase switch and the 4th threephase switch, the contact B of the 3rd threephase switch and the
The power cathode connection of one power circuit, the contact E of the 3rd threephase switch is connected with the positive source of the first power circuit；4th
The contact B of threephase switch is connected with the power cathode of second source circuit, the contact E of the 4th threephase switch and the 4th power supply
Positive source connects.
Lead is drawn after the contact C of the 3rd threephase switch is in parallel with the contact F of the 4th threephase switch and is defined as lead K, the
Lead is drawn after the contact F of three threephase switches is in parallel with the contact C of the 4th threephase switch and is defined as lead L；With right front fire 4 pairs
Lead is drawn after one end parallel connection of one end first motor 6 corresponding with right rear fire 5 of the first motor 6 answered be defined as lead
M, after the other end parallel connection of the other end first motor 6 corresponding with right rear fire 5 of first motor 6 corresponding with right front fire 4
Draw lead and be defined as lead N；Lead K is connected with lead M, and lead L is connected with lead N.
In a word, presently preferred embodiments of the present invention, all equalizations made according to scope of the present invention patent be the foregoing is only
Change and modification, should all belong to the covering scope of patent of the present invention.
Claims (9)
1. robot, including controller and chassis (1), it is characterised in that：Also include being arranged on the walking dress of chassis (1) lower end
The arm apparatus put, being arranged on chassis (1) and the grabbing device being connected with arm apparatus；Running gear includes being arranged on chassis
(1) first tire of both sides, the second tire (8) and the retractor device that is connected with the second tire (8), each first tire and second
Tire (8) is equipped with first motor (6)；Arm apparatus include the connecting plate (15) being rotatably connected with chassis (1) and connecting plate
(15) second joint of the electric rotating machine (19) of connection, robotic arm upper junction plate (16) and robotic arm upper junction plate (16) connection
Motor (23), robotic arm lower connecting plate (17) and the first joint motor (22) being connected with robotic arm lower connecting plate (17)；Crawl
Device includes pedestal (24), the claw being connected with pedestal (24) by support and the crawl motor being connected with support by gear
(25), claw is connected by support with gear；Controller includes control circuit and controlling switch, and the contactor of control circuit is
Threephase switch；
Elastomeric material protecting block is housed on claw；First tire include left front tire (2), left rear tire (3), right front fire (4) and
Right rear fire (5), retractor device includes screw rod (9) and telescope motor (10), screw rod (9) one end by screw rod shaft coupling (11) and
Telescope motor (10) connects, and the first motor (6) lower section corresponding with the second tire (8) is provided with expansion plate (12), expansion plate (12)
And the first motor (6) corresponding with the second tire (8) is fixedly connected, chassis (1) lower section is provided with and is fixedly connected with expansion plate (12)
Screw rod fixed seat (13), screw rod (9) is connected by screw rod fixed seat (13) with expansion plate (12), and telescope motor (10) is by spiral shell
Bar shaft coupling (11) drives screw rod (9), screw rod (9) to drive expansion plate (12) mobile, and expansion plate (12) drives and the second tire (8)
Corresponding first motor (6) is mobile.
2. robot according to claim 1, it is characterised in that：Pedestal (24) is fixedly installed on robotic arm upper junction plate
(16) other end, claw includes left claw (26) and right claw (27), support including first support (28), second support (29),
3rd support (30) and the 4th support (31), first support (28) one end and second support (29) one end lead to left claw (26)
Cross rivet (32) to be hinged, first support (28) other end and second support (29) other end are hinged with pedestal (24)；3rd
Frame (30) one end and the 4th support (31) one end are hinged with right claw (27) by rivet (32), the 3rd support (30) other end
It is hinged with pedestal (24) with the 4th support (31) other end.
3. robot according to claim 1, it is characterised in that：Connecting plate (15) is arranged by robotic arm shaft coupling (18)
On chassis (1), connecting plate (15) is connected by the first joint motor shaft coupling (20) with robotic arm lower connecting plate (17) one end,
Robotic arm lower connecting plate (17) other end is connected by second joint motor coupler (21) with robotic arm upper junction plate (16) one end
Connect.
4. robot according to claim 1, it is characterised in that：Gear includes driving gear (33) and and driving gear
(33) driven gear (34) of engagement, crawl motor (25) is connected with driving gear (33), driving gear (33) and driven gear
(34) it is fixedly installed on pedestal (24) by axle, driving gear (33) is fixedly connected with second support (29) other end, from
Moving gear (34) is fixedly connected with the 4th support (31) other end.
5. robot according to claim 2, it is characterised in that：Controlling switch is Switching Power Supply.
6. robot according to claim 5, it is characterised in that：Threephase switch is six contacts, is three contacts per side,
The contact on the left side is named as from front to back contact A, contact B and contact C, and the contact on the right is named as from front to back contact D, contact
E and contact F, contact A connect with contact F, and contact C connects with contact D；Switching Power Supply includes first switch power supply (37) and second
Switching Power Supply (38)；Control circuit includes two power circuits, is respectively designated as the first power circuit and second source circuit.
7. robot according to claim 6, it is characterised in that：Telescope motor (10), electric rotating machine (19), the first joint
Motor (22), second joint motor (23) and crawl motor (25) are connected with the first power circuit；Telescope motor (10), electric rotating
Machine (19), the first joint motor (22), second joint motor (23) and crawl motor (25) are equipped with a threephase switch；It is flexible
Motor (10) two ends, electric rotating machine (19) two ends, the first joint motor (22) two ends, second joint motor (23) two ends and crawl
Motor (25) two ends are respectively connected with the contact C and contact F of provisioned threephase switch, the contact E of threephase switch and first
The positive source connection of power circuit, the contact B of threephase switch is connected with the power cathode of the first power circuit.
8. robot according to claim 6, it is characterised in that：The first motor (6) corresponding with left front tire (2) and
Corresponding first motor (6) of left rear tire (3) and the first motor (6) corresponding with the second tire (8) are by two threephase switch controls
System, two threephase switches are respectively designated as the first threephase switch (41) and the second threephase switch (42)；First threephase switch (41)
Contact B be connected with the power cathode of second source circuit, the contact E of the first threephase switch (41) and the electricity of second source circuit
Source positive pole connection；The contact B of the second threephase switch (42) is connected with the power cathode of the first power circuit, the second threephase switch
(42) contact E is connected with the positive source of the first power circuit；The contact C and the second threephase switch of the first threephase switch (41)
(42) lead is drawn after contact F is in parallel and is defined as lead G, the contact F and the second threephase switch of the first threephase switch (41)
(42) lead is drawn after contact C is in parallel and is defined as lead H；One end of the first motor (6) corresponding with left front tire (2) and
One end of corresponding first motor (6) of left rear tire (3) and one end of the first motor (6) corresponding with the second tire (8) are in parallel
Lead being drawn afterwards and being defined as lead I, the other end and left rear tire (3) of the first motor (6) corresponding with left front tire (2) is right
Lead is drawn after the other end parallel connection of the other end of the first motor (6) answered and the first motor (6) corresponding with the second tire (8)
It is defined as lead J；Lead G is connected with lead I, and lead H is connected with lead J.
9. robot according to claim 6, it is characterised in that：The first motor (6) corresponding with right front fire (4) and with
Corresponding first motor (6) of right rear fire (5) is controlled by two threephase switches, and two threephase switches are respectively designated as the 3rd three-phase
Switch and the 4th threephase switch, the contact B of the 3rd threephase switch is connected with the power cathode of the first power circuit, and the 3rd three-phase is opened
The contact E of pass is connected with the positive source of the first power circuit；The contact B of the 4th threephase switch and the power supply of second source circuit
Negative pole connects, and the contact E of the 4th threephase switch is connected with the positive source of the 4th power supply；The contact C of the 3rd threephase switch and
Lead is drawn after the contact F of four threephase switches is in parallel and is defined as lead K, the contact F and the 4th threephase switch of the 3rd threephase switch
Contact C it is in parallel after draw lead be defined as lead L；Behind one end and the right side of the first motor (6) corresponding with right front fire (4)
Lead is drawn after one end parallel connection of corresponding first motor (6) of tire (5) be defined as lead M, corresponding with right front fire (4) the
Lead is drawn after the other end parallel connection of the other end of one motor (6) the first motor (6) corresponding with right rear fire (5) to be defined as
Lead N；Lead K is connected with lead M, and lead L is connected with lead N.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410038168.1A CN103786159B (en) | 2014-01-26 | 2014-01-26 | Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410038168.1A CN103786159B (en) | 2014-01-26 | 2014-01-26 | Robot |
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| CN103786159A CN103786159A (en) | 2014-05-14 |
| CN103786159B true CN103786159B (en) | 2017-05-03 |
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| CN201410038168.1A Active CN103786159B (en) | 2014-01-26 | 2014-01-26 | Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104112390B (en) * | 2014-07-23 | 2016-12-07 | 南京理工大学 | A kind of electrical and mechanical comprehensive experiment porch |
| CN106926231A (en) * | 2015-12-29 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of high-accuracy mechanical hand |
| CN108453775B (en) * | 2018-03-22 | 2021-04-13 | 宁波金凯机床股份有限公司 | Assembly manipulator capable of being automatically and finely adjusted |
| CN111546373B (en) * | 2020-06-09 | 2021-08-27 | 山东省科学院海洋仪器仪表研究所 | A manipulator for kelp is reaped on platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2241490B2 (en) * | 2004-04-06 | 2007-02-16 | Proyectos Y Tecnologia Sallen, S.L. | SELF-PROPROVED ROBOT FOR EXPLOSIVE LOAD HANDLING. |
| CN200991898Y (en) * | 2006-12-20 | 2007-12-19 | 李良勇 | Explosion-avioding scraper-pan robot |
| CN201525026U (en) * | 2009-10-16 | 2010-07-14 | 李路 | Modular disaster relief robot |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN202200294U (en) * | 2011-09-09 | 2012-04-25 | 余胜东 | Self-adaptive flexible mechanical hand with multiple degrees of freedom |
| RU2487007C1 (en) * | 2012-06-28 | 2013-07-10 | Александр Александрович Алешин | Mobile robot |
| CN103144094A (en) * | 2013-03-25 | 2013-06-12 | 河南理工大学 | Gripping robot for irregular object |
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Effective date of registration: 20191226 Address after: 311400 Fuyang Cheng Cheng Construction Engineering Co., Ltd., 656 Guihua Road, Fuyang District, Zhejiang, Hangzhou Patentee after: Li Hailan Address before: 310015, Zhejiang, Hangzhou province Gongshu District Xiang Tong Town Tong Tong, No. 28, Xiyuan Co-patentee before: Zhejiang Vocational College of Science and Technology Patentee before: Ye Jufeng |
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Effective date of registration: 20201127 Address after: 244151 Jinshan Industrial Park, Shun an town, Tongling County, Tongling, Anhui Patentee after: TONGLING RUIPU PEONY INDUSTRY DEVELOPMENT Co.,Ltd. Address before: 311400 Fuyang Cheng Cheng Construction Engineering Co., Ltd., 656 Guihua Road, Fuyang District, Zhejiang, Hangzhou Patentee before: Li Hailan |
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