CN104108099A - Extensible multi-degree-of-freedom explosive ordnance disposal robot - Google Patents

Extensible multi-degree-of-freedom explosive ordnance disposal robot Download PDF

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Publication number
CN104108099A
CN104108099A CN201310141164.1A CN201310141164A CN104108099A CN 104108099 A CN104108099 A CN 104108099A CN 201310141164 A CN201310141164 A CN 201310141164A CN 104108099 A CN104108099 A CN 104108099A
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China
Prior art keywords
steering wheel
arm
forearm
wrist
frame
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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.)
Pending
Application number
CN201310141164.1A
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Chinese (zh)
Inventor
焦浩
贾娜
于英静
王倩倩
王明慧
刘超
王雪
李智慧
蔡艳娥
张媛媛
杨晓华
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焦浩
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Priority to CN201310141164.1A priority Critical patent/CN104108099A/en
Publication of CN104108099A publication Critical patent/CN104108099A/en
Pending legal-status Critical Current

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Abstract

The invention discloses an extensible multi-degree-of-freedom explosive ordnance disposal robot. The extensible multi-degree-of-freedom explosive ordnance disposal robot comprises a base, a thick shaft is connected onto a spindle of a rotary steering engine which is fixed onto the base, an upper-arm steering engine is arranged in an upper-arm steering engine frame which is arranged at the top of the thick shaft, and an upper-arm telescopic air cylinder is arranged on an upper arm which is fixed onto the upper-arm steering engine. A forearm steering engine is arranged in a forearm steering engine frame which is fixed onto a push rod of the upper-arm telescopic air cylinder, and a forearm telescopic air cylinder is arranged on a small arm which is fixed onto the forearm steering engine. A first wrist steering engine is arranged in a wrist steering engine frame which is fixed onto a push rod of the forearm telescopic air cylinder, a second wrist steering engine is fixed onto the first wrist steering engine, and a third wrist steering engine is arranged on a manipulator which is connected onto a spindle of the second wrist steering engine. The extensible multi-degree-of-freedom explosive ordnance disposal robot has the advantages of (1) flexibility and reliability; (2) firmness and reliability in connection of the whole mechanism; (3) convenience in control and high reliability and stability.

Description

A kind of scalable multiple-degree-of-freedom anti-explosion robot
Technical field
The present invention relates to a kind of robot, particularly a kind of scalable multiple-degree-of-freedom anti-explosion robot.
Background technology
At present, at explosive-removal robot field explosive-removal robot, be a kind of in remote controlled moving Work robot, be to aim at the robot with functions such as crawl, destroying explosive substance that public security department is used.Only had European and American developed countries just to have, one of import is costly in the past.Though explosive-removal robot has had product to come out now, but still have some shortcomings part, wherein topmost shortcoming is that the free degree of existing explosive-removal robot is generally three to five, complete to the transfer of suspicious item need by car-mounted device move left and right realize, this has strengthened the accurate requirement of the control of car-mounted device, has to a certain degree limited flexible pick-and-place and transfer to object.
In addition, the arm of existing explosive-removal robot, its length cannot free-extension, and this is under particular surroundings, as the crawl of object brought to many difficulties under slit or the highly minimum environment that is unsuitable for car body turnover.
Summary of the invention
The problem to be solved in the present invention is: provide a kind of have six-freedom degree and can free-extension the scalable multiple-degree-of-freedom anti-explosion robot of arm.
In order to solve the problems of the technologies described above, scalable multiple-degree-of-freedom anti-explosion of the present invention robot, comprise base, the top of described base is fixed with frame, on described base, be fixed with one and rotate steering wheel, on the main shaft of described rotation steering wheel, be connected with thin axle in turn, thick axle and little axle, described frame is provided with bearing, described thick axle is inserted in bearing, between the main shaft of described rotation steering wheel and thin axle, be connected with shaft coupling, the top of described thick axle is fixedly connected with the large arm steering wheel frame of a U-shaped, described little axle is inserted on the base plate of large arm steering wheel frame, in described large arm steering wheel frame, be provided with an energy and along large arm steering wheel frame, do the large arm steering wheel of pitching action, on described large arm steering wheel, be fixed with large arm, the top of described large arm is provided with a large arm telescopic cylinder, on the push rod of described large arm telescopic cylinder, be fixed with the forearm steering wheel frame of a U-shaped, in described forearm steering wheel frame, be provided with an energy and along forearm steering wheel frame, do the forearm steering wheel of pitching action, on described forearm steering wheel, be fixed with forearm, the top of described forearm is provided with a forearm telescopic cylinder, on the push rod of described forearm telescopic cylinder, be fixed with the wrist steering wheel frame of a U-shaped, in described wrist steering wheel frame, be provided with an energy and along wrist steering wheel frame, do the first wrist steering wheel of pitching action, the top of described the first wrist steering wheel is fixed with a second wrist steering wheel, on the main shaft of described the second wrist steering wheel, be connected with manipulator, described manipulator is provided with the 3rd wrist steering wheel of driving device hand folding.
For more firm fixedly rotation steering wheel, between described base and rotation steering wheel, be provided with a steering wheel fixed head.
For firm large arm is connected with forearm steering wheel frame with large arm steering wheel, between the bottom of described large arm and large arm steering wheel, be provided with the first ring flange that is connected use, between the push rod of described large arm telescopic cylinder and forearm steering wheel frame, be provided with the second ring flange that is connected use, for firm forearm is connected with forearm steering wheel and wrist steering wheel frame, between the bottom of described forearm and forearm steering wheel frame, be provided with the three-flange dish that is connected use, between the push rod of described forearm telescopic cylinder and wrist steering wheel frame, be provided with and be connected with the 4th ring flange.
In order to improve reliability and the stability of operation, described rotation steering wheel, large arm steering wheel, forearm steering wheel, the first wrist steering wheel, the second wrist steering wheel, the 3rd wrist steering wheel, large arm telescopic cylinder and forearm telescopic cylinder are by computer control.
The beneficial effect that the present invention obtains is: (1) is provided with six steering wheels such as rotating steering wheel, large arm steering wheel, forearm steering wheel, the first wrist steering wheel, the second wrist steering wheel and the 3rd wrist steering wheel, these six steering wheels are controlled respectively the rotation of the above device of whole large arm steering wheel frame, the large pitching of arm, the pitching of the pitching of forearm, manipulator, the folding of the rotation of manipulator and manipulator has six-freedom degree; The top of large arm is provided with large arm telescopic cylinder, and the top of forearm is provided with forearm telescopic cylinder, thereby the length energy free-extension of large arm and forearm, compares, more flexibility and reliability with existing explosion prevention robot; (2) by four ring flanges such as the first ring flange, the second ring flange, three-flange dish and the 4th ring flange, realized being connected of being connected of being connected of being connected of large arm steering wheel and large arm, large arm and forearm steering wheel frame, forearm and forearm steering wheel and forearm and wrist steering wheel frame, thereby the annexation of whole mechanism is solid and reliable; (3) rotate steering wheel, large arm steering wheel, forearm steering wheel, the first wrist steering wheel, the second wrist steering wheel and the 3rd wrist steering wheel, large arm telescopic cylinder and forearm telescopic cylinder by computer control, thereby control convenience and there are higher reliability and stability.
Accompanying drawing explanation
Fig. 1 is front view of the present invention.
Fig. 2 is structural representation of the present invention.
In figure: 1, rotate steering wheel, 2, steering wheel fixed head, 3, base, 4, shaft coupling, 5, thin axle, 6, frame,
7, bearing, 8, thick axle, 9, large arm steering wheel frame, 10, large arm steering wheel, the 11, first ring flange, 12, large arm,
13, large arm telescopic cylinder, the 14, second ring flange, 15, forearm steering wheel, 16, forearm steering wheel frame, 17, forearm,
18, forearm telescopic cylinder, the 19, second wrist steering wheel, the 20, the 3rd wrist steering wheel, 21, manipulator,
22, wrist steering wheel frame, the 23, first wrist steering wheel, the 24, the 4th ring flange, 25, three-flange dish, 26, little axle.
The specific embodiment
As depicted in figs. 1 and 2, scalable multiple-degree-of-freedom anti-explosion of the present invention robot, comprise base 3, the top of described base 3 is fixed with frame 6, on described base 3, be fixed with one and rotate steering wheel 1, on the main shaft of described rotation steering wheel 1, be connected with thin axle 5 in turn, thick axle 8 and little axle 26, described frame 6 is provided with bearing 7, described thick axle 8 is inserted in bearing 7, between the main shaft of described rotation steering wheel 1 and thin axle 5, be connected with shaft coupling 4, the top of described thick axle 8 is fixedly connected with the large arm steering wheel frame 9 of a U-shaped, described little axle 26 is inserted on the base plate of large arm steering wheel frame 9, in described large arm steering wheel frame 9, be provided with an energy and along large arm steering wheel frame 9, do the large arm steering wheel 10 of pitching action, on described large arm steering wheel 10, be fixed with large arm 12, the top of described large arm 12 is provided with a large arm telescopic cylinder 13, on the push rod of described large arm telescopic cylinder 13, be fixed with the forearm steering wheel frame 16 of a U-shaped, in described forearm steering wheel frame 16, be provided with an energy and along forearm steering wheel frame 16, do the forearm steering wheel 15 of pitching action, on described forearm steering wheel 15, be fixed with forearm 17, the top of described forearm 17 is provided with a forearm telescopic cylinder 16, on the push rod of described forearm telescopic cylinder 16, be fixed with the wrist steering wheel frame 22 of a U-shaped, in described wrist steering wheel frame 22, be provided with an energy and along wrist steering wheel frame 22, do the first wrist steering wheel 23 of pitching action, the top of described the first wrist steering wheel 23 is fixed with a second wrist steering wheel 19, on the main shaft of described the second wrist steering wheel 19, be connected with manipulator 21, described manipulator 21 is provided with the 3rd wrist steering wheel 20 of driving device hand 21 foldings, between described base 3 and rotation steering wheel 1, be provided with a steering wheel fixed head 2, between the bottom of described large arm 12 and large arm steering wheel 10, be provided with the first ring flange 11 that is connected use, between the push rod of described large arm telescopic cylinder 13 and forearm steering wheel frame 16, be provided with the second ring flange 14 that is connected use, between the bottom of described forearm 17 and forearm steering wheel frame 16, be provided with the three-flange dish 25 that is connected use, between the push rod of described forearm telescopic cylinder 18 and wrist steering wheel frame 22, be provided with and be connected with the 4th ring flange 24, described rotation steering wheel 1, large arm steering wheel 10, forearm steering wheel 14, the first wrist steering wheel 21, the second wrist steering wheel 17, the 3rd wrist steering wheel 18, large arm telescopic cylinder 13 and forearm telescopic cylinder 16 are by computer control.
Scalable multiple-degree-of-freedom anti-explosion of the present invention robot, be provided with six steering wheels such as rotating steering wheel 1, large arm steering wheel 10, forearm steering wheel 15, the first wrist steering wheel 23, the second wrist steering wheel 19 and the 3rd wrist steering wheel 20, these six steering wheels are controlled respectively the rotation that whole large arm steering wheel frame more than 9 installs, the large pitching of arm 12, the pitching of the pitching of forearm 17, manipulator 21, the folding of the rotation of manipulator 21 and manipulator 21 has six-freedom degree; The top of large arm 12 is provided with large arm telescopic cylinder 13, and the top of forearm 17 is provided with forearm telescopic cylinder 18, thereby the length energy free-extension of large arm 12 and forearm 17, compares, more flexibility and reliability with existing explosion prevention robot.
By four ring flanges such as the first ring flange 11, the second ring flange 14, three-flange dish 25 and the 4th ring flange 24, realized being connected of being connected of being connected of being connected of large arm steering wheel 10 and large arm 12, large arm 12 and forearm steering wheel frame 16, forearm 17 and forearm steering wheel 15 and forearm 17 and wrist steering wheel frame 22, thereby the annexation of whole mechanism is solid and reliable.
Rotate steering wheel 1, large arm steering wheel 10, forearm steering wheel 15, the first wrist steering wheel 23, the second wrist steering wheel 19 and the 3rd wrist steering wheel 20, large arm telescopic cylinder 13 and forearm telescopic cylinder 18 by computer control, thereby control convenience and there are higher reliability and stability.

Claims (4)

1. a scalable multiple-degree-of-freedom anti-explosion robot, it is characterized in that: comprise base (3), the top of described base (3) is fixed with frame (6), on described base (3), be fixed with one and rotate steering wheel (1), on the main shaft of described rotation steering wheel (1), be connected with thin axle (5) in turn, thick axle (8) and little axle (26), described frame (6) is provided with bearing (7), described thick axle (8) is inserted in bearing (7), between the main shaft of described rotation steering wheel (1) and thin axle (5), be connected with shaft coupling (4), the top of described thick axle (8) is fixedly connected with the large arm steering wheel frame (9) of a U-shaped, described little axle (26) is inserted on the base plate of large arm steering wheel frame (9), in described large arm steering wheel frame (9), be provided with an energy and along large arm steering wheel frame (9), do the large arm steering wheel (10) of pitching action, on described large arm steering wheel (10), be fixed with large arm (12), the top of described large arm (12) is provided with a large arm telescopic cylinder (13), on the push rod of described large arm telescopic cylinder (13), be fixed with the forearm steering wheel frame (16) of a U-shaped, in described forearm steering wheel frame (16), be provided with an energy and along forearm steering wheel frame (16), do the forearm steering wheel (15) of pitching action, on described forearm steering wheel (15), be fixed with forearm (17), the top of described forearm (17) is provided with a forearm telescopic cylinder (16), on the push rod of described forearm telescopic cylinder (16), be fixed with the wrist steering wheel frame (22) of a U-shaped, in described wrist steering wheel frame (22), be provided with an energy and along wrist steering wheel frame (22), do the first wrist steering wheel (23) of pitching action, the top of described the first wrist steering wheel (23) is fixed with a second wrist steering wheel (19), on the main shaft of described the second wrist steering wheel (19), be connected with manipulator (21), described manipulator (21) is provided with the 3rd wrist steering wheel (20) of a driving device hand (21) folding.
2. scalable multiple-degree-of-freedom anti-explosion according to claim 1 robot, is characterized in that: described base (3) and rotate between steering wheel (1) and be provided with a steering wheel fixed head (2).
3. scalable multiple-degree-of-freedom anti-explosion according to claim 1 robot, it is characterized in that: between the bottom of described large arm (12) and large arm steering wheel (10), be provided with the first ring flange (11) that is connected use, between the push rod of described large arm telescopic cylinder (13) and forearm steering wheel frame (16), be provided with the second ring flange (14) that is connected use, between the bottom of described forearm (17) and forearm steering wheel frame (16), be provided with the three-flange dish (25) that is connected use, between the push rod of described forearm telescopic cylinder (18) and wrist steering wheel frame (22), be provided with and be connected with the 4th ring flange (24).
4. according to the scalable multiple-degree-of-freedom anti-explosion robot described in claim 1-3 any one, it is characterized in that: described rotation steering wheel (1), large arm steering wheel (10), forearm steering wheel (14), the first wrist steering wheel (21), the second wrist steering wheel (17), the 3rd wrist steering wheel (18), large arm telescopic cylinder (13) and forearm telescopic cylinder (16) are by computer control.
CN201310141164.1A 2013-04-22 2013-04-22 Extensible multi-degree-of-freedom explosive ordnance disposal robot Pending CN104108099A (en)

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Application Number Priority Date Filing Date Title
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105196289A (en) * 2015-10-29 2015-12-30 武汉理工大学 6DOF (6 degree of freedom) light weight manipulator with embedded joints
CN107457796A (en) * 2017-06-16 2017-12-12 广东工业大学 A kind of loudspeaker catching robot of tiltable regulation
CN108312136A (en) * 2018-05-04 2018-07-24 旌德县瀚海星云智能化技术研发有限公司 A kind of automobile inspection manipulator
CN108406726A (en) * 2018-01-24 2018-08-17 陕西科技大学 A kind of wheel type movable machine explosive-removal robot
CN108538176A (en) * 2018-04-18 2018-09-14 邯郸职业技术学院 Stereo warehouse experimental system
CN109048840A (en) * 2018-09-04 2018-12-21 南京理工大学 A kind of Intelligent Mobile Robot with manipulator
CN109719751A (en) * 2018-12-30 2019-05-07 樊凌风 A kind of rotor blade lifting machine people's system
CN111958440A (en) * 2020-10-26 2020-11-20 烟台工程职业技术学院(烟台市技师学院) Automobile body metal sheet processing grinding device
CN112207808A (en) * 2020-10-14 2021-01-12 苗疆(武汉)机器人科技有限公司 Six-axis robot for feeding and discharging
CN112720431A (en) * 2021-01-13 2021-04-30 东南大学 Six arms
CN112917218A (en) * 2021-01-26 2021-06-08 杭州泛亚卫浴股份有限公司 Linkage device for quickly clamping product and operation method

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105196289A (en) * 2015-10-29 2015-12-30 武汉理工大学 6DOF (6 degree of freedom) light weight manipulator with embedded joints
CN107457796A (en) * 2017-06-16 2017-12-12 广东工业大学 A kind of loudspeaker catching robot of tiltable regulation
CN108406726A (en) * 2018-01-24 2018-08-17 陕西科技大学 A kind of wheel type movable machine explosive-removal robot
CN108538176A (en) * 2018-04-18 2018-09-14 邯郸职业技术学院 Stereo warehouse experimental system
CN108312136A (en) * 2018-05-04 2018-07-24 旌德县瀚海星云智能化技术研发有限公司 A kind of automobile inspection manipulator
CN109048840A (en) * 2018-09-04 2018-12-21 南京理工大学 A kind of Intelligent Mobile Robot with manipulator
CN109719751A (en) * 2018-12-30 2019-05-07 樊凌风 A kind of rotor blade lifting machine people's system
CN112207808A (en) * 2020-10-14 2021-01-12 苗疆(武汉)机器人科技有限公司 Six-axis robot for feeding and discharging
CN111958440A (en) * 2020-10-26 2020-11-20 烟台工程职业技术学院(烟台市技师学院) Automobile body metal sheet processing grinding device
CN111958440B (en) * 2020-10-26 2021-01-12 烟台工程职业技术学院(烟台市技师学院) Automobile body metal sheet processing grinding device
CN112720431A (en) * 2021-01-13 2021-04-30 东南大学 Six arms
CN112917218A (en) * 2021-01-26 2021-06-08 杭州泛亚卫浴股份有限公司 Linkage device for quickly clamping product and operation method
CN112917218B (en) * 2021-01-26 2022-05-03 杭州泛亚卫浴股份有限公司 Linkage device for quickly clamping product and operation method

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