CN106627819B - A kind of scissors hand robot - Google Patents
A kind of scissors hand robot Download PDFInfo
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- CN106627819B CN106627819B CN201611157251.6A CN201611157251A CN106627819B CN 106627819 B CN106627819 B CN 106627819B CN 201611157251 A CN201611157251 A CN 201611157251A CN 106627819 B CN106627819 B CN 106627819B
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- Prior art keywords
- control system
- vehicle frame
- shear
- power
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/015—Cutting mechanisms not covered by another group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a kind of scissors hand robots, including vehicle frame, the vehicle frame two sides are equipped with running gear, running gear includes crawler belt, motor and speed reducer structure, shear is equipped at the top of vehicle frame, shear includes scissors hand, motor and transmission mechanism, and there are also control system, power-supply system, communication module, sensor module, camera modules at vehicle frame top, and sensor module includes pressure sensor.The control system connects driving running gear with power-supply system, running gear and carries out omnibearing movable；The control system connects driving shear with power-supply system, shear and carries out opening and closing campaign；The control system connects the long-range control of realization with communication module；The control system is connected with sensor module for detecting whether scissors hand completes shearing task；The control system connects the location information for obtaining shearing target with camera module.The present invention has the characteristics that flexibility ratio is high, adaptable, has been widely used at civilian aspect and military aspect.
Description
Technical field
The invention belongs on civilian weeding field and it is military on the modernization field of military operations, specifically a kind of scissors
Hand robot.
Background technique
At civilian aspect, with the development of current economic, various countries' modernization construction is gradually deepened, the road in city, park
And the greening degree in region also increases accordingly by highway, a large amount of public greening regions need to carry out daily maintenance.Each
It is the heaviest to the weeds removing work under the complex environments such as slope and bushes in the upkeep operation of kind green belt, no
Only large labor intensity, and there are certain difficulty, it usually needs expend a large amount of manpower and financial resources power.
At military aspect, time area most important, especially bad in jungle visual isopter for modernization is fought
Domain carries out short range operations, however enemy is often stopped in jungle using barriers such as meshy steel wires, uses at present
It will take a lot of manpower and time for the method that hydraulic tongs tool is manually abolished, to be delayed opportunity of combat.In addition, in bomb
Explosion field, personnel's close contact bomb is extremely dangerous, therefore can remotely control to shear bomb lead and will greatly drop
Low personnel hazard's coefficient.
Currently, the moderate shear machine people that can be provided simultaneously with civil and military is very few.At civilian aspect, one is wheel types
Moderate shear machine people: it is walked and turns to by driving wheel, suitable for the place of topography relatively flat, is unable to adaptation to the ground
The slope of environment complexity or bushes operation, and low efficiency.Another kind is blade type moderate shear machine people: it relies on rotary head
The lawn maintenance to cut off weeds, suitable for large area is connected with motor to work.Presently, there are moderate shear machine people using
Operator's auxiliary operation is required in journey, the degree of automation is low.In military domain, at present for the research of moderate shear machine people
Even more it is in the starting stage.In addition, moderate shear machine people will cause power module heavy-current discharge during brake and starting.
High current sharply increases cell reaction, accelerates battery aging and scraps.Domestic existing moderate shear machine people is to on-vehicle battery
Safeguard measure is seldom, does not also take energy conservation measure.
Summary of the invention
The purpose of the present invention is to provide a kind of scissors hand robots, and moderate shear machine people is made to have flexibility ratio height, adaptability
Strong feature, so as to complete the multi-task on civilian, military.
The technical solution for realizing the aim of the invention is as follows:
A kind of scissors hand robot, including vehicle frame, the vehicle frame two sides are equipped with running gear, and the running gear includes carrying out
Band, motor and speed reducer structure, the vehicle frame top are equipped with shear, and the shear includes scissors hand, motor and transmission
Mechanism, the vehicle frame top are equipped with control system, power-supply system, communication module, sensor module, camera module, the biography
Sensor module includes pressure sensor；
The control system connects driving running gear with power-supply system, running gear and carries out omnibearing movable；The control
System processed, power-supply system, shear connection driving shear carry out opening and closing campaign；The control system and communication module connect
Connect the long-range control of realization；The control system is connected with sensor module for detecting whether scissors hand completes shearing task；Institute
Control system is stated to be connected with camera module for obtaining the location information for shearing target.
Further, the vehicle frame includes longitudinal carrier, front end horizontal axis, the first vehicle frame horizontal axis, the second vehicle frame horizontal axis, vehicle frame
Connecting shaft；Wherein, the longitudinal carrier is used to support body structure horizontal axis, the first vehicle frame horizontal axis, the second vehicle frame horizontal axis, vehicle frame and connects
The centre of longitudinal carrier is arranged in spindle, the power-supply system；The front end of longitudinal carrier is arranged in the front end horizontal axis, is used for
It is connected to the Athey wheel of vehicle frame two sides；The first vehicle frame horizontal axis, the second vehicle frame horizontal axis are fixed on longitudinal carrier bottom by nut,
For being connected to crawler belt deceleration mechanism；The vehicle frame connecting shaft is fixed on the upper end of longitudinal carrier by nut, described in fixed
Shear.
Further, the running gear includes crawler belt, motor, deceleration mechanism, and the deceleration mechanism includes first driven
Wheel, motor support base, level-one belt, level-one output shaft gear, primary speed-down connection shaft, primary input axial gear, second level input shaft
Gear, second belt, the first connection frame, flange circle, nut, support frame, crawler haulage connection shaft, drive rod, damper, crawler belt
Support frame, the second connection frame, second level Athey wheel, driven wheel support；
The motor is fixed on longitudinal carrier by motor support base, setting control system and communication mould above the motor
Block, the motor drive the rotation of primary input axial gear by level-one belt output torque；The primary input axial gear and one
Grade output shaft gear is connected to by primary speed-down connection shaft, is completed the first order and is slowed down；The second belt connection level-one is defeated
Shaft gear and second level input shaft gear out；The second level input shaft gear is connected to second level Athey wheel by front end horizontal axis；
The second connection frame connecting band track support frame and front end horizontal axis；The first connection frame connecting band track support frame and driven wheel branch
Frame；First driven wheel is fixed on driven wheel support two sides；The drive rod is fixed on crawler haulage by flange circle, nut
On connection shaft, the drive rod front end connects the track support frame and second connection frame, institute by the first vehicle frame horizontal axis
It states transmission rod rear end and passes through the second vehicle frame horizontal axis connecting band track support frame and the first connection frame；The damper is fixed on biography
Among lever, play the role of buffering；Support frame as described above is fixed below drive rod by nut, and support frame as described above is in drive rod
Promotion under drive crawler belt to rotate jointly with Athey wheel, complete travel task；Second driven wheel is fixed on support frame two sides；
The third driven wheel is fixed on vehicle frame connection shaft end, plays the role of fixed crawler belt；The crawler belt be successively wound on first from
Driving wheel, the second driven wheel, Athey wheel, on third driven wheel.
Further, the shear includes scissors hand, stepper motor, transmission mechanism, and the transmission mechanism includes inclined
Heart wheel, stepper motor seat, power rail, catch bar, fixing seat, connecting rod, support base；
The stepper motor is fixed on stepper motor seat；The stepper motor seat is fixed on longitudinal direction by screw bolt and nut
On bracket；The eccentric wheel is fixed on stepper motor；The power rail, catch bar, connecting rod and scissors hand are sequentially connected；Institute
Support seat supports scissors hand and connecting rod are stated, the sensor module is fixed on support base front end, the camera module setting
Below support base；The fixed seating plays the role of fixed shear device in vehicle frame connecting shaft；The stepper motor turns
Dynamic band movable eccentric wheel rotates, and so that scissors hand is opened or is closed by transmission mechanism, completes shear action by linkage.
Further, the control system includes master control system, power control system, DC motor control system, step
Into electric machine control system, the master control system connects the long-range control of realization with communication module；The master control system and sensing
Whether device module connecting detection scissors hand completes shearing task；The master control system is connected with camera module to be cut for obtaining
Cut the location information of target；The power control system is connect with power-supply system, for controlling entire power-supply system, from
And to the running gear, shear, control system, communication module, sensor module, camera module power supply；It is described straight
Galvanic electricity machine control system carries out omnibearing movable for controlling running gear；The step motor control system controls the shearing
Device carries out opening and closing campaign.
Further, the power-supply system include super capacitor, DC power supply, DC DC converter, for entire motor
Load and the power supply of IC device；The DC power supply is charged by the alternating current of 200~240V, the DC DC converter will be electric
Voltage value needed for pressure is converted to load, and powering load；The super capacitor is charged by the DC power supply；The electricity
Source system determines the working condition of super capacitor and DC power supply according to loading condition；The super capacitor is obtained from motor load
Take energy；The super capacitor storing, regenerating braking energy simultaneously provides peak energy, forms hybrid power source with DC power supply,
Auxiliary current is provided using super capacitor when moderate shear machine people starts and accelerates, is individually supplied in even running using DC power supply
Can, energy is absorbed using super capacitor in braking, guarantees DC power supply work within the current range of safe charge and discharge.
Further, the communication module includes wireless transmitter module and wireless receiving module, for realizing control terminal and
Data communication between robot, the working condition of remote real time monitoring moderate shear machine people；The wireless communication module is used and is followed
Ring intertexture error correction and detection coding, has the function of wireless awakening and networking function.
Further, the sensor module uses pressure sensor, judges shearing task according to the size of pressure value
Whether terminate；When the task of shearing does not complete, moderate shear machine people obtains the feature of shearing failure by the numerical value of pressure sensor
Information executes shearing task by control system control robot, until task is completed again.
Further, the camera module acquires forward image using high-definition camera, and carrying out image recognition judgement needs
The specific location for shearing target, communicates information to control system；The control system controls running gear, shear phase
Mutually cooperation, to realize shearing task.
Compared with the existing technology, the present invention has the following advantages: (1) strong flexibility, using track structure, Bevel Gear Transmission,
Robot can be made to realize comprehensive motion mode；(2) strong applicability, track structure allow moderate shear machine people intricately
It walks, is applicable in the numerous areas such as civilian, military in shape；(3) energy saving is strong, environmentally protective, and super capacitor is as peak energy
The storage unit that unit and regenerating braking energy are provided and Vehicular direct-current power supply form hybrid power source, benefit when starting and accelerating
There is provided auxiliary high current with the high-specific-power of super capacitor, ensure that DC power supply can with long-term work safe charge and discharge electricity
Within the scope of stream.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of scissors hand of the invention robot.
Fig. 2 is the vehicle frame and running gear structural schematic diagram of a kind of scissors hand of the invention robot.
Fig. 3 is a kind of shear structural schematic diagram of scissors hand of the invention robot.
Fig. 4 is a kind of control system architecture schematic diagram of scissors hand of the invention robot.
Fig. 5 is a kind of power-supply system operation schematic diagram of scissors hand of the invention robot.
Attached drawing mark: 1 is vehicle frame, and 2 be running gear, and 3 be shear, and 4 be control system, and 5 be power-supply system, and 6 are
Communication module, 7 be sensor module, and 8 be camera module, and 11 be longitudinal carrier, and 12 be front end horizontal axis, and 13 is horizontal for the first vehicle frame
Axis, 14 be the second vehicle frame horizontal axis, and 15 be vehicle frame connecting shaft, and 21 be deceleration mechanism, and 22 be the first driven wheel, and 23 be first motor,
24 be motor support base, and 25 be level-one belt, and 26 be level-one output shaft gear, and 27 be primary speed-down connection shaft, and 28 input for level-one
Shaft gear, 29 be second level input shaft gear, and 30 be second belt, and 31 be crawler belt, and 32 be the first connection frame, and 33 be flange circle, 34
For nut, 35 be support frame, and 36 be crawler haulage connection shaft, and 37 be drive rod, and 38 be damper, and 39 be track support frame, 40
It is second level Athey wheel for the second connection frame, 41,42 be driven wheel support, and 43 be the second driven wheel, and 44 be third driven wheel, and 51 are
Transmission mechanism, 52 be stepper motor, and 53 be eccentric wheel, and 54 be stepper motor seat, and 55 be power rail, and 56 be catch bar, and 57 be to cut
Knife, 58 be fixing seat, and 59 be connecting rod, and 60 be support base.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, the moderate shear machine people includes vehicle frame for a kind of structural schematic diagram of scissors hand of the invention robot
1,1 two sides of vehicle frame are equipped with running gear 2, and the running gear 2 includes crawler belt, motor and speed reducer structure, and the vehicle frame 1 pushes up
Portion is equipped with shear 3, and the shear 3 includes scissors hand, motor and transmission mechanism, also controls system at the top of the vehicle frame
System 4, power-supply system 5, communication module 6, sensor module 7, camera module 8, the sensor module 7 include pressure sensing
Device.
It is characterized in that the control system 4 and the power-supply system 5, the connection of the running gear 2 drive the walking
Device 2 carries out omnibearing movable；It is cut described in the control system 4 and the power-supply system 5, the connection driving of the shear 3
Cutting apparatus 3 carries out opening and closing campaign；Long-range control is realized in the control system 4 and the connection of the communication module 6；The control system
4 and the sensor module 7 connection for detecting whether scissors hand completes shearing task；The control system 4 and the camera shooting
The connection of head module 8 is for obtaining the location information of shearing target.
As shown in Fig. 2, for the vehicle frame and running gear structural schematic diagram of a kind of scissors hand of the invention robot, the vehicle frame
1 includes longitudinal carrier 11, front end horizontal axis 12, the first vehicle frame horizontal axis 13, the second vehicle frame horizontal axis 14, vehicle frame connecting shaft 15；Wherein, institute
It states longitudinal carrier 11 and is used to support body structure horizontal axis 12, the first vehicle frame horizontal axis 13, the second vehicle frame horizontal axis 14, vehicle frame connecting shaft
15, the power-supply system 5 is placed on the centre of the longitudinal carrier 11；The front end horizontal axis 12 is placed in the longitudinal carrier
11 front end, for being connected to the Athey wheel of 1 two sides of vehicle frame；The first vehicle frame horizontal axis 13, the second vehicle frame horizontal axis
14 are fixed on 11 bottom of longitudinal carrier by nut, for being connected to crawler belt deceleration mechanism；The vehicle frame connecting shaft 15 passes through
Nut is fixed on the upper end of the longitudinal carrier 11, for fixing the shear 3.
The running gear includes crawler belt 31, first motor 23, deceleration mechanism 21, the deceleration mechanism 21 include first from
Driving wheel 22, motor support base 24, level-one belt 25, level-one output shaft gear 26, primary speed-down connection shaft 27, primary input axial gear
28, second level input shaft gear 29, second belt 30, the first connection frame 32, flange circle 33, nut 34, support frame 35, crawler haulage
Connection shaft 36, drive rod 37, damper 38, track support frame 39, the second connection frame 40, second level Athey wheel 41, driven wheel support
42；
The first motor 23 is fixed on the longitudinal carrier 11 by the motor support base 24, the first motor 23
The control system 4 is placed in top and the communication module 6, the first motor 23 pass through 25 output torque of level-one belt
The primary input axial gear 28 is driven to rotate；The primary input axial gear 28 and the level-one output shaft gear 26 pass through institute
It states primary speed-down connection shaft 27 to be connected to, completes the first order and slow down；The second belt 30 connects the level-one output shaft tooth
Wheel 26 and the second level input shaft gear 29；The second level input shaft gear 29 and the second level Athey wheel 41 pass through the front end
Horizontal axis 12 is connected to；Second connection frame 40 connects the track support frame 39 and the front end horizontal axis 12；Described first
Connection frame 32 connects the track support frame 39 and the driven wheel support 42；First driven wheel 22 is fixed on described driven
42 two sides of wheel support；The drive rod 37 is fixed on the crawler haulage connection shaft by the flange circle 33, the nut 34
On 36,37 front end of drive rod connects the track support frame 39 and second connection by the first vehicle frame horizontal axis 13
Frame 40,37 rear end of drive rod connect the track support frame 39 and first connection by the second vehicle frame horizontal axis 14
Frame 32；The damper 38 is fixed among the drive rod 37, plays the role of buffering；Support frame as described above 35 is solid by nut
It is scheduled on 37 lower section of drive rod, support frame as described above 35 drives under the promotion of the drive rod 37 with the Athey wheel 41 jointly
Crawler belt 31 rotates, and completes travel task；Second driven wheel 43 is fixed on 35 two sides of support frame as described above；The third driven wheel
44 are fixed on 15 end of vehicle frame connecting shaft, play the role of fixed crawler belt 31；The crawler belt 31 is successively wound on described first
Driven wheel 22, second driven wheel 43, the Athey wheel 41, on the third driven wheel 44.
As shown in figure 3, for a kind of shear structural schematic diagram of scissors hand of the invention robot, the shear 3
Including scissors hand 57, stepper motor 52, transmission mechanism 51, the transmission mechanism 51 includes eccentric wheel 53, stepper motor seat 54, moves
Power bar 55, catch bar 56, fixing seat 58, connecting rod 59, support base 60；
The stepper motor 52 is fixed on the stepper motor seat 54；The stepper motor seat 54 passes through screw bolt and nut
It is fixed on the longitudinal carrier 11；The eccentric wheel 53 is fixed on the stepper motor 52；The power rail 55 described pushes away
Lever 56, the connecting rod 59 and the scissors hand 57 are sequentially connected；The support base 60 supports the scissors hand 57 and described
Connecting rod 59, the sensor module 7 are fixed on 60 front end of support base, and the camera module 8 is placed on the support
60 lower section of seat；58 sets of the fixing seat in the vehicle frame connecting shaft 15, are played the role of fixed shear device 3.The stepping
The rotation of motor 52 drives the eccentric wheel 53 to rotate, and so that the scissors hand 57 is opened or is closed by transmission mechanism 51, passes through bar
Mechanism completes shear action.
As shown in figure 4, for a kind of control system architecture schematic diagram of scissors hand of the invention robot, the control system 4
Including master control system, power control system, DC motor control system, step motor control system, the master control system
Long-range control is realized with the communication module 6 connection；The master control system and the connection of the sensor module 7 are cut for detecting
Whether knife hand completes shearing task；The master control system and the connection of the camera module 8 are for obtaining the position of shearing target
Confidence breath；The power control system is connect for the running gear 2, shear 3, control with the power-supply system 5
System 4, communication module 6, sensor module 7, camera module 8 are powered；The DC motor control system is described for controlling
Running gear 2 carries out omnibearing movable；The step motor control system carries out opening and closing fortune for controlling the shear 3
It is dynamic.
As shown in figure 5, for a kind of power-supply system operation schematic diagram of scissors hand of the invention robot, the power-supply system 5
Including super capacitor, DC power supply, DC DC converter, be mainly used for powering to entire motor load and IC device.The direct current
Power supply is charged by the alternating current of 200~240V, the DC DC converter convert voltages into load needed for voltage value, and
Powering load；The super capacitor is charged by the DC power supply；The power control system is used for entire power supply
System 5 is controlled, and the working condition of the super capacitor and the DC power supply is determined according to loading condition；The super electricity
Appearance generates energy harvesting from the motor load, so as to improve the utilization efficiency of the energy.The super capacitor storing, regenerating system
Energy simultaneously provides peak energy, forms hybrid power source with the DC power supply, can make full use of DC power supply energy in this way
The high characteristic of metric density and the high feature of super capacitor power density, super electricity is utilized when moderate shear machine people starts and accelerates
The high-specific-power of appearance provides auxiliary high current, is individually energized in even running using DC power supply, in braking using super
Capacitive absorption energy can guarantee DC power supply long-term work within the current range of safe charge and discharge in this way.
The communication module 6 includes wireless transmitter module and wireless receiving module, is mainly used for realizing control terminal and machine
Data communication between people, can be with the working condition of remote real time monitoring moderate shear machine people；The wireless communication module is using high
The circulation intertexture error correction and detection of effect encodes, and has the function of wireless awakening and networking function.
The sensor module 7 uses pressure sensor, judges whether shearing task terminates according to the size of pressure value,
The method has good accuracy；When shearing task does not complete, moderate shear machine people is cut by the numerical value acquisition of pressure sensor
The characteristic information for cutting failure executes shearing task by the control system 4 control robot, until task is completed again.
The camera module 8 acquires forward image using high-definition camera, carries out image recognition judgement and needs to shear mesh
Target specific location communicates information to the control system 4；The control system 4 controls the running gear 2, described cuts
Cutting apparatus 3 cooperates, and accurately shears task to realize.
In conclusion a kind of scissors hand of the invention robot, has the characteristics that flexibility ratio is high, adaptable, in civilian side
Face can easily cut off the weeds under slope, bushes environment, reduce the working strength of worker, and improve work effect
Rate；The steel wire barrier of enemy, the lead of shearing bomb can be sheared at military aspect, operation difficulty is reduced, has ensured work
The safety of war personnel.Storage unit and vehicular electricity storage of the super capacitor as the offer unit and regenerating braking energy of peak energy
Pond forms hybrid power source；High-specific-power when starting and accelerating using super capacitor provides auxiliary high current, ensure that electric power storage
Pond long-term work is within the current range of safe charge and discharge.
Claims (8)
1. a kind of scissors hand robot, which is characterized in that including vehicle frame (1), vehicle frame (1) two sides are equipped with running gear (2),
The running gear (2) includes crawler belt, first motor and deceleration mechanism, is equipped with shear (3) at the top of the vehicle frame (1), institute
Stating shear (3) includes scissors hand, motor and transmission mechanism, is equipped with control system (4), power-supply system at the top of the vehicle frame
(5), communication module (6), sensor module (7), camera module (8), the sensor module (7) includes pressure sensor；
The control system (4) and power-supply system (5), running gear (2) connection, the control system (4) drive running gear
(2) omnibearing movable is carried out；The control system (4), power-supply system (5), shear (3) connection, the control system (4)
Shear (3) are driven to carry out opening and closing campaign；Long-range control is realized in the control system (4) and communication module (6) connection；It is described
Control system (4) and sensor module (7) connection are for detecting whether scissors hand completes shearing task；The control system (4)
With camera module (8) connection for obtaining the location information of shearing target；
The vehicle frame (1) includes longitudinal carrier (11), front end horizontal axis (12), the first vehicle frame horizontal axis (13), the second vehicle frame horizontal axis
(14), vehicle frame connecting shaft (15)；Wherein, it is horizontal to be used to support body structure horizontal axis (12), the first vehicle frame for the longitudinal carrier (11)
Axis (13), the second vehicle frame horizontal axis (14), vehicle frame connecting shaft (15), the power-supply system (5) are arranged in longitudinal carrier (11)
Between；The front end horizontal axis (12) is arranged in the front end of longitudinal carrier (11), for being connected to the Athey wheel of vehicle frame (1) two sides；Institute
It states the first vehicle frame horizontal axis (13), the second vehicle frame horizontal axis (14) and longitudinal carrier (11) bottom is fixed on by nut, carried out for being connected to
Band deceleration mechanism；The vehicle frame connecting shaft (15) is fixed on the upper end of longitudinal carrier (11) by nut, for cutting described in fixation
Cutting apparatus (3).
2. scissors hand according to claim 1 robot, which is characterized in that the running gear (2) include crawler belt (31),
First motor (23), deceleration mechanism (21), the deceleration mechanism (21) include the first driven wheel (22), motor support base (24), one
Grade belt (25), level-one output shaft gear (26), primary speed-down connection shaft (27), primary input axial gear (28), second level input
Shaft gear (29), second belt (30), the first connection frame (32), flange circle (33), nut (34), support frame (35), crawler belt pass
Dynamic connection shaft (36), drive rod (37), damper (38), track support frame (39), the second connection frame (40), second level Athey wheel
(41), driven wheel support (42)；
The first motor (23) is fixed on longitudinal carrier (11) by motor support base (24), above the first motor (23)
Control system (4) and communication module (6) are set, and the first motor (23) drives level-one by level-one belt (25) output torque
Input shaft gear (28) rotation；The primary input axial gear (28) is connected to level-one output shaft gear (26) by primary speed-down
Axis (27) is connected to, and is completed the first order and is slowed down；Second belt (30) connection level-one output shaft gear (26) and second level are defeated
Enter shaft gear (29)；The second level input shaft gear (29) is connected to second level Athey wheel (41) by front end horizontal axis (12)；
Second connection frame (40) the connecting band track support frame (39) and front end horizontal axis (12)；First connection frame (32) connecting band track
Support frame (39) and driven wheel support (42)；First driven wheel (22) is fixed on driven wheel support (42) two sides；The biography
Lever (37) is fixed on crawler haulage connection shaft (36) by flange circle (33), nut (34), drive rod (37) front end
The track support frame (39) and second connection frame (40), the drive rod (37) are connected by the first vehicle frame horizontal axis (13)
Rear end passes through the second vehicle frame horizontal axis (14) connecting band track support frame (39) and the first connection frame (32)；The damper (38)
It is intermediate to be fixed on drive rod (37), plays the role of buffering；Support frame as described above (35) is fixed under drive rod (37) by nut
Side, support frame as described above (35) drive crawler belt (31) to rotate jointly under the promotion of drive rod (37) with Athey wheel (41), complete row
Into task；Second driven wheel (43) is fixed on support frame (35) two sides；Third driven wheel (44) is fixed on vehicle frame connecting shaft (15)
Fixed crawler belt (31) are played the role of in end；The crawler belt (31) is successively wound on the first driven wheel (22), the second driven wheel
(43), Athey wheel (41), on third driven wheel (44).
3. scissors hand according to claim 1 robot, which is characterized in that the shear (3) includes scissors hand
(57), stepper motor (52), transmission mechanism (51), the transmission mechanism (51) include eccentric wheel (53), stepper motor seat (54),
Power rail (55), catch bar (56), fixing seat (58), connecting rod (59), support base (60)；
The stepper motor (52) is fixed on stepper motor seat (54)；The stepper motor seat (54) is solid by screw bolt and nut
It is scheduled on longitudinal carrier (11)；The eccentric wheel (53) is fixed on stepper motor (52)；The power rail (55), catch bar
(56), connecting rod (59) and scissors hand (57) are sequentially connected；Support base (60) support scissors hand (57) and connecting rod (59),
The sensor module (7) is fixed on support base (60) front end, and camera module (8) setting is below support base (60)；
The fixing seat (58) covers on vehicle frame connecting shaft (15), plays the role of fixed shear device (3)；The stepper motor (52)
Rotation band movable eccentric wheel (53) rotates, and so that scissors hand (57) is opened or is closed by transmission mechanism (51), is completed by linkage
Shear action.
4. scissors hand according to claim 1 robot, which is characterized in that the control system (4) includes main control system
System, power control system, DC motor control system, step motor control system, the master control system and communication module (6)
Long-range control is realized in connection；Whether the master control system and sensor module (7) connecting detection scissors hand complete shearing task；
The master control system and camera module (8) connection are for obtaining the location information of shearing target；The power control system
It is connect with power-supply system (5), for controlling entire power-supply system (5), thus to the running gear (2), shearing dress
Set (3), control system (4), communication module (6), sensor module (7), camera module (8) power supply；The direct current generator control
System processed carries out omnibearing movable for controlling running gear (2)；The step motor control system controls the shear
(3) opening and closing campaign is carried out.
5. scissors hand according to claim 1 robot, which is characterized in that the power-supply system (5) include super capacitor,
DC power supply, DC DC converter, for powering to entire motor load and IC device；The DC power supply is by 200~240V's
Alternating current charges, the DC DC converter convert voltages into load needed for voltage value, and powering load；It is described super
Grade capacitor is charged by the DC power supply；The power-supply system (5) determines super capacitor and direct current according to loading condition
The working condition in source；The super capacitor obtains energy from motor load；The super capacitor storing, regenerating braking energy is simultaneously
Peak energy is provided, hybrid power source is formed with DC power supply, is mentioned when moderate shear machine people starts and accelerates using super capacitor
It for auxiliary current, is individually energized in even running using DC power supply, absorbs energy using super capacitor in braking, guarantee
DC power supply works within the current range of safe charge and discharge.
6. scissors hand according to claim 1 robot, which is characterized in that the communication module (6) includes wireless transmission
Module and wireless receiving module, for realizing the data communication between control terminal and robot, remote real time monitoring moderate shear machine
The working condition of people；Wireless communication module has the function of wireless awakening and networking function using circulation intertexture error correction and detection coding.
7. scissors hand according to claim 1 robot, which is characterized in that the sensor module (7) is passed using pressure
Sensor judges whether shearing task terminates according to the size of pressure value；When the task of shearing does not complete, moderate shear machine people passes through
The numerical value of pressure sensor obtains the characteristic information of shearing failure, is executed and is cut again by the control system (4) control robot
Task is cut, until task is completed.
8. scissors hand according to claim 1 robot, which is characterized in that the camera module (8) is taken the photograph using high definition
As head acquisition forward image, the specific location that image recognition judgement needs to shear target is carried out, control system is communicated information to
(4)；Control system (4) control running gear (2), shear (3) cooperate, to realize shearing task.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611157251.6A CN106627819B (en) | 2016-12-15 | 2016-12-15 | A kind of scissors hand robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611157251.6A CN106627819B (en) | 2016-12-15 | 2016-12-15 | A kind of scissors hand robot |
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| Publication Number | Publication Date |
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| CN106627819A CN106627819A (en) | 2017-05-10 |
| CN106627819B true CN106627819B (en) | 2019-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611157251.6A Active CN106627819B (en) | 2016-12-15 | 2016-12-15 | A kind of scissors hand robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113826607A (en) * | 2021-09-14 | 2021-12-24 | 东北农业大学 | Shearing type intelligent weeding robot based on weed prescription chart |
| CN114431147B (en) * | 2022-02-25 | 2023-01-13 | 华北电力大学（保定） | Double-arm cutting device and double-arm cutting method applied to butterfly orchid seedling cutting |
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| JP2002284052A (en) * | 2001-03-28 | 2002-10-03 | Kubota Corp | Traveling device for service vehicle |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
| CN105027834A (en) * | 2015-07-10 | 2015-11-11 | 平顶山工业职业技术学院 | Vegetable and fruit picking robot and control method thereof |
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| JP2002284052A (en) * | 2001-03-28 | 2002-10-03 | Kubota Corp | Traveling device for service vehicle |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
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