CN108705545A - A kind of obstacle detouring explosive-removal robot - Google Patents
A kind of obstacle detouring explosive-removal robot Download PDFInfo
- Publication number
- CN108705545A CN108705545A CN201810757723.4A CN201810757723A CN108705545A CN 108705545 A CN108705545 A CN 108705545A CN 201810757723 A CN201810757723 A CN 201810757723A CN 108705545 A CN108705545 A CN 108705545A
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- connecting plate
- joint
- fixedly connected
- forearm
- large arm
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The present invention discloses a kind of obstacle detouring explosive-removal robot, and the movement of supporting leg, chest-waist joint, head, arm is driven using oscillating cylinder and motor as dynamical element, has the function of obstacle detouring and explosive.The obstacle detouring explosive-removal robot is mainly made of right arm, right supporting leg, head, chest-waist joint, left arm, left branch leg.Supporting leg is mainly used for obstacle detouring, while can also adjust chest-waist joint height；Chest-waist joint mainly adjusts the motion range of system, and head is used for real-time collecting work ambient condition.Left arm shoulder joint, elbow joint, wrist joint are respectively provided with 1,1,3 degree of freedom, and the main rotation for driving screwdriver or spanner, right arm shoulder joint, elbow joint, wrist joint are respectively provided with 1,1,3 degree of freedom, are mainly used for the crawl of part.The present invention has the function of the characteristics of compact-sized, more, real-time dynamic control, can be used for completing the tasks such as complicated landform rescue, obstacle detouring, explosive.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of obstacle detouring explosive-removal robot.
Background technology
Explosive-removal robot is explosive in complicated landform, needs robot that can dynamically adapt to the needs of environment in real time, such as fights
It strives the land mine that the epoch are largely left and is distributed in remote and with a varied topography boundary line area more.Chinese patent
200810200780.9、201510564857.0、201510063501.9、201610888246.6、201621087423.2、
201710858066.8,201720138951.4 successively propose fixed width crawler belts simple joint single arm robot explosive-removal robot
The clamping of the obstacle detouring and explosive of landform only may be implemented in system, and more complicated landform is needed to use Trapezoidal
Crawler belt, while also needing to consider the robot automatic disassembling work of explosive.
Invention content
The purpose of the present invention is being directed to above-mentioned existing technological deficiency, a kind of obstacle detouring explosive-removal robot is provided, the present invention
It is compact-sized, the advantages that function is more, real-time dynamic control.
To achieve the goals above, the technical solution adopted by the present invention is that：A kind of obstacle detouring explosive-removal robot, it includes：
A kind of obstacle detouring explosive-removal robot, which is characterized in that the robot by right arm, right supporting leg, head, chest-waist joint,
Six left arm, left branch leg parts form；
The right supporting leg include wheel one, connecting shaft one, worm gear one, worm screw one, oscillating cylinder one, oscillating cylinder two,
Connecting plate one, wheel two, oscillating cylinder three, crawler belt one, worm gear two, wheel three, connecting plate two, crawler belt two, wheel four, worm screw
Two, worm screw three, worm gear three, connecting shaft two；
Wheel three and wheel four by two engaged transmission of crawler belt, wheel one and wheel two by one engaged transmission of crawler belt, and
Wheel four and wheel two share connecting shaft two；Be rotatably connected connecting plate between the axis of wheel three and the connecting shaft two of wheel four
Two, worm gear two is fixedly connected on the axis of wheel three, and worm gear two is meshed with worm screw two, one end and the oscillating cylinder two of worm screw two
The cylinder body of axis connection, oscillating cylinder two is fixed on connecting plate two；Similarly, connecting shaft two is fixedly connected with worm gear three, worm gear three with
Worm screw three is meshed, and the cylinder body of the axis connection of one end and oscillating cylinder three of worm screw three, oscillating cylinder three is fixed on connecting plate two
On；Be rotatably connected connecting plate one between the connecting shaft one of wheel one and the connecting shaft two of wheel two, the connecting shaft one of wheel one
On be fixedly connected with worm gear one, worm gear one is meshed with worm screw one, the axis connection of worm screw one and oscillating cylinder one, oscillating cylinder one
Cylinder body is fixed on connecting plate one；
The left branch leg is identical with the right leg structure；
Chest-the waist joint includes chest joint and waist joint, the waist joint and chest joint by it is forward and backward, left,
By being formed by fixedly connecting, the connecting shaft one of the left and right supporting leg is respectively fixedly connected in left and right side right, upper five pieces of tablets
On tablet, the cylinder body of the oscillating cylinder four is fixedly connected with tablet above waist joint, the rotation of the cylinder body of oscillating cylinder four
Axis is fixedly connected with the lower tablet in chest joint, and the cylinder body of the oscillating cylinder five is fixedly connected with chest joint upper flat plate, institute
The rotation axis for the oscillating cylinder five stated is fixedly connected sequentially with neck union piece, the camera on the head；
The left arm includes shoulder joint, large arm, elbow joint, forearm, wrist joint, finger, wherein shoulder joint includes pendulum
It takes offence cylinder six, bevel gear one, shoulder joint connecting plate, shoulder joint connecting shaft one, shoulder joint connecting shaft two, bevel gear two, large arm packet
Large arm connecting plate one, large arm connecting plate two, large arm connecting plate three, large arm connecting plate four, large arm connecting plate five are included, elbow joint includes
Elbow joint motor, worm screw four, elbow joint connecting plate one, worm gear four, elbow joint connecting plate two, forearm include forearm connecting plate one,
Forearm connecting plate two, forearm connecting plate three, forearm connecting plate four, wrist joint include wrist joint motor one, worm screw five, worm gear five,
Left finesse articular link plate one, left finesse joint motor two, the finger include left finesse joint motor three, left hand wrist joint
Connecting plate two, left finesse joint connector；
The cylinder body of the oscillating cylinder six is fixedly connected on the waist joint left planar, the oscillating cylinder
Six rotation axis is fixedly connected with shoulder joint connecting shaft one, and shoulder joint connecting shaft one is rotatably connected with shoulder joint connecting plate, shoulder
Joint connecting shaft one is fixedly connected with bevel gear one, and bevel gear two is meshed with bevel gear one, two one end of shoulder joint connecting shaft with
Bevel gear two is fixedly connected, and after the other end is first rotatably connected with shoulder joint connecting plate, then is fixedly connected on large arm connecting plate one
On；The large arm connecting plate four, large arm connecting plate three, large arm connecting plate five, large arm connecting plate two are respectively inside and outside, upper and lower
Four sides is fixed on large arm connecting plate one, and the shell of the elbow joint motor is fixedly connected on large arm connecting plate two, rotation
Axis is fixedly connected with worm screw four, and worm screw four is meshed with worm gear four, four one end of worm gear and large arm connecting plate three, large arm connecting plate four
It is rotatably connected, one both ends of elbow joint connecting plate are fixedly connected with worm gear four, forearm connecting plate two respectively, elbow joint connecting plate two
Both ends are fixedly connected with worm gear four, forearm connecting plate four respectively；Forearm connecting plate four, forearm connecting plate two, forearm connecting plate one,
Forearm connecting plate three respectively at it is inside and outside, upper and lower and between be fixedly connected to form forearm frame, the shell of wrist joint motor one
It is fixed on forearm connecting plate three, rotation axis is fixedly connected with worm screw five, and worm screw five is meshed with worm gear five, worm gear five and forearm
Connecting plate two, forearm connecting plate four are rotatably connected, and the lower end of left finesse articular link plate one is fixedly connected with worm gear five, left hand
The shell of wrist joint motor two is fixedly connected on left finesse articular link plate one, and rotation axis is solid with left finesse articular link plate two
Fixed connection, the shell of left finesse joint motor three are fixedly connected on left finesse articular link plate two, and rotation axis is closed with left finesse
Section connector is fixedly connected；
The right arm also includes shoulder joint, large arm, elbow joint, forearm, wrist joint, finger, wherein shoulder joint, big
Arm, elbow joint, forearm, wrist joint are identical with the left hand arm configuration, the finger of the right arm include right finger one,
Right finger two, right finger three, right finger limbs, worm screw six, worm gear six, right finger connector, right finger motor,
Right finesse articular link plate two is fixedly connected with the rotation axis of right finesse joint motor two, and the shell of right finger motor, which is fixed, to be connected
Be connected on right finesse articular link plate two, rotation axis is fixedly connected with worm screw six, and worm screw six is meshed with worm gear six, worm gear six with
Right finger limbs, right finger connector are rotatably connected, and right finger connector is fixed with right finesse articular link plate two
Connection.
Preferably, the shoulder joint connecting plate is L-shaped, and the left finesse articular link plate one is C-shaped.
Preferably, the worm gear one, worm gear two, worm gear three, worm gear four, worm gear five, worm gear six material be plastics,
Worm screw one, worm screw two, worm screw three, worm screw four, worm screw five, worm screw six material be aluminium alloy.
Preferably, the neck union piece, large arm connecting plate one, large arm connecting plate two, large arm connecting plate three, large arm
Connecting plate four, large arm connecting plate five, forearm connecting plate one, forearm connecting plate two, forearm connecting plate three, forearm connecting plate four are
Hollow component.
Preferably, the oscillating cylinder one, oscillating cylinder two, oscillating cylinder three, oscillating cylinder four, oscillating cylinder five,
Six useable electric moter of oscillating cylinder is replaced, elbow joint motor, wrist joint motor one, left finesse joint motor two, left hand wrist joint electricity
Machine three, right finger motor can be replaced with oscillating cylinder.
Preferably, the neck union piece, shoulder joint connecting plate, large arm connecting plate one, large arm connecting plate two, elbow close
Save connecting plate one, large arm connecting plate three, large arm connecting plate four, large arm connecting plate five, forearm connecting plate one, forearm connecting plate two,
Elbow joint connecting plate two, forearm connecting plate three, forearm connecting plate four, left finesse articular link plate one, left finesse articular link plate
Two, left finesse joint connector, right finesse articular link plate two, right finesse articular link plate one, right finger limbs, right hand hand
The material for referring to connector is aluminium alloy or acrylic material.
Preferably, the connecting shaft one, connecting shaft two, bevel gear one, shoulder joint connecting shaft one, shoulder joint connecting shaft
Two, the material of bevel gear two be aluminium alloy, connecting plate one, connecting plate two, wheel one, wheel two, wheel three, wheel four material
For plastics.
The beneficial effects of the invention are as follows：
1. the present invention carries out obstacle detouring using more parallel crawler belts, crawler width can be adjusted according to actual needs, together
When can be used for the adjustment of joint height；
The ring of screwdriver or spanner can be driven to turn and capture respectively 2. the present invention stresses on both hands left and right, dexterity can be coordinated
Complete complicated dismounting action.
3. the present invention may be implemented no dead angle and completed various complexity using camera, waist-chest joint, arm 360 degree rotation
Task.
Description of the drawings
Fig. 1 is the overall mechanical design figure of obstacle detouring explosive-removal robot；
Fig. 2 is the supporting leg mechanical construction drawing of obstacle detouring explosive-removal robot；
Fig. 3 is the supporting leg and waist joint mechanical construction drawing of obstacle detouring explosive-removal robot；
Fig. 4 is obstacle detouring explosive-removal robot without arm mechanical construction drawing；
Fig. 5 is the left arm mechanical construction drawing of obstacle detouring explosive-removal robot；
Fig. 6 is the left arm elbow joint local mechanical schematic enlarged-scale view of obstacle detouring explosive-removal robot；
Fig. 7 is the right arm mechanical construction drawing of obstacle detouring explosive-removal robot；
Fig. 8 is the more finger mechanical construction drawings of the right hand of obstacle detouring explosive-removal robot；
Fig. 9 is the right hand single finger mechanical structure partial enlarged view of obstacle detouring explosive-removal robot；
In figure：Right arm 1, right supporting leg 2, head 3, chest-waist joint 4, left arm 5, left branch leg 6, wheel 1, connecting shaft
One 8, worm gear 1, worm screw 1, oscillating cylinder 1, oscillating cylinder 2 12, connecting plate 1, wheel 2 14, oscillating cylinder three
15, crawler belt 1, worm gear 2 17, wheel 3 18, connecting plate 2 19, crawler belt 2 20, wheel 4 21, worm screw 2 22, worm screw 3 23,
Worm gear 3 24, oscillating cylinder 4 26, waist joint top panel 27, neck union piece 28, camera 29, is swung connecting shaft 2 25
Cylinder 5 30, chest joint top panel 31, oscillating cylinder 6 32, bevel gear 1, shoulder joint connecting plate 34, shoulder joint connecting shaft one
35, shoulder joint connecting shaft 2 36, bevel gear 2 37, large arm connecting plate 1, large arm connecting plate 2 39, elbow joint motor 40, snail
Bar 4 41, elbow joint connecting plate 1, large arm connecting plate 3 43, large arm connecting plate 4 44, large arm connecting plate 5 45, worm gear four
46, forearm connecting plate 1, forearm connecting plate 2 48, elbow joint connecting plate 2 49, forearm connecting plate 3 50, wrist joint motor one
51, worm screw 5 52, worm gear 5 53, forearm connecting plate 4 54, left finesse articular link plate 1, left finesse joint motor 2 56,
Left finesse joint motor 3 57, left finesse articular link plate 2 58, left finesse joint connector 59, right finger 1, the right hand
Finger 2 61, right finger 3 62, right finesse articular link plate 2 63, right finesse articular link plate 1, right finger limbs
65, worm screw 6 66, worm gear 6 67, right finger connector 68, right finger motor 69, right finesse joint motor 2 70.
Specific implementation mode
Below according to attached drawing and the preferred embodiment detailed description present invention, the objects and effects of the present invention will become brighter
In vain, below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein specific
Embodiment is only used to explain the present invention, is not intended to limit the present invention.
As shown in figs 1-9, a kind of obstacle detouring explosive-removal robot, the robot is by right arm 1, right supporting leg 2, head 3, chest-waist
6 six joint 4, left arm 5, left branch leg parts form；
Right supporting leg 2 includes wheel 1, connecting shaft 1, worm gear 1, worm screw 1, oscillating cylinder 1, oscillating cylinder two
12, connecting plate 1, wheel 2 14, oscillating cylinder 3 15, crawler belt 1, worm gear 2 17, wheel 3 18, connecting plate 2 19, shoe
Band 2 20, wheel 4 21, worm screw 2 22, worm screw 3 23, worm gear 3 24, connecting shaft 2 25；
By 2 20 engaged transmission of crawler belt, wheel 1 and wheel 2 14 pass through crawler belt 1 for wheel 3 18 and wheel 4 21
Engaged transmission, and 2 14 shared connecting shaft 2 25 of wheel 4 21 and wheel；The axis of wheel 3 18 and the connecting shaft two of wheel 4 21
Be rotatably connected connecting plate 2 19 between 25, and worm gear 2 17, worm gear 2 17 and worm screw 2 22 are fixedly connected on the axis of wheel 3 18
It is meshed, the cylinder body of the axis connection of one end and oscillating cylinder 2 12 of worm screw 2 22, oscillating cylinder 2 12 is fixed on connecting plate two
On 19；Similarly, connecting shaft 2 25 is fixedly connected with worm gear 3 24, and worm gear 3 24 is meshed with worm screw 3 23, one end of worm screw 3 23
It is fixed on connecting plate 2 19 with the cylinder body of the axis connection of oscillating cylinder 3 15, oscillating cylinder 3 15；The connecting shaft one of wheel 1
Be rotatably connected connecting plate 1 between 8 and the connecting shaft 2 25 of wheel 2 14, is fixedly connected in the connecting shaft 1 of wheel 1
Worm gear 1, worm gear 1 are meshed with worm screw 1, the axis connection of worm screw 1 and oscillating cylinder 1, oscillating cylinder 1
Cylinder body is fixed on connecting plate 1；
Left branch leg 6 is identical with 2 structure of right supporting leg；
Chest-waist joint 4 includes chest joint and waist joint, and waist joint and chest joint are by five pieces of front, back, left, right, up tablet
By being formed by fixedly connecting, the connecting shaft one of left and right supporting leg is respectively fixedly connected on the tablet of left and right side, oscillating cylinder 4 26
Cylinder body be fixedly connected with tablet above waist joint, the rotation axis of the cylinder body of oscillating cylinder 4 26 is fixed with the lower tablet in chest joint
Connection, the cylinder body of oscillating cylinder 5 30 are fixedly connected with chest joint upper flat plate 31, rotation axis and the head 3 of oscillating cylinder 5 30
Neck union piece 28, camera 29 is fixedly connected sequentially；
Left arm 5 includes shoulder joint, large arm, elbow joint, forearm, wrist joint, finger, wherein shoulder joint includes swinging gas
Cylinder 6 32, bevel gear 1, shoulder joint connecting plate 34, shoulder joint connecting shaft 1, shoulder joint connecting shaft 2 36, bevel gear two
37, large arm includes large arm connecting plate 1, large arm connecting plate 2 39, large arm connecting plate 3 43, large arm connecting plate 4 44, large arm company
Fishplate bar 5 45, elbow joint include elbow joint motor 40, worm screw 4 41, elbow joint connecting plate 1, worm gear 4 46, elbow joint connection
Plate 2 49, forearm include forearm connecting plate 1, forearm connecting plate 2 48, forearm connecting plate 3 50, forearm connecting plate 4 54, wrist
Joint includes wrist joint motor 1, worm screw 5 52, worm gear 5 53, left finesse articular link plate 1, left finesse joint motor
2 56, the finger includes left finesse joint motor 3 57, left finesse articular link plate 2 58, left finesse joint connector
59；
The cylinder body of oscillating cylinder 6 32 is fixedly connected on the waist joint left planar, the rotation of oscillating cylinder 6 32
Axis is fixedly connected with shoulder joint connecting shaft 1, and shoulder joint connecting shaft 1 is rotatably connected with shoulder joint connecting plate 34, shoulder joint
Section connecting shaft 1 is fixedly connected with bevel gear 1, and bevel gear 2 37 is meshed with bevel gear 1, shoulder joint connecting shaft two
36 one end are fixedly connected with bevel gear 2 37, after the other end is first rotatably connected with shoulder joint connecting plate 34, then are fixedly connected on
On large arm connecting plate 1；Large arm connecting plate 4 44, large arm connecting plate 3 43, large arm connecting plate 5 45, large arm connecting plate 2 39
It is fixed on large arm connecting plate 1 respectively inside and outside, upper and lower four sides, the shell of elbow joint motor 40 is fixedly connected on large arm
On connecting plate 2 39, rotation axis is fixedly connected with worm screw 4 41, and worm screw 4 41 is meshed with worm gear 4 46,4 46 one end of worm gear with
Large arm connecting plate 3 43, large arm connecting plate 4 44 are rotatably connected, one 42 both ends of elbow joint connecting plate respectively with worm gear 4 46, small
Arm connecting plate 2 48 is fixedly connected, and 2 49 both ends of elbow joint connecting plate are fixed with worm gear 4 46, forearm connecting plate 4 54 respectively to be connected
It connects；Forearm connecting plate 4 54, forearm connecting plate 2 48, forearm connecting plate 1, forearm connecting plate 3 50 respectively at it is inside and outside, upper,
It is lower and between be fixedly connected to form forearm frame, the shell of wrist joint motor 1 is fixed on forearm connecting plate 3 50, is turned
Moving axis is fixedly connected with worm screw 5 52, and worm screw 5 52 is meshed with worm gear 5 53, worm gear 5 53 and forearm connecting plate 2 48, forearm
Connecting plate 4 54 is rotatably connected, and the lower end of left finesse articular link plate 1 is fixedly connected with worm gear 5 53, left hand wrist joint
The shell of motor 2 56 is fixedly connected on left finesse articular link plate 1, and rotation axis is solid with left finesse articular link plate 2 58
Fixed connection, the shell of left finesse joint motor 3 57 are fixedly connected on left finesse articular link plate 2 58, rotation axis and left hand
Wrist joint connector 59 is fixedly connected；
Right arm 1 also includes shoulder joint, large arm, elbow joint, forearm, wrist joint, finger, and wherein shoulder joint, large arm, elbow closes
Section, forearm, wrist joint are identical with 1 structure of left arm, and the finger of the right arm 1 includes right finger 1, the right side
Hand finger 2 61, right finger 3 62, right finger limbs 65, worm screw 6 66, worm gear 6 67, right finger connector 68, the right side
Hand finger motor 69, right finesse articular link plate 2 63 are fixedly connected with the rotation axis of right finesse joint motor 2 70, right hand hand
The shell for referring to motor 69 is fixedly connected on right finesse articular link plate 2 63, and rotation axis is fixedly connected with worm screw 6 66, worm screw
6 66 are meshed with worm gear 6 67, and worm gear 6 67 is rotatably connected with right finger limbs 65, right finger connector 68, the right hand
Finger connector 68 is fixedly connected with right finesse articular link plate 2 63.
In order to reduce number of parts and easy to maintain, the shoulder joint connecting plate 34 is L-shaped, the left hand wrist joint
Connecting plate 1 is C-shaped.
In order to mitigate the overall weight of robot, while certain intensity is kept, the worm gear 1, worm gear 2 17, snail
Take turns 3 24, worm gear 4 46, worm gear 5 53, worm gear 6 67 material be plastics, worm screw 1, worm screw 2 22, worm screw 3 23, snail
Bar 4 41, worm screw 5 52, worm screw 6 66 material be aluminium alloy；Neck union piece 28, large arm connecting plate 1, large arm connect
Fishplate bar 2 39, large arm connecting plate 3 43, large arm connecting plate 4 44, large arm connecting plate 5 45, forearm connecting plate 1, forearm connection
Plate 2 48, forearm connecting plate 3 50, forearm connecting plate 4 54 are hollow component；The neck union piece 28, shoulder joint connect
Fishplate bar 34, large arm connecting plate 1, large arm connecting plate 2 39, elbow joint connecting plate 1, large arm connecting plate 3 43, large arm connection
Plate 4 44, large arm connecting plate 5 45, forearm connecting plate 1, forearm connecting plate 2 48, elbow joint connecting plate 2 49, forearm connection
Plate 3 50, forearm connecting plate 4 54, left finesse articular link plate 1, left finesse articular link plate 2 58, left hand wrist joint connect
Fitting 59, right finesse articular link plate 2 63, right finesse articular link plate 1, right finger limbs 65, right finger connection
The material of part 68 is aluminium alloy or acrylic material；Connecting shaft 1, connecting shaft 2 25, bevel gear 1, shoulder joint connecting shaft
One 35, shoulder joint connecting shaft 2 36, the material of bevel gear 2 37 be aluminium alloy, connecting plate 1, connecting plate 2 19, wheel 1,
Wheel 2 14, wheel 3 18, wheel 4 21 material be plastics.
Preferably, the oscillating cylinder 1, oscillating cylinder 2 12, oscillating cylinder 3 15, oscillating cylinder 4 26, swing
Cylinder 5 30,6 32 useable electric moter of oscillating cylinder are replaced, elbow joint motor 40, wrist joint motor 1, left finesse joint motor
2 56, left finesse joint motor 3 57, right finger motor 69 can be replaced with oscillating cylinder.
Oscillating cylinder 2 12, worm gear 2 17,2 22 driving wheel 3 18 of worm screw drive crawler belt 2 20 to advance as driving wheel
Or retreat, oscillating cylinder 3 15, worm screw 3 23,3 24 driving wheel 2 14 of worm gear drive 16 to drive snail with oscillating cylinder 1
It takes turns one 9, worm screw 1 to match, adjusts the height of right arm 1, head 3, chest-waist joint 4 together.Oscillating cylinder 4 26 is swung
5 30, cylinder is for adjusting chest joint, head 3, right arm 1, the 360 degree of circumductions of realization of left arm 5.Oscillating cylinder 6 32,
Shoulder joint connecting shaft 1, shoulder joint connecting shaft 2 36, bevel gear 2 37 drive left large arm, left forearm, left wrist joint ring to turn
Movement；Elbow joint motor 40, worm screw 4 41, worm gear 4 46 drive left forearm, left wrist joint flexion and extension；Wrist joint motor one
51, worm screw 5 52, worm gear 5 53 drive left wrist joint flexion and extension；Left finesse joint motor 2 56 drives left wrist joint to take down the exhibits fortune
Dynamic, left finesse joint motor 3 57 drives the circumduction of screwdriver or spanner.Right finger 1, right finger 2 61, the right side
Hand finger 3 62 drives worm and gear to realize crawl by motor.
The present invention realizes the control of explosive-removal robot pose, can dynamically move by controlling oscillating cylinder and motor
Make, and accurate TRAJECTORY CONTROL may be implemented, the present invention possesses the incomparable advantage of other explosive-removal robots.
It will appreciated by the skilled person that the foregoing is merely the preferred embodiment of invention, it is not used to limit
System invention, although invention is described in detail with reference to previous examples, for those skilled in the art, still
It can modify to the technical solution of aforementioned each case history or equivalent replacement of some of the technical features.It is all
Within the spirit and principle of invention, modification, equivalent replacement for being made etc. should be included within the protection domain of invention.
Claims (7)
1. a kind of obstacle detouring explosive-removal robot, which is characterized in that the robot is by right arm (1), right supporting leg (2), head (3), chest-
(6) six waist joint (4), left arm (5), left branch leg parts form；
The right supporting leg (2) includes wheel one (7), connecting shaft one (8), worm gear one (9), worm screw one (10), oscillating cylinder one
(11), oscillating cylinder two (12), connecting plate one (13), wheel two (14), oscillating cylinder three (15), crawler belt one (16), worm gear two
(17), wheel three (18), connecting plate two (19), crawler belt two (20), wheel four (21), worm screw two (22), worm screw three (23), worm gear
Three (24), connecting shaft two (25).
By crawler belt two (20) engaged transmission, wheel one (7) and wheel two (14) pass through shoe for wheel three (18) and wheel four (21)
Band one (16) engaged transmission, and wheel four (21) and wheel two (14) share connecting shaft two (25)；The axis and wheel of wheel three (18)
Be rotatably connected connecting plate two (19) between the connecting shaft two (25) of sub four (21), and worm gear is fixedly connected on the axis of wheel three (18)
Two (17), worm gear two (17) are meshed with worm screw two (22), the axis connection of one end and oscillating cylinder two (12) of worm screw two (22),
The cylinder body of oscillating cylinder two (12) is fixed on connecting plate two (19)；Similarly, connecting shaft two (25) is fixedly connected with worm gear three (24),
Worm gear three (24) is meshed with worm screw 3 23, the axis connection of one end and oscillating cylinder three (15) of worm screw three (23), oscillating cylinder
The cylinder body of three (15) is fixed on connecting plate two (19)；The connecting shaft one (8) of wheel one (7) and the connecting shaft two of wheel two (14)
(25) be rotatably connected connecting plate one (13) between, and worm gear one (9), worm gear are fixedly connected in the connecting shaft one (8) of wheel one (7)
One (9) are meshed with worm screw one (10), the axis connection of worm screw one (10) and oscillating cylinder one (11), the cylinder of oscillating cylinder one (11)
Body is fixed on connecting plate one (13).
The left branch leg (6) is identical with right supporting leg (2) structure；
Chest-the waist joint (4) includes chest joint and waist joint, the waist joint and chest joint by front, rear, left and right,
For upper five pieces of tablets by being formed by fixedly connecting, the connecting shaft one of the left and right supporting leg is respectively fixedly connected with the tablet in left and right side
On, the cylinder body of the oscillating cylinder four (26) is fixedly connected with tablet above waist joint, the cylinder body of oscillating cylinder four (26)
Rotation axis is fixedly connected with the lower tablet in chest joint, cylinder body and the chest joint upper flat plate (31) of the oscillating cylinder five (30)
It is fixedly connected, neck union piece (28), the camera of the rotation axis of the oscillating cylinder five (30) and the head (3)
(29) it is fixedly connected sequentially.
The left arm (5) includes shoulder joint, large arm, elbow joint, forearm, wrist joint, finger, wherein shoulder joint includes pendulum
It takes offence cylinder six (32), bevel gear one (33), shoulder joint connecting plate (34), shoulder joint connecting shaft one (35), shoulder joint connecting shaft two
(36), bevel gear two (37), large arm include large arm connecting plate one (38), large arm connecting plate two (39), large arm connecting plate three (43),
Large arm connecting plate four (44), large arm connecting plate five (45), elbow joint include elbow joint motor (40), worm screw four (41), elbow joint
Connecting plate one (42), worm gear four (46), elbow joint connecting plate two (49), forearm include forearm connecting plate one (47), forearm connection
Plate two (48), forearm connecting plate three (50), forearm connecting plate four (54), wrist joint include wrist joint motor one (51), worm screw five
(52), worm gear five (53), left finesse articular link plate one (55), left finesse joint motor two (56), the finger include a left side
Wrist joint motor three (57), left finesse articular link plate two (58), left finesse joint connector (59)；
The cylinder body of the oscillating cylinder six (32) is fixedly connected on the waist joint left planar, the oscillating cylinder
The rotation axis of six (32) is fixedly connected with shoulder joint connecting shaft one (35), shoulder joint connecting shaft one (35) and shoulder joint connecting plate
(34) it is rotatably connected, shoulder joint connecting shaft one (35) is fixedly connected with bevel gear one (33), bevel gear two (37) and bevel gear
One (33) are meshed, and shoulder joint connecting shaft two (36) one end is fixedly connected with bevel gear two (37), and the other end first connects with shoulder joint
After fishplate bar (34) is rotatably connected, then it is fixedly connected on large arm connecting plate one (38)；It is the large arm connecting plate four (44), big
Arm connecting plate three (43), large arm connecting plate five (45), large arm connecting plate two (39) are fixed on greatly respectively inside and outside, upper and lower four sides
On arm connecting plate one (38), the shell of the elbow joint motor (40) is fixedly connected on large arm connecting plate two (39), rotation
Axis is fixedly connected with worm screw four (41), and worm screw four (41) is meshed with worm gear four (46), and worm gear four (46) one end is connect with large arm
Plate three (43), large arm connecting plate four (44) are rotatably connected, elbow joint connecting plate one (42) both ends respectively with worm gear four (46), small
Arm connecting plate two (48) is fixedly connected, elbow joint connecting plate two (49) both ends respectively with worm gear four (46), forearm connecting plate four
(54) it is fixedly connected；Forearm connecting plate four (54), forearm connecting plate two (48), forearm connecting plate one (47), forearm connecting plate three
(50) respectively at it is inside and outside, upper and lower and between be fixedly connected to form forearm frame, the shell of wrist joint motor one (51) is fixed
On forearm connecting plate three (50), rotation axis is fixedly connected with worm screw five (52), and worm screw five (52) is meshed with worm gear five (53),
Worm gear five (53) is rotatably connected with forearm connecting plate two (48), forearm connecting plate four (54), left finesse articular link plate one
(55) lower end is fixedly connected with worm gear five (53), and the shell of left finesse joint motor two (56) is fixedly connected on left hand wrist joint
On connecting plate one (55), rotation axis is fixedly connected with left finesse articular link plate two (58), left finesse joint motor three (57)
Shell is fixedly connected on left finesse articular link plate two (58), and rotation axis is fixedly connected with left finesse joint connector (59)；
The right arm (1) also include shoulder joint, large arm, elbow joint, forearm, wrist joint, finger, wherein shoulder joint, large arm,
Elbow joint, forearm, wrist joint are identical with described left arm (1) structure, and the finger of the right arm (1) includes right finger
One (60), right finger two (61), right finger three (62), right finger limbs (65), worm screw six (66), worm gear six (67),
Right finger connector (68), right finger motor (69), right finesse articular link plate two (63) and right finesse joint motor two
(70) rotation axis is fixedly connected, and the shell of right finger motor (69) is fixedly connected on right finesse articular link plate two (63)
On, rotation axis is fixedly connected with worm screw six (66), and worm screw six (66) is meshed with worm gear six (67), worm gear six (67) and right hand hand
Refer to limbs (65), right finger connector (68) is rotatably connected, right finger connector (68) and right finesse articular link plate
Two (63) are fixedly connected.
2. obstacle detouring explosive-removal robot according to claim 1, which is characterized in that the shoulder joint connecting plate (34) is L
Shape, the left finesse articular link plate one (55) are C-shaped.
3. obstacle detouring explosive-removal robot according to claim 1, which is characterized in that the worm gear one (9), worm gear two
(17), worm gear three (24), worm gear four (46), worm gear five (53), worm gear six (67) material be plastics, worm screw one (10), snail
Bar two (22), worm screw three (23), worm screw four (41), worm screw five (52), worm screw six (66) material be aluminium alloy.
4. obstacle detouring explosive-removal robot according to claim 1, which is characterized in that the neck union piece (28), big
Arm connecting plate one (38), large arm connecting plate two (39), large arm connecting plate three (43), large arm connecting plate four (44), large arm connecting plate
Five (45), forearm connecting plate one (47), forearm connecting plate two (48), forearm connecting plate three (50), forearm connecting plate four (54) are equal
For hollow component.
5. obstacle detouring explosive-removal robot according to claim 1, which is characterized in that the oscillating cylinder one (11) is swung
Cylinder two (12), oscillating cylinder three (15), oscillating cylinder four (26), oscillating cylinder five (30), oscillating cylinder six (32) can electricity consumptions
Machine is replaced, elbow joint motor (40), wrist joint motor one (51), left finesse joint motor two (56), left finesse joint motor three
(57), right finger motor (69) can be replaced with oscillating cylinder.
6. obstacle detouring explosive-removal robot according to claim 1, which is characterized in that the neck union piece (28), shoulder
Articular link plate (34), large arm connecting plate one (38), large arm connecting plate two (39), elbow joint connecting plate one (42), large arm connection
Plate three (43), large arm connecting plate four (44), large arm connecting plate five (45), forearm connecting plate one (47), forearm connecting plate two (48),
Elbow joint connecting plate two (49), forearm connecting plate three (50), forearm connecting plate four (54), left finesse articular link plate one (55),
Left finesse articular link plate two (58), left finesse joint connector (59), right finesse articular link plate two (63), right hand wrist joint
Connecting plate one (64), right finger limbs (65), right finger connector (68) material be aluminium alloy or acrylic material.
7. obstacle detouring explosive-removal robot according to claim 1, which is characterized in that the connecting shaft one (8), connecting shaft two
(25), bevel gear one (33), shoulder joint connecting shaft one (35), shoulder joint connecting shaft two (36), the material of bevel gear two (37) are
Aluminium alloy, connecting plate one (13), connecting plate two (19), wheel one (7), wheel two (14), wheel three (18), wheel four (21)
Material is plastics.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810757723.4A CN108705545B (en) | 2018-07-11 | 2018-07-11 | Obstacle-crossing explosion-removing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810757723.4A CN108705545B (en) | 2018-07-11 | 2018-07-11 | Obstacle-crossing explosion-removing robot |
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| Publication Number | Publication Date |
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| CN108705545A true CN108705545A (en) | 2018-10-26 |
| CN108705545B CN108705545B (en) | 2020-08-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653807A (en) * | 2019-09-19 | 2020-01-07 | 浙江工业大学 | High-precision explosive-handling robot device |
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| KR20150112599A (en) * | 2014-03-28 | 2015-10-07 | 국방과학연구소 | Humanoid robot having compact series elastic actuator |
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