CN104669275A - Intelligent explosive ordnance disposal robot - Google Patents
Intelligent explosive ordnance disposal robot Download PDFInfo
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- CN104669275A CN104669275A CN201510063405.4A CN201510063405A CN104669275A CN 104669275 A CN104669275 A CN 104669275A CN 201510063405 A CN201510063405 A CN 201510063405A CN 104669275 A CN104669275 A CN 104669275A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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Abstract
The invention relates to an intelligent explosive ordnance disposal robot. The intelligent explosive ordnance disposal robot comprises a vehicle body and driving systems which are symmetrically arranged on two sides of the vehicle body, wherein an operating system and a control system are further arranged on the vehicle body, and the control system is respectively connected with the driving systems and the operating system; the operating system comprises a waist joint system movably connected with the vehicle body, a shoulder joint system movably connected with the waist joint system, a mechanical arm system movably connected with the shoulder joint system and an end actuator arranged at the end of the mechanical arm system, wherein a panoramic camera system is further movably connected onto the shoulder joint system and a binocular vision system is further arranged on the mechanical arm system. The intelligent explosive ordnance disposal robot can acquire surrounding environment information, information is transmitted and commands are received in real time through the control system, the function of controlling the operating system to realize grapping is realized, the mechanical structure is stable, the stability during running and obstacle surmounting is improved, the explosive ordnance disposal process is enabled to be quicker and safer, and the explosive ordnance disposal efficiency and safety are improved.
Description
Technical field
The present invention relates to explosive-removal robot technical field, be specifically related to a kind of intelligent explosive-removal robot.
Background technology
Along with the day by day sternness of International Terrorism form, various countries are subject to the safe handling of explosive and jointly pay close attention to.Although anti-terrorism officer can realize explosive object by consummate technology, but due to the uncertainty of aspect and the high risk of explosive process such as state, attribute, position of explosive, uncertain situation may be there is at any time in explosive process, careless slightlyly cause explosive failure, by the life security of explosive for serious threat personnel.The appearance of explosive-removal robot largely solves this problem, but existing explosive-removal robot can not meet the demands in overall performance, the performance especially in the stability of walking, obstacle detouring and climbing capacity, Accurate Analysis to object, stationkeeping ability and crawl, manipulation flexibility is in urgent need to be improved.
Summary of the invention
The object of the invention is to provide a kind of intelligent explosive-removal robot for the deficiencies in the prior art, it not only has good stability, freely can retreat, turn, obstacle detouring, climbing, and can search for quickly and safely, differentiate explosive, realize the accurate location to explosive and crawl, explosive efficiency is high.
The present invention is achieved through the following technical solutions this object:
A kind of intelligent explosive-removal robot, comprise car body, be symmetricly set in the drive system of car body both sides, described car body is also provided with operating system and control system, described control system is connected with drive system, operating system respectively, described drive system comprises the thrust wheel, the driving wheel of spread configuration in thrust wheel two ends and the crawler belt that are connected with car body and forms, and described crawler belt is sheathed on the periphery of thrust wheel and driving wheel;
Described operating system comprises the waist joint system be flexibly connected with car body, the shoulder joint system be connected with described waist joint system activity, the mechanical arm system be connected with described shoulder joint system activity and the end effector being arranged at mechanical arm system end, described shoulder joint system is also connected with panoramic camera system, described mechanical arm system is also provided with binocular vision system;
Described control system comprises interconnective driver, controller, power supply and wireless communication module.
Wherein, described drive system comprises symmetrically arranged four driving wheels and two thrust wheels, and described four driving wheels also can realize drive with drive system separate connection respectively, and described thrust wheel is arranged between two driving wheels of homonymy.
Further, the arranged outside of described crawler belt has the some banking stops for preventing crawler belt from coming off.
Wherein, described waist joint system comprises transmission and hangs on the waist joint of car body and the waist motor for driving waist joint to rotate, and described waist motor is connected with waist joint by hollow harmonic speed reducer.
Wherein, described shoulder joint system comprises the shoulder joint be connected with waist joint gear drive, and the shoulder motor for driving shoulder joint to rotate.
Wherein, described mechanical arm system comprises large arm system, the little arm system be connected with large arm system, the wrist joint system that is connected with little arm system, described large arm system comprises large arm and the large motor for driving large arm to rotate, described little arm system comprises forearm and the fractional motor for driving forearm to rotate, described large arm is connected by elbow joint with forearm, and described wrist joint system comprises wrist joint and for driving wrist joint to rotate and the wrist motor of pitching.
Wherein, described binocular vision system is made up of binocular camera and a base, and described binocular vision system is arranged on wrist joint.
As preferably, described large arm and forearm realize three grades by elbow joint and are in transmission connection, and first order transmission is Planetary Gear Transmission, and second level transmission is Bevel Gear Transmission, and third level transmission is harmonic wave speed reducing machine transmission; Described end effector realizes joint pitching transmission and joint rotary drive respectively by wrist joint and forearm, the pitching transmission of described joint comprises two-stage transmission, first order transmission is Bevel Gear Transmission, second level transmission is harmonic reduction transmission, described joint rotary drive comprises two-stage transmission, first order transmission is Planetary Gear Transmission, and second level transmission is column gear transmission.
As preferably, described end effector adopts modularized design, and may be selected to be folding paw, hold up paw or percussion drill with both hands, end effector comprises two-stage transmission, and first order transmission is Planetary Gear Transmission, and second level transmission is Worm Wheel System.
Wherein, described panoramic camera system comprises panoramic camera and the two-dimensional pan-tilt for fixing panoramic camera, described two-dimensional pan-tilt is connected with shoulder joint system with push rod by a rotating connecting rod, also comprise to be connected with described push rod and for drive push rod to rotate or pitching push away motor.
Relative to prior art, beneficial effect of the present invention is: intelligent explosive-removal robot of the present invention, comprise car body, be symmetricly set in the drive system of car body both sides, described car body is also provided with operating system and control system, described control system is connected with drive system, operating system respectively, described drive system comprises the thrust wheel, the driving wheel of spread configuration in thrust wheel two ends and the crawler belt that are connected with car body and forms, and described crawler belt is sheathed on the periphery of thrust wheel and driving wheel; Described operating system comprises the waist joint system be flexibly connected with car body, the shoulder joint system be connected with described waist joint system activity, the mechanical arm system be connected with described shoulder joint system activity and the end effector being arranged at mechanical arm system end, described shoulder joint system is also connected with panoramic camera system, described mechanical arm system is also provided with binocular vision system.Car body of the present invention is connected with operating system by waist, operating system connects the end effector of 5DOF, ambient condition information is gathered by panoramic camera system and binocular vision system, send information in real time by control system, receive instruction, realize controlling the function that operating system realizes crawl.Drive system adopts roller to add crawler type walking mechanism, ensure that robot all has good service behaviour under multiple geomorphic feature environment, this frame for movement is stablized, space utilization is reasonable, improve the stability of traveling and obstacle detouring process, make explosive process safer more fast, improve explosive efficiency and security.
Accompanying drawing explanation
Fig. 1 is the structural representation of intelligent explosive-removal robot of the present invention.
In figure: 1-car body; 2-thrust wheel; 3-driving wheel; 4-crawler belt; 5-banking stop; 6-control system; 7-waist joint; 8-shoulder joint; 9-large arm; 10-forearm; 11-elbow joint; 12-binocular camera; 13-base; 14-wrist joint; 15-end effector; 16-panoramic camera; 17-two-dimensional pan-tilt; 18-connecting rod; 19-push rod.
Detailed description of the invention
Describe the present invention below in conjunction with drawings and the specific embodiments.
Embodiment:
As shown in Figure 1, the intelligent explosive-removal robot of the present embodiment, comprise car body 1, be symmetricly set in the drive system of car body 1 both sides, described car body 1 is also provided with operating system and control system 6, described control system 6 is connected with drive system, operating system respectively, described drive system comprises the thrust wheel 2, the driving wheel 3 of spread configuration in thrust wheel 2 two ends and the crawler belt 4 that are connected with car body 1 and forms, and described crawler belt 4 is sheathed on the periphery of thrust wheel 2 and driving wheel 3;
Described operating system comprises the waist joint system be flexibly connected with car body 1, the shoulder joint system be connected with described waist joint system activity, the mechanical arm system be connected with described shoulder joint system activity and the end effector 15 being arranged at mechanical arm system end, described shoulder joint system is also connected with panoramic camera system, described mechanical arm system is also provided with binocular vision system;
Described control system 6 comprises interconnective driver, controller, power supply and wireless communication module.
The drive system of the present embodiment comprises symmetrically arranged four driving wheels 3 and two thrust wheels 2, described four driving wheels 3 also can realize drive with drive system separate connection respectively, described thrust wheel 2 is arranged between two driving wheels 3 of homonymy, adopt primary speed-down scheme, maximum speed can reach 5Km/h, four driving wheels 3 of car body 1 both sides realize drive respectively, to realize maximum power, climbing capacity, turn-take and cross over the ability of 200mmX200mm barrier in original place, or when non-ipsilateral portion crawler belt 4 is unsettled, explosive-removal robot still can normally work.
Described panoramic camera system and binocular vision system can gather ambient condition information, send information in real time by control system 6, receive instruction, realize controlling the function that operating system realizes crawl, this frame for movement is stablized, improve the stability of traveling and obstacle detouring process, make explosive process safer more fast, improve explosive efficiency and security.
Further, the arranged outside of described crawler belt 4 has the some banking stops 5 for preventing crawler belt 4 from coming off, banking stop 5 covers at the outside of thrust wheel 2 and driving wheel 3, in the process of the explosive robot ambulation of intelligence, effectively can prevent crawler belt 4 from coming off from thrust wheel 2 and driving wheel 3, ensure carrying out smoothly of explosive process.
Wherein, described waist joint system comprises transmission and hangs on the waist joint 7 of car body 1 and the waist motor for driving waist joint 7 to rotate, described waist motor is connected with waist joint 7 by hollow harmonic speed reducer, under the driving of waist motor, described waist joint 7 can drive whole operating system on car body 1, carry out 360 degree of rotations, observation and job area are greatly, practical.
Wherein, described shoulder joint system comprises the shoulder joint 8 be connected with waist joint 7 gear drive, and the shoulder motor for driving shoulder joint 8 to rotate, under the driving of described shoulder motor, described mechanical arm system with shoulder joint 8 for fulcrum rotates, can realize the lifting of mechanical arm system with flexible.
Wherein, described mechanical arm system comprises large arm system, the little arm system be connected with large arm system, the wrist joint system that is connected with little arm system, described large arm system comprises large arm 9 and the large motor for driving large arm 9 to rotate, described little arm system comprises forearm 10 and the fractional motor for driving forearm 10 to rotate, described large arm 9 is connected by elbow joint 11 with forearm 10, and described wrist joint system comprises wrist joint 14 and for driving wrist joint 14 to rotate and the wrist motor of pitching.
Under the driving of large motor, the bottom of large arm 9 can realize with shoulder joint 8 as fulcrum rotates, under the driving of fractional motor; the bottom of forearm 10 can realize with elbow joint 11 as fulcrum rotates; under the driving of wrist motor; described end effector 15 can realize with wrist joint 14 for fulcrum rotates, thus realizes the routing motion of whole mechanical arm system, realize the observation to explosive and crawl process.
Wherein, described binocular vision system is made up of binocular camera 12 and a base 13, and described binocular vision system is arranged on wrist joint 14.Binocular vision system can move accordingly along with the rotation of wrist joint 14 or rotation, its path unification mutually with end effector 15, ensure that the region that end effector 15 can arrive all is within the range of observation of binocular vision system, picture simultaneously captured by binocular camera 12 can transfer to the control end of staff's control by control system 6, realize the complete monitoring to explosive region and explosive.
As preferably, described large arm 9 realizes three grades with forearm 10 by elbow joint 11 and is in transmission connection, first order transmission is Planetary Gear Transmission, second level transmission is Bevel Gear Transmission, third level transmission is harmonic wave speed reducing machine transmission, the accuracy of gearratio can be ensured on the one hand, be conducive to ensureing the stationarity of large arm 9 in pitching process; Improve gearratio on the other hand, less CD-ROM drive motor can be utilized can to drive larger load, be conducive to the overall weight alleviating explosive-removal robot, improve the flexibility that operation controls.
Described end effector 15 realizes joint pitching transmission and joint rotary drive respectively by wrist joint 14 and forearm 10, the pitching transmission of described joint comprises two-stage transmission, first order transmission is Bevel Gear Transmission, second level transmission is harmonic reduction transmission, described joint rotary drive comprises two-stage transmission, first order transmission is Planetary Gear Transmission, and second level transmission is column gear transmission.Farthest ensure that the flexibility that end effector 15 is manipulated, especially carry out in the process processed at the explosive or small-sized explosive etc. higher for some fine degree, flexibility obtains the explosive-removal robot significantly improved and is conducive to greatly improving explosive successful probability, and then improves security.
As preferably, described end effector 15 adopts modularized design, may be selected to be folding paw, hold up paw or percussion drill with both hands, end effector 15 comprises two-stage transmission, first order transmission is Planetary Gear Transmission, and second level transmission is Worm Wheel System, and modular design can be applicable to include but not limited to folding paw, hold up paw or percussion drill with both hands at interior multiple end effector 15, corresponding explosive instrument can be selected for different actual conditions, practical.
Wherein, described panoramic camera system comprises panoramic camera 16 and the two-dimensional pan-tilt 17 for fixing panoramic camera 16, described two-dimensional pan-tilt 17 is connected with shoulder joint 8 system with push rod 19 by a rotating connecting rod 18, also comprise to be connected with described push rod 19 and for drive push rod 19 to rotate or pitching push away motor.
Panoramic camera 16 can not only observe the state of explosive, surrounding environment residing for explosive comprehensively can also be observed, under the driving pushing away motor, push rod 19 can drive two-dimensional pan-tilt 17 to carry out 360 degree of rotations or pitching, and then drive the panoramic camera 16 be positioned on two-dimensional pan-tilt 17 to take whole explosive region comprehensively, captured picture transfers to the control end of staff's control by control system 6, realize the complete monitoring to explosive region and explosive.
The workflow of the intelligent explosive-removal robot of the present embodiment is as follows:
Panoramic camera system acquisition is to the information of explosive-removal robot surrounding environment, picture is transferred to the control end of staff's control by the radio station of control system 6, show in real time at panoramic video window, after operating personnel find suspicious object, control explosive-removal robot close to object, after explosive-removal robot enters opereating specification, operating personnel's sending controling instruction, explosive-removal robot waist joint system rotates, control binocular vision system to aim at the mark thing, the object image of shooting is sent to control end by binocular vision system, control end is according to the Mathematical Modeling of binocular vision system, solve the measurements of the chest, waist and hips coordinate of the relative explosive-removal robot of target object, according to the measurements of the chest, waist and hips coordinate asked for and the present residing position of mechanical arm system, with motion path requirement, ask for each joint and want to reach the anglec of rotation needed for target location, by analysis and after solving, control end sends some row control instructions to work on the spot end by radio station, after work on the spot termination receives control instruction, through resolving, split and transform, pass through corresponding module, command sequence is transferred to amplifier, after amplifier is to the amplification of instruction, drive the associated drives motor on working end, end effector 15 is made to reach assigned address, grasping movement can be carried out afterwards, drive the motor of end effector 15, end effector 15 closes, clamp target, transferred in explosive cylinder.
The above embodiment only have expressed some embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an intelligent explosive-removal robot, comprise car body, be symmetricly set in the drive system of car body both sides, described car body is also provided with operating system and control system, described control system is connected with drive system, operating system respectively, it is characterized in that: described drive system comprises the thrust wheel, the driving wheel of spread configuration in thrust wheel two ends and the crawler belt that are connected with car body and forms, and described crawler belt is sheathed on the periphery of thrust wheel and driving wheel;
Described operating system comprises the waist joint system be flexibly connected with car body, the shoulder joint system be connected with described waist joint system activity, the mechanical arm system be connected with described shoulder joint system activity and the end effector being arranged at mechanical arm system end, described shoulder joint system is also connected with panoramic camera system, described mechanical arm system is also provided with binocular vision system;
Described control system comprises interconnective driver, controller, power supply and wireless communication module.
2. intelligent explosive-removal robot according to claim 1, it is characterized in that: described drive system comprises symmetrically arranged four driving wheels and two thrust wheels, described four driving wheels also can realize drive with drive system separate connection respectively, and described thrust wheel is arranged between two driving wheels of homonymy.
3. intelligent explosive-removal robot according to claim 2, is characterized in that: the arranged outside of described crawler belt has the some banking stops for preventing crawler belt from coming off.
4. intelligent explosive-removal robot according to claim 1, is characterized in that: described waist joint system comprises transmission and hangs on the waist joint of car body and the waist motor for driving waist joint to rotate, and described waist motor is connected with waist joint by hollow harmonic speed reducer.
5. intelligent explosive-removal robot according to claim 1, is characterized in that: described shoulder joint system comprises the shoulder joint be connected with waist joint gear drive, and the shoulder motor for driving shoulder joint to rotate.
6. intelligent explosive-removal robot according to claim 1, it is characterized in that: described mechanical arm system comprises large arm system, the little arm system be connected with large arm system, the wrist joint system that is connected with little arm system, described large arm system comprises large arm and the large motor for driving large arm to rotate, described little arm system comprises forearm and the fractional motor for driving forearm to rotate, described large arm is connected by elbow joint with forearm, and described wrist joint system comprises wrist joint and for driving wrist joint to rotate and the wrist motor of pitching.
7. intelligent explosive-removal robot according to claim 6, is characterized in that: described binocular vision system is made up of binocular camera and a base, and described binocular vision system is arranged on wrist joint.
8. intelligent explosive-removal robot according to claim 6, it is characterized in that: described large arm and forearm realize three grades by elbow joint and be in transmission connection, first order transmission is Planetary Gear Transmission, and second level transmission is Bevel Gear Transmission, and third level transmission is harmonic wave speed reducing machine transmission; Described end effector realizes joint pitching transmission and joint rotary drive respectively by wrist joint and forearm, the pitching transmission of described joint comprises two-stage transmission, first order transmission is Bevel Gear Transmission, second level transmission is harmonic reduction transmission, described joint rotary drive comprises two-stage transmission, first order transmission is Planetary Gear Transmission, and second level transmission is column gear transmission.
9. intelligent explosive-removal robot according to claim 6, it is characterized in that: described end effector adopts modularized design, may be selected to be folding paw, hold up paw or percussion drill with both hands, end effector comprises two-stage transmission, first order transmission is Planetary Gear Transmission, and second level transmission is Worm Wheel System.
10. the intelligent explosive-removal robot according to claim 1-9 any one, it is characterized in that: described panoramic camera system comprises panoramic camera and the two-dimensional pan-tilt for fixing panoramic camera, described two-dimensional pan-tilt is connected with shoulder joint system with push rod by a rotating connecting rod, also comprise to be connected with described push rod and for drive push rod to rotate or pitching push away motor.
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| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
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| CN105128957B (en) * | 2015-09-13 | 2017-05-17 | 陈翡 | Crawler type explosive-handling robot |
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| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
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| CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
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Application publication date: 20150603 |