CN104647344B - Three-dimensional map structure Work robot - Google Patents
Three-dimensional map structure Work robot Download PDFInfo
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- CN104647344B CN104647344B CN201510119708.3A CN201510119708A CN104647344B CN 104647344 B CN104647344 B CN 104647344B CN 201510119708 A CN201510119708 A CN 201510119708A CN 104647344 B CN104647344 B CN 104647344B
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Abstract
The invention discloses a kind of three-dimensional map structure Work robot, including removable vehicle body, central processing unit be arranged in removable vehicle body and for the three-dimensional information harvester of Collecting operation surrounding three-dimensional information, three-dimensional information harvester electrically connects with central processing unit and carries out three-dimensional map structure；Removable vehicle body includes floor box, foresteerage gear, rear wheel drive mechanism and arranges and for detecting some ultrasonic transmission/reception sensors of obstacle distance along floor box week side, and central processing unit carries out avoidance to foresteerage gear output course changing control instruction after being additionally operable to receive ultrasonic transmission/reception sensor signal integrated treatment；By the information of the many working environments of three-dimensional information harvester and collection information is input to central processing unit carries out three-dimensional map structure, in addition, the robot of the present invention also can realize automatic obstacle-avoiding and automatic tracking function, meets robot performance requirement of utonomous working in complex environment.
Description
Technical field
The present invention relates to automated machine apparatus field, particularly to a kind of three-dimensional map structure work machine
People.
Background technology
In China, robotics research itself is started late, and the research of intelligent mobile robot is advanced with the world
Level has the biggest gap.In recent years, under the guidance of national " 863 " planning and Eleventh Five-Year Plan, I
State's specialized robot research has been achieved with major progress with application.Operation type underwater robot, micro-manipulating robot,
Inner directed behavior and mobile-robot system, lunar rover moving system, medical robot, pipeline operations robot,
Agricultural robot (fruit picking robot) is biological with under service robot, explosive-removal robot, complex environment to be made
Industry robot, electrolytic aluminium clean robot, non-ferrous metal automated production machine people obtain in corresponding field
Promotion and application.Along with artificial intelligence technology research extensively and profoundly, the theory of specialized robot is ground by China
Studying carefully the most deeply, the requirement to extreme environment Work robot is more and more higher, but existing Work robot,
The especially Work robot under extreme environment, performs autonomy, reliability requirement under complicated natural environment
When comparing the highest task, more weak to environment sensing ability and bad to the avoidance effect of track route, integrated level is not
High.
Accordingly, it would be desirable to existing Work robot is improved, increase robot to working environment acquisition of information
Understand, and realize can automatic obstacle avoiding, automatic tracking, meet robot performance of utonomous working in complex environment
Requirement.
Summary of the invention
In view of this, the present invention provides a kind of three-dimensional map structure Work robot, and it can increase robot pair
The acquisition of working environment information understands, and realizes automatic obstacle avoiding, automatic tracking, meets robot at complex environment
The performance requirement of middle utonomous working.
The three-dimensional map structure Work robot of the present invention, including removable vehicle body, central processing unit and setting
In removable vehicle body and for the three-dimensional information harvester of Collecting operation surrounding three-dimensional information, described three-dimensional letter
Breath harvester electrically connects with described central processing unit and carries out three-dimensional map structure；Described removable vehicle body includes the end
Plate case, foresteerage gear, rear wheel drive mechanism and arrange along floor box week side and be used for detecting obstacle distance
Some ultrasonic transmission/reception sensors, described central processing unit be additionally operable to receive ultrasonic transmission/reception sensor signal also
The output course changing control instruction of integrated treatment backward described foresteerage gear carries out avoidance.
Further, foresteerage gear includes front-wheel, front fixing axle and steering driving mechanism, described in turn to driving
Mechanism includes driving motor, worm gear, worm shaft and for connecting worm axle and front fixing shaft end and realize driving
The bogie turned to, described driving motor is by described central processing unit control work, described worm gear and described driving
The power output shaft circumference of motor is fixed, and described worm screw is arranged two groups by described worm-gear driven, described bogie,
Described front-wheel is can be arranged at corresponding bogie in the way of own axis.
Further, bogie includes that expansion link, lower expansion link, bar case and bearing pin, described bar case are fixedly installed
On two expansion links, described bar case being provided with front axle, described bearing pin is in front fixing axle and the end of worm shaft
Edge longitudinally respectively arranges one and bearing pin two ends are stretched out, and described upper expansion link and described lower expansion link two ends are respectively with right
Answer bearing pin to be rotatably assorted, described upper expansion link and described lower expansion link are additionally provided with spring.
Further, rear wheel drive mechanism includes trailing wheel, hind axle and rear wheel drive assembly, and hind axle is fixedly installed
In described floor box, described trailing wheel is fixedly installed on described hind axle, and described rear wheel drive assembly includes rear wheel driving
Galvanic electricity machine and bevel gear pair, the drive bevel gear of described bevel gear pair is fixed in the motor of described rear wheel drive motor
Axle, the driven wheel of differential circumference of described bevel gear pair is fixed on described hind axle.
Further, floor box being additionally provided with the mechanical hand captured for object, described mechanical hand is both arms machine
Tool hands, each mechanical hand all includes that mechanical arm, wrist assembly and paw assembly, described paw assembly include paw
Seat and at least two paw that is affixed with paw seat and that become clamp position to arrange, each paw is referred to by least three
Saving the most hinged forming, first knuckle is fixed in described paw seat, and two adjacent fingers are provided with on joint for driving
Rear refer to joint around hinge axes rotate finger joint drive mechanism, described finger joint drive mechanism include refer to joint drive motor,
Bevel gear refers to drive pair and spur gear to refer to by joint, and joint drives pair, and it is solid that described bevel gear refers to save the secondary drive bevel gear of driving
It is connected to refer to that the motor shaft of joint driving motor, bevel gear refer to that joint drives secondary driven wheel of differential and spur gear to drive pair
The equal circumference of driving gear is fixed on adjacent interphalangeal jointed shaft, and spur gear refers to that joint drives secondary driven gear shaft
Fixing connection is saved with rear finger.
Further, the mechanical arm of each mechanical hand all includes side that is the most hinged and that all can rotate in perpendicular
Underarm, middle arm and the upper arm that formula is arranged, is provided with arm driving means between two alternate arm bodies, described arm drives dress
Putting and include that arm drives servomotor and arm to drive gear pair, described arm drives servomotor to be fixed in previous arm body,
Described arm drives the driving gear shaft of gear pair to drive servo motor transmission be connected and be provided with braking with arm
Device, arm drives the driven gear circumference of gear pair to be fixed in the hinge joints spindle between two alternate arm bodies, described pass
Joint jointed shaft is rotatably assorted with previous arm body, fixes with a rear arm body and is connected.
Further, paw seat is equilateral triangle structure, and described paw is three that point row are arranged at paw seat three limit.
Further, also include for the manual automatic control system made of adaptive control mechanical, described in automatically control
System at least includes:
Angular displacement sensor, is arranged at inside underarm and upper arm, is used for detecting underarm and upper arm luffing angle；
Vision sensor, is arranged at the top of wrist assembly, for detect the locus of object in working environment,
Attitude, and monitor the duty of mechanical hand；
Touch sensor, is arranged at mechanical paw inner surface, for the information that active obtaining object is the most complete；
Force sensor, is arranged at manipulator paw and refers to inside the clamping face of joint, for detecting each folder referring to joint
Hold pressure；
Described central processing unit is additionally operable to acceptance angle displacement transducer, vision sensor, touch sensor and power and feels
The feedback signal of sensor, and integrated treatment storage information.
Beneficial effects of the present invention: the three-dimensional map structure Work robot of the present invention, is adopted by three-dimensional information
Collection information is also input to central processing unit and carries out dimensionally by the information of the many working environments of acquisition means
Figure builds, additionally, the robot of the present invention is also by vision sensor identification object, in conjunction with control system
Realize online overall trajectory planning, simultaneously by the barrier on ultrasonic sensor detection path, in conjunction with controlling
System carries out local directed complete set to overall planning path, meets robot performance of utonomous working in complex environment and wants
Ask.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the overall front view of the three-dimensional map structure Work robot of the present invention；
Fig. 2 is the wheel movement mechanism structure schematic diagram of the three-dimensional map structure Work robot of the present invention；
Fig. 3 is the three-dimensional map structure Work robot entirety schematic side view of the present invention；
Fig. 4 is enlarged drawing at Fig. 3 C；
Fig. 5 is the paw assembly structure schematic diagram of the three-dimensional map structure Work robot of the present invention；
Fig. 6 is the arm driving device structure schematic diagram of the three-dimensional map structure Work robot of the present invention；
Fig. 7 is the bogie structure schematic diagram of the three-dimensional map structure Work robot of the present invention；
Fig. 8 is the bogie structure side view of the three-dimensional map structure Work robot of the present invention.
Detailed description of the invention
Fig. 1 is the overall front view of the three-dimensional map structure Work robot of the present invention, and Fig. 2 is the present invention
The wheel movement mechanism structure schematic diagram of three-dimensional map structure Work robot, Fig. 3 is the three-dimensional of the present invention
Map structuring Work robot entirety schematic side view, Fig. 4 is enlarged drawing at Fig. 3 C, and Fig. 5 is the present invention
The paw assembly structure schematic diagram of three-dimensional map structure Work robot, Fig. 6 is the three-dimensional map of the present invention
The arm driving device structure schematic diagram of structure Work robot, Fig. 7 is that the three-dimensional map structure of the present invention is used as
The bogie structure schematic diagram of industry robot, Fig. 8 is turning of the three-dimensional map structure Work robot of the present invention
To shelf structure side view, as shown in the figure: the three-dimensional map structure Work robot of the present embodiment, including moving
Motor vehicles bodies, central processing unit and be arranged in removable vehicle body and for the three-dimensional of Collecting operation surrounding three-dimensional information
Information collecting device 5, three-dimensional information harvester 5 electrically connects with described central processing unit and carries out three-dimensional map structure
Build；Removable vehicle body includes floor box 1, foresteerage gear 2, rear wheel drive mechanism 3 and along floor box 1
Side arranged and was used for detecting some ultrasonic transmission/reception sensors 4 of obstacle distance week, and central processing unit is additionally operable to
Receive ultrasonic transmission/reception sensor 4 signal and front wheel steering mechanism 2 exports course changing control and instructs initial planning road
Footpath carries out local directed complete set, it is achieved barrier avoiding function, and after by obstacle, processor front wheel steering mechanism 2 is sent out again
Go out counter steer signal, make robot return on initial planning path locus；Wherein three-dimensional information harvester is three-dimensional
Imaging binocular camera (CCD camera), central processing unit is embedded board computer, embedded refers to
Embedding is arranged in removable vehicle body, and floor box is interior hollow type structure, and three-dimensional information harvester is alternatively existing
There are other image capture modules, in central processing unit, are additionally provided with image capture module, information storage module, its
Middle image capture module, for gathering the view data of three-dimensional information harvester this moment, is transferred to store mould
In block, can carry out building three-dimensional environmental map in central processing unit, it is possible to will be deposited by wireless communication module
The speedometer data and the view data that gather in storage module pass to Remote data processing main frame, by quick confidence level
Propagation algorithm obtains image and the range information in the machine human world, builds the ring of three-dimensional in Remote data processing main frame
Condition figure；It addition, realizing the principle of avoidance by ultrasound wave is to send certain frequency by ultrasonic sensor
Ultrasound wave, reflect when running into barrier, by receiving this echo, further according to launch and receive
Time difference acquired disturbance object location signal determines Obstacle Position；Certainly, it is possible to realized by infrared sensor
The function of ultrasonic sensor in the present invention, or infrared sensor and ultrasonic sensor used along, at machine
In device people's motor process, first adjustable range knob makes its detection range reach the blind area of ultrasonic sensor used
Big value, launches signal by programme-control infrared sensor, and then paving catches reflected signal, if areflexia signal hypothesis
Bright accessible, if any reflected signal, obstacle is described, has been detected by infrared sensor or ultrasonic transmission/reception sensor
Obstacle distance, central processing unit carries out signal processing and draws actual range, arranging distance in central processing unit
Minimum threshold judges, carries out course changing control when range finding is more than threshold value；The wherein construction method of three-dimensional map
Prior art is belonged to, at this not with principle and the Distance Judgment of implementation with ultrasonic transmission/reception sensor instrument distance
Repeat again.
In the present embodiment, foresteerage gear and rear wheel drive mechanism are collectively forming the wheel movement of removable vehicle body
Mechanism, wherein, foresteerage gear 2 includes front-wheel 2-1, front fixing axle 2-2 and steering driving mechanism, turns
To drive mechanism include driving motor 2-3, worm gear 2-4, worm shaft 2-5 and for connecting worm axle 2-5 and
Front fixing axle 2-2 end also realizes driving the bogie 2-6 turned to, and drives motor by described central processing unit control
Work processed, worm gear 2-4 fixes with the power output shaft circumference of described driving motor, and worm shaft is by described worm gear
2-4 drives, and bogie 2-6 arranges two groups, and front-wheel is can be arranged at corresponding turning in the way of own axis
To frame 2-6；In the present embodiment, indication worm and gear is not self-locking worm gear worm mechanism, by worm-gear driven worm screw
Axle moves along a straight line, thus drives bogie to make front-wheel going direction changing.
In the present embodiment, bogie 2-6 includes expansion link 2-6-1, lower expansion link 2-6-2, bar case 2-6-3
It is fixedly installed on two expansion links with bearing pin 2-6-4, bar case 2-6-3, bar case 2-6-3 is provided with front axle
2-6-5, bearing pin 2-6-4 respectively arrange one in the end of front fixing axle 2-2 and worm shaft 2-5 along longitudinal and sell
Axle 2-6-4 stretches out at two ends, upper expansion link 2-6-1 and described lower expansion link 2-6-2 two ends respectively with corresponding bearing pin
2-6-4 is rotatably assorted, and upper expansion link 2-6-1 and lower expansion link 2-6-2 is additionally provided with spring 2-6-6, bullet
Spring can make front vehicle wheel self-aligning after worm gear stops operating；Wherein, upper expansion link and lower expansion link are flexible
Structure, is each provided with bearing pin in the end of front fixing axle and worm shaft, bearing pin two ends before stretching out respectively fixing axle and
Worm shaft is the most hinged with upper expansion link and lower expansion link respectively, when worm-gear driven worm shaft linearly moves, turns
Become incline structure to frame, owing to front-wheel is arranged on front axle, front axle with bar case change direction, front-wheel with
Change direct of travel, thus avoiding obstacles, type of drive is simple and reliable, and flexibly and fast；It addition, also
It is provided with driving motor positive/reverse rotation circuit, when the information of ultrasonic transmission/reception sensor acquisition inputs to central processing unit
After Nei, central processing unit carries out rapid integrated judgement to collection information, it is judged that barrier be positioned at car body direction and
Distance is how many, thus by driving motor positive/reverse rotation circuit to make to drive motor rotating as the case may be, enters
And worm shaft is linearly moved forward and backward.
In the present embodiment, rear wheel drive mechanism 3 includes trailing wheel 3-1, hind axle 3-2 and rear wheel drive assembly,
Hind axle 3-2 is fixedly installed on described floor box 1, and trailing wheel 3-1 is fixedly installed on described hind axle 3-2, after
Wheel drive assembly includes rear wheel drive motor 3-3 and bevel gear pair, and drive bevel gear 3-4 of bevel gear pair is affixed
Drive the motor shaft 3-7 of motor in trailing wheel 3-1, the driven wheel of differential 3-5 circumference of bevel gear pair is fixed on trailing wheel
Axle 3-2；Trailing wheel 3-1 arranges two, and each trailing wheel 3-1 is all by a trailing wheel connecting rod with hind axle 3-2 even
Connect.
In the present embodiment, floor box 1 being additionally provided with the mechanical hand 6 captured for object, mechanical hand is double
Arm mechanical hand, each mechanical hand all includes mechanical arm 6-1, wrist assembly 6-2 and paw assembly 6-3, paw
Assembly 6-3 includes paw seat 6-3-1 and at least two that is affixed with paw seat 6-3-1 and that become clamp position to arrange
Paw 6-3-2, each paw 6-3-2 are referred to save the most hinged forming, first knuckle 6-3-3 by least three
It is fixed in described paw seat 6-3-1, two adjacent finger joints is provided with and refers to that joint turns around hinge axes for driving rear
Dynamic finger joint drive mechanism, described finger joint drive mechanism includes referring to that joint drives motor 6-3-4, bevel gear to refer to that joint drives
Dynamic secondary and spur gear refers to that joint drives pair, and described bevel gear refers to that joint drives secondary drive bevel gear 6-3-5 to be fixed in finger
Joint drives the motor shaft 6-3-9 of motor, and bevel gear refers to that joint drives secondary driven wheel of differential 6-3-6 and straight-tooth wheel driving
The dynamic secondary equal circumference of driving gear 6-3-7 is fixed on adjacent interphalangeal jointed shaft 6-3-12, and spur gear refers to
Saving and drive secondary driven gear shaft 6-3-8 to be connected with fixing at rear finger joint 6-3-11, it is secondary that spur gear refers to that joint drives
Driven gear 6-3-10 circumference be fixed on driven gear shaft and with driving gear external toothing；
Wrist assembly 6-2 includes that wrist seat 6-2-1, wrist gear drive secondary and wrist driving motor 6-2-2,
Described paw seat is fixedly installed on described wrist seat, and described wrist gear drives pair to include wrist driving driving gear
6-2-3 and wrist drive driven gear 6-2-4, and described wrist drives the body of motor to be fixedly installed on mechanical arm
On, wrist drives the power output shaft of motor to drive secondary driving gear shaft 6-2-5 coaxial transmission with wrist gear
Connecting, wherein, wrist gear drives secondary driving gear shaft and driven gear shaft 6-2-6 with can be around own axes
The mode rotated is arranged at mechanical arm, and described wrist gear drives secondary driving gear solid with driving gear shaft circumference
Fixed, wrist gear drives secondary driven gear and driving gear external toothing, wrist seat and wrist gear to drive secondary
Driven gear shaft is fixing to be connected.
In the present embodiment, the mechanical arm 6-1 of each mechanical hand all includes the most hinged and all can be in perpendicular
Underarm 6-1-1, the middle arm 6-1-2 and upper arm 6-1-3 that the mode rotated is arranged, is arranged between two alternate arm bodies
Arm drives servomotor 6-6-1 and arm to drive tooth to have arm driving means 6-6, described arm driving means 6-6 to include
Wheel set, described arm drives servomotor to be fixed in previous arm body, and described arm drives the driving gear shaft of gear pair
6-6-6 drives servo motor transmission to be connected and be provided with brake 6-6-5 with arm, and arm drives gear pair
Driven gear 6-6-2 circumference is fixed in the hinge joints spindle between two alternate arm bodies, driving gear 6-6-3 circumference
Being fixed on driving gear shaft, described hinge joints spindle 6-6-4 is rotatably assorted with previous arm body, solid with a rear arm body
Fixed connection；
It addition, each mechanical arm also can rotate at transverse plane inner periphery, the underarm of mechanical arm is arranged on mechanical arm
On installation chassis 6-4, mechanical arm installation chassis drives assembly 6-5 to drive by chassis, described chassis driving group
Part includes that end disk-drive motor 6-5-1 and chassis drive gear pair, and described chassis drives the driving gear of gear pair
6-5-2 fixes with driving gear shaft 6-5-3 circumference, driving gear shaft and the power output shaft of end disk-drive motor
Coaxially connected, driven gear 6-5-4 fixes with driven gear shaft 6-5-5 circumference, and driven gear shaft upper end edge
Longitudinally projecting floor box is fixing with chassis to be connected.
In the present embodiment, paw seat 6-3-1 is equilateral triangle structure, and described paw 6-3-2 is arranged at for point row
Three of paw seat 6-3-1 tri-limit.
In the present embodiment, also include for the manual automatic control system made of adaptive control mechanical, described automatically
Control system at least includes:
Angular displacement sensor, is arranged at inside underarm and upper arm, is used for detecting underarm and upper arm luffing angle；
Vision sensor 7, is arranged at the top of wrist assembly 6-2, the sky of object in detecting working environment
Between position, attitude, and monitor the duty of mechanical hand；Vision sensor is mainly by one or two figures
Sensor forms, it is possible to being equipped with light projector and other auxiliary equipments, imageing sensor can use laser scanning
Device, linear array and Array CCD Camera or TV video camera, may also be digital camera certainly；
Touch sensor, is arranged at mechanical paw 6-3-2 inner surface, the most complete for active obtaining object
Information；Wherein, touch sensor can be contacting feeling sensor, force-moment sense sensor, killing fluid additive and
Sliding feeling sensor；
Force sensor, is arranged at manipulator paw 6-3-2 and refers to, inside the clamping face of joint, be used for detecting each finger
The clamp pressure of joint；
Described central processing unit is additionally operable to acceptance angle displacement transducer, vision sensor, touch sensor and power and feels
The feedback signal of sensor, and integrated treatment storage information.
Finally illustrate, above example only in order to technical scheme to be described and unrestricted, although
With reference to preferred embodiment, the present invention is described in detail, it will be understood by those within the art that,
Technical scheme can be modified or equivalent, without deviating from technical solution of the present invention
Objective and scope, it all should be contained in the middle of scope of the presently claimed invention.
Claims (7)
1. a three-dimensional map structure Work robot, including removable vehicle body, central processing unit be arranged on
In removable vehicle body and for the three-dimensional information harvester of Collecting operation surrounding three-dimensional information, described three-dimensional information
Harvester electrically connects with described central processing unit and carries out three-dimensional map structure, and described removable vehicle body includes base plate
Case, foresteerage gear and rear wheel drive mechanism, it is characterised in that: described removable vehicle body also includes along base plate
Side arranged and was used for detecting some ultrasonic transmission/reception sensors of obstacle distance case week, and described central processing unit is also
Control is turned to for receiving ultrasonic transmission/reception sensor signal the output of integrated treatment backward described foresteerage gear
Instruction processed carries out avoidance；
Described foresteerage gear includes front-wheel, front fixing axle and steering driving mechanism, described steering driving mechanism
Including driving motor, worm gear, worm shaft and for connecting worm axle and front fixing shaft end and realize driving and turn to
Bogie, described driving motor by described central processing unit control work, described worm gear and described driving motor
Power output shaft circumference fix, described worm screw is by described worm-gear driven, and described bogie arranges two groups, described
Front-wheel is can be arranged at corresponding bogie in the way of own axis.
Three-dimensional map structure Work robot the most according to claim 1, it is characterised in that: described turn
Include that upper expansion link, lower expansion link, bar case and bearing pin, described bar case are fixedly installed on two expansion links to frame,
Being provided with front axle on described bar case, described bearing pin respectively arranges one in the end of front fixing axle and worm shaft along longitudinal
Individual and bearing pin two ends are stretched out, and described upper expansion link and described lower expansion link two ends rotate with corresponding bearing pin respectively joins
Close, described upper expansion link and described lower expansion link are additionally provided with spring.
Three-dimensional map structure Work robot the most according to claim 2, it is characterised in that: after described
Actuation includes trailing wheel, hind axle and rear wheel drive assembly, and hind axle is fixedly installed on described floor box,
Described trailing wheel is fixedly installed on described hind axle, and described rear wheel drive assembly includes rear wheel drive motor and bevel gear
Pair, the drive bevel gear of described bevel gear pair is fixed in the motor shaft of described rear wheel drive motor, described bevel gear
Secondary driven wheel of differential circumference is fixed on described hind axle.
Three-dimensional map structure Work robot the most according to claim 1, it is characterised in that: the described end
Being additionally provided with the mechanical hand captured for object on plate case, described mechanical hand is dual-arm robot, each machinery
Hands all includes that mechanical arm, wrist assembly and paw assembly, described paw assembly include paw seat and consolidate with paw seat
At least two paw connect and become clamp position to arrange, each paw by least three refer to save the most hinged and
Becoming, first knuckle is fixed in described paw seat, and two adjacent fingers are provided with on joint for driving at rear finger joint around hinged
The finger joint drive mechanism that axis rotates, described finger joint drive mechanism includes referring to that joint drives motor, bevel gear to refer to that joint drives
Dynamic secondary and spur gear refers to that joint drives pair, and described bevel gear refers to that joint drives secondary drive bevel gear to be fixed in finger joint and drives
The motor shaft of motor, bevel gear refers to that joint drives secondary driven wheel of differential and spur gear to drive secondary driving gear round
Being fixed in week on adjacent interphalangeal jointed shaft, spur gear refers to that joint drives secondary driven gear shaft to refer to that joint is solid with rear
Fixed connection.
Three-dimensional map structure Work robot the most according to claim 4, it is characterised in that: Mei Yiji
The mechanical arm of tool hands all includes the underarm that mode that is the most hinged and that all can rotate in perpendicular arranges, middle arm
And upper arm, it being provided with arm driving means between two alternate arm bodies, described arm driving means includes that arm drives servo electricity
Machine and arm drive gear pair, and described arm drives servomotor to be fixed in previous arm body, and described arm drives gear pair
Driving gear shaft and arm drive servo motor transmission to be connected and be provided with brake, arm driving gear pair from
Moving gear circumference is fixed in the hinge joints spindle between two alternate arm bodies, and described hinge joints spindle turns with previous arm body
Dynamic cooperation, fixes with a rear arm body and is connected.
Three-dimensional map structure Work robot the most according to claim 4, it is characterised in that: described hands
Pawl seat is equilateral triangle structure, and described paw is three that point row are arranged at paw seat three limit.
Three-dimensional map structure Work robot the most according to claim 5, it is characterised in that: also include
For the manual automatic control system made of adaptive control mechanical, described automatic control system at least includes:
Angular displacement sensor, is arranged at inside underarm and upper arm, is used for detecting underarm and upper arm luffing angle；
Vision sensor, is arranged at the top of wrist assembly, for detect the locus of object in working environment,
Attitude, and monitor the duty of mechanical hand；
Touch sensor, is arranged at mechanical paw inner surface, for the information that active obtaining object is the most complete；
Force sensor, is arranged at manipulator paw and refers to inside the clamping face of joint, for detecting each folder referring to joint
Hold pressure；
Described central processing unit is additionally operable to acceptance angle displacement transducer, vision sensor, touch sensor and power and feels
The feedback signal of sensor, and integrated treatment storage information.
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| CN203460170U (en) * | 2013-08-01 | 2014-03-05 | 河北工程大学 | Wheel type search and rescue robot |
| CN204585197U (en) * | 2015-03-18 | 2015-08-26 | 重庆交通大学 | Can automatic obstacle-avoiding Work robot |
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