CN108406784A - A kind of explosive-removal robot mechanical arm mechanism and control system and method - Google Patents
A kind of explosive-removal robot mechanical arm mechanism and control system and method Download PDFInfo
- Publication number
- CN108406784A CN108406784A CN201810070350.3A CN201810070350A CN108406784A CN 108406784 A CN108406784 A CN 108406784A CN 201810070350 A CN201810070350 A CN 201810070350A CN 108406784 A CN108406784 A CN 108406784A
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- Prior art keywords
- mechanical
- gripper
- steering engine
- host computer
- arm
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
A kind of explosive-removal robot mechanical arm mechanism and its control system and method, including mechanical large arm, mechanical large arm one end is connected by mechanical arm bearing with rotary head, the mechanical large arm other end is connected with mechanical forearm one end, the mechanical forearm other end is connected with gripper bearing, gripper block end is provided with camera, and gripper bearing upper end is provided with gripper, gripper open-and-close mechanism is equipped on gripper；Between mechanical large arm and mechanical arm bearing, between mechanical large arm and mechanical forearm, between mechanical forearm and gripper bearing, the first steering engine for being provided with steering power, the second steering engine, third steering engine and the 4th steering engine are respectively set between gripper bearing and gripper；The information received is passed to controller by camera, and controller controls rotary head and operated with steering engine, and the present invention has the characteristics of mechanical arm mechanism flexibility ratio is high, broad covered area.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of explosive-removal robot mechanical arm mechanism and its control system
System and method.
Background technology
Existing explosive-removal robot structure or sufficiently complex, still good cannot be answered in some narrow special occasions
With.And mechanical arm degree of freedom is few, remote control technology is not also very complete, cannot be played a role well.
Invention content
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of explosive-removal robot mechanical arms
Mechanism and its control system and method, achieve the purpose that remote control by control system, it is ensured that the safety of people has mechanical arm
The characteristics of mechanical flexibility degree is high, broad covered area.
In order to achieve the above object, the technical solution adopted by the present invention is：
A kind of explosive-removal robot mechanical arm mechanism, including mechanical large arm 4,4 one end of mechanical large arm pass through mechanical arm bearing 2
It is connected with rotary head 1,4 other end of mechanical large arm is connected with 6 one end of mechanical forearm, 6 other end of mechanical forearm and gripper branch
Seat 10 is connected, and 10 end set of gripper bearing has camera 9,10 upper end of gripper bearing to be provided with gripper
12, gripper open-and-close mechanism 13 is installed on gripper 12；
Between the mechanical large arm 4 and mechanical arm bearing 2, between mechanical large arm 4 and mechanical forearm 6, mechanical forearm 6 with
Between gripper bearing 10, be respectively set between gripper bearing 10 and gripper 12 be provided with steering power the first steering engine 3,
Second steering engine 5, third steering engine 7 and the 4th steering engine 11；The information received is passed to controller, controller control by camera 9
Rotary head 1 is operated with steering engine.
The power for esthesis is provided on first steering engine 3, the second steering engine 5, third steering engine 7 and the 4th steering engine 11
Feel sensor.
A kind of explosive-removal robot mechanical arm control system includes the controller on mechanical arm, the control
Device is divided into host computer and slave computer, and the host computer acquires image by camera 9, then image processing and analyzing, plans machine
The motion path of tool large arm 4 and mechanical forearm 6 sends out control instruction, and control instruction is transferred to slave computer；The slave computer root
According to the mechanical large arm 4 of instruction manipulation, mechanical forearm 6 and 12 operation of gripper of receiving, mechanical large arm 4, mechanical forearm 6 and machine are adjusted
12 move angle of machinery claw, grasping force issue host computer by data transmission.
A kind of explosive-removal robot mechanical arm control method, operation start, and robot starts operation,
Robot advances to suspicious explosion object, and No.1 camera 16 is started to work at this time, and the image got is passed through
Processing is sent to host computer, can also send instructions to slave computer by host computer at this time, and 16 bearing of No.1 video camera is made to carry out
The rotation of horizontal direction adjusts camera viewing angle,
Before coming suspicious item, is sent instruct by host computer at this time, transfer rotary head 1, the first steering engine 3, the second steering engine
5, third steering engine 7 makes 12 face suspicious item of gripper, stops operating,
At this point, camera 9 is started to work, the image got is sent to host computer by processing, by feeding back
Image formulate suspicious item wipe-out mode, original place exclude or transfer suspicious item,
After determining wipe-out mode, PC control rotary head 1 makes gripper 12 stretch to suspicious item with multiple steering engines, passes through
Camera 9 monitors in real time, then proceedes to send 13 clamping suspicious item of instruction control machine machinery claw open-and-close mechanism, passes through slave computer at this time
The data that each sensor acquires in real time are sent to host computer to be analyzed, a joint rotation angles in real-time detection mechanical arm system
Degree and gripper open and close dynamics, it is ensured that and the suspicious item that clamps to hold water does not make it be destroyed,
Host computer sends out instruction, controls the first steering engine 3 and the second steering engine 5 rotates, so that mechanical arm is shunk, make as far as possible suspicious
Object is positioned on vehicle frame, and then host computer sends out instruction, and people chassis of operating machine prepares to be transferred to appointed place,
Transfer road, which obtains by No.1 camera 16 and handles image, is sent to host computer, determines transfer path, until
Robot, which reaches, formulates place, terminates operation.
The beneficial effects of the invention are as follows：
Patent of the present invention makes improvement with regard to problem above.This product may be mounted on mobile platform to be reached by control system
To the purpose of remote control, it is ensured that the safety of people.And mechanical arm mechanism flexibility ratio is high, broad covered area, and with video observation
System, perfect in shape and function.Manipulation is simple, and need to only carry out shirtsleeve operation study and training can grasp manipulation technology completely.The machine
Device people is applied not only to explosive speedily carry out rescue work, it can also be used to which factory, the narrow regional manpower such as production line are not easy to copy the local generation of object mechanically
For manpower, work is preferably completed, liberates labour.Compared to fluid pressure type with pneumatically, the driving of this product electric machinery, movement can
It leans on, transmission efficiency, pollution is few, disclosure satisfy that most of occasion needs.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is host computer slave computer functional block diagram of the present invention.
Fig. 3 is robot overall schematic.
Specific implementation mode
The structural principle to the present invention and operation principle make narration in detail below in conjunction with the accompanying drawings.
As shown in Figure 1：A kind of explosive-removal robot mechanical arm mechanism, including mechanical large arm 4,4 one end of mechanical large arm pass through
Mechanical arm bearing 2 is connected with rotary head 1, and 4 other end of mechanical large arm is connected with 6 one end of mechanical forearm, 6 other end of mechanical forearm
It is connected with gripper bearing 10,10 end set of gripper bearing has camera 9, the setting of 10 upper end of gripper bearing
There is gripper 12, gripper open-and-close mechanism 13 is installed on gripper 12；
Between the mechanical large arm 4 and mechanical arm bearing 2, between mechanical large arm 4 and mechanical forearm 6, mechanical forearm 6 with
Between gripper bearing 10, be respectively set between gripper bearing 10 and gripper 12 be provided with steering power the first steering engine 3,
Second steering engine 5, third steering engine 7 and the 4th steering engine 11；The information received is passed to controller, controller control by camera 9
Rotary head 1 is operated with steering engine.
The power for esthesis is provided on first steering engine 3, the second steering engine 5, third steering engine 7 and the 4th steering engine 11
Feel sensor.
This product can accomplish remote control, it is ensured that the safety of people.Using Mecanum wheel chassis walking mechanism, structure letter
Single, on the flat ground such as urban ground and factory lines, mechanical efficiency is high.This chassis can be retreated, oblique 45 ° with advancing
Direction is advanced, and original place is clockwise, is rotated counterclockwise, mobile very flexibly rapid, it is sufficient to cope with changeable emergency situations.Mechanical arm
Mechanical flexibility degree is high, broad covered area, and has video observing system, perfect in shape and function.
Compared to fluid pressure type and pneumatic, this product electric machinery driving, reliably, transmission efficiency, pollution is few, can for movement
Meet most of occasion needs.
This product each joint rotation angle of mechanical arm and machinery in controlling using the work of sensing system Real-time Feedback
The grasping force of pawl, it can be ensured that the clamping target to hold water does not make target be destroyed.
As shown in Figure 2：A kind of explosive-removal robot mechanical arm control system includes the controller on mechanical arm,
The controller is divided into host computer and slave computer, and the host computer acquires image by camera 9, then image procossing point
Analysis plans that mechanical large arm 4 and the motion path of mechanical forearm 6 send out control instruction, and control instruction is transferred to slave computer；Described
Slave computer manipulates mechanical large arm 4, mechanical forearm 6 and 12 operation of gripper according to the instruction of receiving, adjusts mechanical large arm 4, machinery
12 move angle of forearm 6 and gripper, grasping force issue host computer by data transmission.
Joint of mechanical arm and gripper are fitted with force sensor, can be returned by sensing system Real-time Feedback
State carry out judging whether whole system overloads.
Entire robot arm device provides power using outer charged pool, and the movement of mechanical arm is passed by rotary head and steering engine
It is dynamic, realize movement.During the motion, the manipulation of mechanical arm is carried out by the real time monitoring of No.1 camera 16 and camera 9,
It can intuitively observe ambient conditions and manipulate the state of object, be conducive to the progress of operation, also operation is made to become
Simply.
The cooperation of rotary head 1 and steering engine can be such that entire mechanical arm system flexibly moves very much, be installed on gripper 12
The 4th steering engine 11 can carry out 360 ° of rotation, can flexibly manipulate operation.Gripper open-and-close mechanism 13 can be by taking the photograph
As first 9 observation, more intuitive and convenient manipulate.
As shown in Figure 3：Mechanical arm mechanism is mounted on mobile device by a kind of explosive-removal robot mechanical arm control method
On, camera 9 is additionally provided in mobile device, operation starts, and robot starts operation, and robot is to suspicious explosion object row
Into No.1 camera 16 is started to work at this time, and the image got is sent to host computer by processing, can also be passed through at this time
Host computer sends instructions to slave computer, and 16 bearing of No.1 video camera is made to carry out the rotation of horizontal direction, adjusts camera viewing angle
Degree,
Before coming suspicious item, is sent instruct by host computer at this time, transfer rotary head 1, the first steering engine 3, the second steering engine
5, third steering engine 7 makes 12 face suspicious item of gripper, stops operating,
At this point, camera 9 is started to work, the image got is sent to host computer by processing, by feeding back
Image formulate suspicious item wipe-out mode, original place exclude or transfer suspicious item,
After determining wipe-out mode, PC control rotary head 1 makes gripper 12 stretch to suspicious item with multiple steering engines, passes through
Camera 9 monitors in real time, then proceedes to send 13 clamping suspicious item of instruction control machine machinery claw open-and-close mechanism, passes through slave computer at this time
The data that each sensor acquires in real time are sent to host computer to be analyzed, a joint rotation angles in real-time detection mechanical arm system
Degree and gripper 12 open and close dynamics, it is ensured that and the suspicious item that clamps to hold water does not make it be destroyed,
Host computer sends out instruction, controls the first steering engine 3 and the second steering engine 5 rotates, so that mechanical arm is shunk, make as far as possible suspicious
Object is positioned on vehicle frame, and then host computer sends out instruction, and people chassis of operating machine prepares to be transferred to appointed place,
Transfer road, which obtains by No.1 camera 16 and handles image, is sent to host computer, determines transfer path, until
Robot, which reaches, formulates place, terminates operation.
Claims (4)
1. a kind of explosive-removal robot mechanical arm mechanism, which is characterized in that including mechanical large arm (4), mechanical large arm (4) one end is logical
It crosses mechanical arm bearing (2) with rotary head (1) to be connected, mechanical large arm (4) other end is connected with mechanical forearm (6) one end, machinery
Forearm (6) other end is connected with gripper bearing (10), and described gripper bearing (10) end set has camera (9), machine
Machinery claw bearing (10) upper end is provided with gripper (12), and gripper open-and-close mechanism (13) is equipped on gripper (12)；
Between the mechanical large arm (4) and mechanical arm bearing (2), between mechanical large arm (4) and mechanical forearm (6), machinery is small
Between arm (6) and gripper bearing (10), it is respectively set to be provided with to turn between gripper bearing (10) and gripper (12) and moves
The first steering engine (3), the second steering engine (5), third steering engine (7) and the 4th steering engine (11) of power；The information that camera (9) will receive
Controller is passed to, controller controls rotary head (1) and operated with steering engine.
2. a kind of explosive-removal robot mechanical arm mechanism according to claim 1, which is characterized in that first steering engine
(3), the force sensor for esthesis is provided on the second steering engine (5), third steering engine (7) and the 4th steering engine (11).
3. a kind of explosive-removal robot mechanical arm control system includes the controller on mechanical arm, the controller
It is divided into host computer and slave computer, the host computer acquires image by camera (9), then image processing and analyzing, plans machine
The motion path of tool large arm (4) and mechanical forearm (6) sends out control instruction, and control instruction is transferred to slave computer；The bottom
Machine manipulates mechanical large arm (4), mechanical forearm (6) and gripper (12) operation according to the instruction of receiving, adjustment machinery large arm (4),
Mechanical forearm (6) and gripper (12) move angle, grasping force issue host computer by data transmission.
4. a kind of explosive-removal robot mechanical arm control method, operation start, robot starts operation, and robot is to suspicious explosion
Object is advanced, and No.1 camera (16) is started to work at this time, the image got is sent to host computer by processing, at this time
Slave computer can be sent instructions to by host computer, No.1 video camera (16) bearing is made to carry out the rotation of horizontal direction, adjustment is taken the photograph
As head viewing angle；
Before coming suspicious item, is sent instruct by host computer at this time, transfer rotary head (1), the first steering engine (3), the second steering engine
(5), third steering engine (7) make gripper (12) face suspicious item, stop operating；
At this point, camera (9) is started to work, the image got is sent to host computer by processing, passes through what is fed back
Image formulates the wipe-out mode of suspicious item, and original place excludes or transfer suspicious item；
After determining wipe-out mode, PC control rotary head (1) makes gripper (12) stretch to suspicious item with multiple steering engines, passes through
Camera (9) monitors in real time, then proceedes to send instruction control machine machinery claw open-and-close mechanism (13) clamping suspicious item, under at this time passing through
Position machine sends the data that each sensor acquires in real time to host computer and is analyzed, a joint rotation in real-time detection mechanical arm system
Gyration and gripper (12) open and close dynamics, it is ensured that the suspicious item that clamps to hold water does not make it be destroyed；
Host computer sends out instruction, and the first steering engine of control (3) rotates with the second steering engine (5), so that mechanical arm is shunk, make as far as possible suspicious
Object is positioned on vehicle frame, and then host computer sends out instruction, and people chassis of operating machine prepares to be transferred to appointed place；
Transfer road, which obtains by No.1 camera (16) and handles image, is sent to host computer, transfer path is determined, until machine
Device people, which reaches, formulates place, terminates operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810070350.3A CN108406784A (en) | 2018-01-24 | 2018-01-24 | A kind of explosive-removal robot mechanical arm mechanism and control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810070350.3A CN108406784A (en) | 2018-01-24 | 2018-01-24 | A kind of explosive-removal robot mechanical arm mechanism and control system and method |
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Family
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| CN201810070350.3A Pending CN108406784A (en) | 2018-01-24 | 2018-01-24 | A kind of explosive-removal robot mechanical arm mechanism and control system and method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908374A (en) * | 2018-09-20 | 2018-11-30 | 安徽理工大学 | A kind of express sorter device people and control system |
| CN109131613A (en) * | 2018-10-12 | 2019-01-04 | 安徽工程大学 | A kind of full landform transportation robot and its control method |
| CN109331379A (en) * | 2018-11-18 | 2019-02-15 | 祝润山 | A kind of far-end control method and control system of fire-fighting equipment |
| CN109433627A (en) * | 2018-09-30 | 2019-03-08 | 大连海事大学 | Manipulator materials-sorting system and its working method based on machine vision processing |
| CN109704059A (en) * | 2019-03-12 | 2019-05-03 | 长春工业大学 | A kind of logistics auxiliary carrying implement |
| CN109999391A (en) * | 2019-03-26 | 2019-07-12 | 辽宁科技大学 | A kind of intelligence fire detection robot and control method |
| CN110394813A (en) * | 2019-08-15 | 2019-11-01 | 桂林电子科技大学 | It is a kind of can it is multi-faceted crawl object material transfer robot |
| CN111136672A (en) * | 2020-01-22 | 2020-05-12 | 深圳国信泰富科技有限公司 | Police robot and control method thereof |
| CN112161173A (en) * | 2020-09-10 | 2021-01-01 | 国网河北省电力有限公司检修分公司 | Power grid wiring parameter detection device and detection method |
| CN112276896A (en) * | 2020-09-14 | 2021-01-29 | 安徽广祺智能电器股份有限公司 | Electric power remote centralized control system |
| CN112775966A (en) * | 2020-12-31 | 2021-05-11 | 广东工业大学 | Sorting mechanical arm based on machine vision and working method thereof |
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| CN108908374A (en) * | 2018-09-20 | 2018-11-30 | 安徽理工大学 | A kind of express sorter device people and control system |
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| CN110394813B (en) * | 2019-08-15 | 2024-04-09 | 桂林电子科技大学 | Material handling robot capable of grabbing objects in multiple directions |
| CN111136672A (en) * | 2020-01-22 | 2020-05-12 | 深圳国信泰富科技有限公司 | Police robot and control method thereof |
| CN112161173A (en) * | 2020-09-10 | 2021-01-01 | 国网河北省电力有限公司检修分公司 | Power grid wiring parameter detection device and detection method |
| CN112276896A (en) * | 2020-09-14 | 2021-01-29 | 安徽广祺智能电器股份有限公司 | Electric power remote centralized control system |
| CN112775966A (en) * | 2020-12-31 | 2021-05-11 | 广东工业大学 | Sorting mechanical arm based on machine vision and working method thereof |
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Application publication date: 20180817 |