CN108705545B

CN108705545B - Obstacle-crossing explosion-removing robot

Info

Publication number: CN108705545B
Application number: CN201810757723.4A
Authority: CN
Inventors: 姜飞龙; 朱海滨; 周丽; 陈晟
Original assignee: Jiaxing University
Current assignee: Shenzhen Dragon Totem Technology Achievement Transformation Co ltd
Priority date: 2018-07-11
Filing date: 2018-07-11
Publication date: 2020-08-21
Anticipated expiration: 2038-07-11
Also published as: CN108705545A

Abstract

The invention discloses an obstacle-crossing and explosion-removing robot, which takes a swing cylinder and a motor as power elements to drive the motion of supporting legs, a chest-waist joint, a head and arms and has the functions of obstacle crossing and explosion removal. The obstacle-crossing explosion-removing robot mainly comprises a right arm, a right supporting leg, a head, a chest-waist joint, a left arm and a left supporting leg. The supporting legs are mainly used for crossing obstacles, and the height of a chest-waist joint can be adjusted; the chest-waist joint mainly adjusts the motion range of the system, and the head is used for collecting the working environment state in real time. The left arm shoulder joint, the elbow joint and the wrist joint have 1 degree of freedom, 1 degree of freedom and 3 degrees of freedom respectively, the left arm shoulder joint, the elbow joint and the wrist joint mainly drive a screwdriver or a wrench to rotate, the right arm shoulder joint, the elbow joint and the wrist joint have 1 degree of freedom, and the left arm shoulder joint, the elbow joint and the wrist joint are mainly used for grabbing parts. The invention has the characteristics of compact structure, multiple functions and real-time dynamic control, and can be used for completing tasks such as rescue, obstacle crossing, explosion elimination and the like on complex terrains.

Description

Obstacle-crossing explosion-removing robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an obstacle-crossing and explosion-removing robot.

Background

The explosion-removing robot is used for removing explosion on complex terrains, and needs to be capable of dynamically adapting to the environment in real time, for example, a great amount of landmines left in the war time are distributed in remote boundary regions with complex terrains. Chinese patents 200810200780.9, 201510564857.0, 201510063501.9, 201610888246.6, 201621087423.2, 201710858066.8 and 201720138951.4 successively propose single-joint single-arm manipulator explosive-handling robot systems with fixed-width tracks, which can only achieve obstacle-crossing of terrains and clamping of explosive articles, and need to adopt a wide-width track for more complicated terrains, and also need to consider automatic dismantling work of explosive robots.

Disclosure of Invention

The invention aims to provide the obstacle-crossing and explosion-removing robot aiming at the defects of the prior art, and the obstacle-crossing and explosion-removing robot has the advantages of compact structure, multiple functions, real-time dynamic control and the like.

In order to achieve the purpose, the invention adopts the technical scheme that: an obstacle-surmounting explosion-removing robot, comprising:

a obstacle-crossing explosion-removing robot is characterized by comprising six parts, namely a right arm, a right supporting leg, a head, a chest-waist joint, a left arm and a left supporting leg;

the right supporting leg comprises a first wheel, a first connecting shaft, a first worm wheel, a first worm, a first swing cylinder, a second swing cylinder, a first connecting plate, a second wheel, a third swing cylinder, a first crawler, a second worm wheel, a third wheel, a second connecting plate, a second crawler, a fourth wheel, a second worm, a third worm wheel and a second connecting shaft;

the third wheel and the fourth wheel are in meshing transmission through the second crawler belt, the first wheel and the second wheel are in meshing transmission through the first crawler belt, and the fourth wheel and the second wheel share the second connecting shaft; a second connecting plate is rotatably connected between a third wheel shaft and a fourth wheel connecting shaft, a second worm wheel is fixedly connected to the third wheel shaft and meshed with a second worm, one end of the second worm is connected with a second swing cylinder, and a second swing cylinder body is fixed to the second connecting plate; similarly, the connecting shaft II is fixedly connected with a worm gear III, the worm gear III is meshed with the worm, one end of the worm III is connected with the shaft of the swing cylinder III, and the cylinder body of the swing cylinder III is fixed on the connecting plate II; the first connecting shaft of the first wheel and the second connecting shaft of the second wheel are rotatably connected with the first connecting plate, the first connecting shaft of the first wheel is fixedly connected with a first worm wheel, the first worm wheel is meshed with a first worm, the first worm is connected with a shaft of a first swing cylinder, and a cylinder body of the first swing cylinder is fixed on the first connecting plate;

the left leg and the right leg have the same structure;

the chest-waist joint comprises a chest joint and a waist joint, the waist joint and the chest joint are formed by fixedly connecting a front flat plate, a rear flat plate, a left flat plate, a right flat plate and an upper flat plate, a connecting shaft I of a left supporting leg and a connecting shaft I of a right supporting leg are respectively fixedly connected to the flat plates on the left side and the right side, a cylinder body of a swing cylinder IV is fixedly connected with the flat plate on the upper surface of the waist joint, a rotating shaft of the cylinder body of the swing cylinder IV is fixedly connected with a lower flat plate of the chest joint, the cylinder body of the swing cylinder V is fixedly connected with the flat plate on the upper part of the chest joint, and the rotating shaft of the swing cylinder V is sequentially and fixedly connected with a;

the left arm comprises a shoulder joint, a big arm, an elbow joint, a small arm, a wrist joint and fingers, wherein, the shoulder joint comprises a swing cylinder six, a bevel gear I, a shoulder joint connecting plate, a shoulder joint connecting shaft I, a shoulder joint connecting shaft II and a bevel gear II, the large arm comprises a large arm connecting plate I, a large arm connecting plate II, a large arm connecting plate III, a large arm connecting plate IV and a large arm connecting plate V, the elbow joint comprises an elbow joint motor, a worm IV, an elbow joint connecting plate I, a worm wheel IV and an elbow joint connecting plate II, the small arm comprises a small arm connecting plate I, a small arm connecting plate II, a small arm connecting plate III and a small arm connecting plate IV, the wrist joint comprises a wrist joint motor I, a worm V, a worm wheel V, a left wrist joint connecting plate I and a left wrist joint motor II, the fingers comprise a left wrist joint motor III, a left wrist joint connecting plate II and a left wrist joint connecting piece;

the cylinder body of the swing cylinder II is fixedly connected to the waist joint left side flat plate, the rotating shaft of the swing cylinder II is fixedly connected with a shoulder joint connecting shaft I, a shoulder joint connecting shaft I is rotatably connected with a shoulder joint connecting plate, the shoulder joint connecting shaft I is fixedly connected with a bevel gear I, the bevel gear II is meshed with the bevel gear I, one end of the shoulder joint connecting shaft II is fixedly connected with a bevel gear II, and the other end of the shoulder joint connecting shaft is fixedly connected with a shoulder joint connecting plate after being rotatably connected with the shoulder joint connecting plate and then is fixedly connected to a large arm connecting plate I; the four large arm connecting plates, the three large arm connecting plates, the five large arm connecting plates and the two large arm connecting plates are respectively fixed on the first large arm connecting plates on the inner, outer, upper and lower four surfaces, the shell of the elbow joint motor is fixedly connected to the second large arm connecting plates, the rotating shaft is fixedly connected with the four worm rods, the four worm rods are meshed with the four worm wheels, one ends of the four worm wheels are rotatably connected with the third large arm connecting plates and the fourth large arm connecting plates, two ends of the first elbow joint connecting plates are respectively fixedly connected with the fourth worm wheels and the second small arm connecting plates, and two ends of the second elbow joint connecting plates are respectively fixedly connected with the fourth worm wheels and the fourth small arm connecting plates; the lower end of the left wrist joint connecting plate I is fixedly connected with the worm wheel V, the rotating shaft is fixedly connected with the left wrist joint connecting plate II, the left wrist joint connecting plate III, the left wrist joint connecting plate II and the left wrist joint connecting plate II, and the rotating shaft is fixedly connected with the left wrist joint connecting plate II;

the right arm also include shoulder joint, big arm, elbow joint, forearm, wrist joint, finger, wherein shoulder joint, big arm, elbow joint, forearm, wrist joint and the left arm structure the same, the finger of right arm include right hand finger one, right hand finger two, right hand finger three, right hand finger limbs, worm six, worm wheel six, right hand finger connecting piece, right hand finger motor, the axis of rotation fixed connection of right wrist joint connecting plate two and right wrist joint motor two, the casing fixed connection of right hand finger motor is on right wrist joint connecting plate two, axis of rotation and six fixed connection of worm, worm six meshes with worm wheel six, worm wheel six and right hand finger limbs, right hand finger connecting piece rotatable coupling, right hand finger connecting piece and right wrist joint connecting plate two fixed connection.

Preferably, the shoulder joint connecting plate is L-shaped, and the left wrist joint connecting plate I is C-shaped.

Preferably, the materials of the first worm wheel, the second worm wheel, the third worm wheel, the fourth worm wheel, the fifth worm wheel and the sixth worm wheel are all plastics, and the materials of the first worm, the second worm, the third worm, the fourth worm, the fifth worm and the sixth worm are all aluminum alloys.

Preferably, the neck connecting part, the first large arm connecting plate, the second large arm connecting plate, the third large arm connecting plate, the fourth large arm connecting plate, the fifth large arm connecting plate, the first small arm connecting plate, the second small arm connecting plate, the third small arm connecting plate and the fourth small arm connecting plate are all hollowed-out parts.

Preferably, the first swing cylinder, the second swing cylinder, the third swing cylinder, the fourth swing cylinder, the fifth swing cylinder and the sixth swing cylinder can be replaced by motors, and the elbow joint motor, the first wrist joint motor, the second left wrist joint motor, the third left wrist joint motor and the right finger motor can be replaced by swing cylinders.

Preferably, the material of neck connecting part, shoulder joint connecting plate, big arm connecting plate one, big arm connecting plate two, elbow joint connecting plate one, big arm connecting plate three, big arm connecting plate four, big 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 wrist joint connecting plate one, left wrist joint connecting plate two, right wrist joint connecting plate one, right hand finger limbs, right hand finger connecting piece be aluminum alloy or ya keli material.

Preferably, the first connecting shaft, the second connecting shaft, the first bevel gear, the first shoulder joint connecting shaft, the second shoulder joint connecting shaft and the second bevel gear are made of aluminum alloy, and the first connecting plate, the second connecting plate, the first wheel, the second wheel, the third wheel and the fourth wheel are made of plastic.

The invention has the beneficial effects that:

1. the invention utilizes a plurality of parallel tracks to cross obstacles, the width of the tracks can be adjusted according to actual requirements, and the invention can be used for adjusting the height of joints;

2. the left and right handgrips can respectively drive the screwdriver or the wrench to rotate and grip, and can coordinate and flexibly finish complex disassembly actions.

3. The invention adopts the camera, the waist-chest joint and the arm to rotate by 360 degrees, and can realize the completion of various complex tasks without dead angles.

Drawings

FIG. 1 is a general mechanical structure diagram of an obstacle-surmounting explosion-removing robot;

FIG. 2 is a mechanical structure diagram of a support leg of the obstacle-surmounting explosion-removing robot;

FIG. 3 is a mechanical structure diagram of a support leg and a waist joint of the obstacle-surmounting explosion-removing robot;

FIG. 4 is a mechanical structure diagram of the obstacle-surmounting explosion-removing robot without arms;

FIG. 5 is a mechanical structure diagram of a left arm of the obstacle-surmounting explosion-removing robot;

FIG. 6 is an enlarged view of a partial mechanical structure of a left arm elbow joint of the obstacle-surmounting explosion-removing robot;

FIG. 7 is a mechanical structure diagram of a right arm of the obstacle-surmounting explosion-removing robot;

FIG. 8 is a right-hand multi-finger mechanical configuration view of the obstacle-surmounting explosion-elimination robot;

FIG. 9 is a partial enlarged view of a right-hand single-finger mechanical structure of the obstacle-surmounting explosion-removing robot;

in the figure: the left leg comprises a right arm 1, a right leg 2, a head 3, a chest-waist joint 4, a left arm 5, a left leg 6, a first wheel 7, a first connecting shaft 8, a first worm gear 9, a first worm 10, a first swing cylinder 11, a second swing cylinder 12, a first connecting plate 13, a second wheel 14, a third swing cylinder 15, a first crawler belt 16, a second worm gear 17, a third wheel 18, a second connecting plate 19, a second crawler belt 20, a fourth wheel 21, a second worm 22, a third worm 23, a third worm gear 24, a second connecting shaft 25, a fourth swing cylinder 26, a waist joint upper panel 27, a neck connecting part 28, a camera 29, a fifth swing cylinder 30, a chest joint upper panel 31, a sixth swing cylinder 32, a first bevel gear 33, a shoulder joint connecting plate 34, a first shoulder joint connecting shaft 35, a second shoulder joint connecting shaft 36, a second bevel gear 37, a first arm connecting plate 38, a second arm connecting plate 39, an elbow joint motor 40, a fourth worm 41, the device comprises a large arm connecting plate III 43, a large arm connecting plate IV 44, a large arm connecting plate V45, a worm wheel IV 46, a small arm connecting plate I47, a small arm connecting plate II 48, an elbow joint connecting plate II 49, a small arm connecting plate III 50, a wrist joint motor I51, a worm V52, a worm wheel V53, a small arm connecting plate IV 54, a left wrist joint connecting plate I55, a left wrist joint motor II 56, a left wrist joint motor III 57, a left wrist joint connecting plate II 58, a left wrist joint connecting piece 59, a right finger I60, a right finger II 61, a right finger III 62, a right wrist joint connecting plate II 63, a right wrist joint connecting plate I64, a right finger limb 65, a worm six 66, a worm wheel six 67, a right finger connecting piece 68, a right finger motor 69 and a right wrist joint motor II 70.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1-9, the obstacle-crossing and explosion-removing robot consists of six parts, namely a right arm 1, a right leg 2, a head 3, a chest-waist joint 4, a left arm 5 and a left leg 6;

the right supporting leg 2 comprises a first wheel 7, a first connecting shaft 8, a first worm wheel 9, a first worm 10, a first swing cylinder 11, a second swing cylinder 12, a first connecting plate 13, a second wheel 14, a third swing cylinder 15, a first crawler belt 16, a second worm wheel 17, a third wheel 18, a second connecting plate 19, a second crawler belt 20, a fourth wheel 21, a second worm 22, a third worm 23, a third worm wheel 24 and a second connecting shaft 25;

the third wheel 18 and the fourth wheel 21 are in meshing transmission through the second crawler belt 20, the first wheel 7 and the second wheel 14 are in meshing transmission through the first crawler belt 16, and the fourth wheel 21 and the second wheel 14 share a second connecting shaft 25; a second connecting plate 19 is rotatably connected between the shaft of the third wheel 18 and the second connecting shaft 25 of the fourth wheel 21, a second worm wheel 17 is fixedly connected to the shaft of the third wheel 18, the second worm wheel 17 is meshed with a second worm 22, one end of the second worm 22 is connected with the shaft of the second swing cylinder 12, and the cylinder body of the second swing cylinder 12 is fixed on the second connecting plate 19; similarly, the second connecting shaft 25 is fixedly connected with a third worm wheel 24, the third worm wheel 24 is meshed with a third worm 23, one end of the third worm 23 is connected with the shaft of the third swing cylinder 15, and the cylinder body of the third swing cylinder 15 is fixed on the second connecting plate 19; a first connecting plate 13 is rotatably connected between a first connecting shaft 8 of the first wheel 7 and a second connecting shaft 25 of the second wheel 14, a first worm wheel 9 is fixedly connected to the first connecting shaft 8 of the first wheel 7, the first worm wheel 9 is meshed with a first worm 10, the first worm 10 is connected with a shaft of a first swing cylinder 11, and a cylinder body of the first swing cylinder 11 is fixed on the first connecting plate 13;

the left leg 6 and the right leg 2 have the same structure;

the chest-waist joint 4 comprises a chest joint and a waist joint, the waist joint and the chest joint are formed by fixedly connecting front, back, left, right and upper five flat plates, a first connecting shaft of a left leg and a right leg is respectively and fixedly connected to the flat plates on the left side and the right side, a cylinder body of a swing cylinder IV 26 is fixedly connected with the flat plate on the upper surface of the waist joint, a rotating shaft of the cylinder body of the swing cylinder IV 26 is fixedly connected with a lower flat plate of the chest joint, a cylinder body of a swing cylinder V30 is fixedly connected with an upper flat plate 31 of the chest joint, and a rotating shaft of the swing cylinder V30 is sequentially and fixedly connected with a neck connecting part 28 and a camera 29 of the;

the left arm 5 comprises a shoulder joint, a big arm, an elbow joint, a small arm, a wrist joint and fingers, wherein the shoulder joint comprises a swing cylinder six 32, a bevel gear one 33, a shoulder joint connecting plate 34, a shoulder joint connecting shaft one 35, a shoulder joint connecting shaft two 36 and a bevel gear two 37, the big arm comprises a big arm connecting plate one 38, a big arm connecting plate two 39, a big arm connecting plate three 43, a big arm connecting plate four 44 and a big arm connecting plate five 45, the elbow joint comprises an elbow joint motor 40, a worm four 41, an elbow joint connecting plate one 42, a worm wheel four 46 and an elbow joint connecting plate two 49, the small arm comprises a small arm connecting plate one 47, a small arm connecting plate two 48, a small arm connecting plate three 50 and a small arm connecting plate four 54, the wrist joint comprises a wrist joint motor one 51, a worm 52, a worm wheel five 53, a left wrist joint connecting plate one 55 and a left wrist joint motor two 56, and the fingers comprise a left wrist joint motor three, A left wrist joint connecting plate II 58 and a left wrist joint connecting piece 59;

the cylinder body of the swing cylinder six 32 is fixedly connected to the left side flat plate of the waist joint, the rotating shaft of the swing cylinder six 32 is fixedly connected with a first shoulder joint connecting shaft 35, the first shoulder joint connecting shaft 35 is rotatably connected with a shoulder joint connecting plate 34, the first shoulder joint connecting shaft 35 is fixedly connected with a first bevel gear 33, a second bevel gear 37 is meshed with the first bevel gear 33, one end of the second shoulder joint connecting shaft 36 is fixedly connected with the second bevel gear 37, and the other end of the second shoulder joint connecting shaft is fixedly connected with a first large arm connecting plate 38 after being rotatably connected with the shoulder joint connecting plate 34; a large arm connecting plate IV 44, a large arm connecting plate III 43, a large arm connecting plate V45 and a large arm connecting plate II 39 are respectively fixed on the large arm connecting plate I38 at the inner, outer, upper and lower four surfaces, a shell of the elbow joint motor 40 is fixedly connected on the large arm connecting plate II 39, a rotating shaft is fixedly connected with a worm IV 41, the worm IV 41 is meshed with a worm wheel IV 46, one end of the worm wheel IV 46 is rotatably connected with the large arm connecting plate III 43 and the large arm connecting plate IV 44, two ends of the elbow joint connecting plate I42 are respectively fixedly connected with the worm wheel IV 46 and the small arm connecting plate II 48, and two ends of the elbow joint connecting plate II 49 are respectively fixedly connected with the worm wheel IV 46 and the small arm connecting plate IV 54; a forearm connecting plate IV 54, a forearm connecting plate II 48, a forearm connecting plate I47 and a forearm connecting plate III 50 are respectively and fixedly connected inside, outside, above and below to form a forearm frame, a shell of a wrist joint motor I51 is fixed on the forearm connecting plate III 50, a rotating shaft is fixedly connected with a worm five 52, the worm five 52 is meshed with a worm wheel five 53, the worm wheel five 53 is rotatably connected with the forearm connecting plate II 48 and the forearm connecting plate IV 54, the lower end of a left wrist joint connecting plate I55 is fixedly connected with the worm wheel five 53, a shell of a left wrist joint motor II 56 is fixedly connected with the left wrist joint connecting plate I55, the rotating shaft is fixedly connected with a left wrist joint connecting plate II 58, a shell of a left wrist joint motor III 57 is fixedly connected with the left wrist joint connecting plate II 58, and the rotating shaft is fixedly connected with the left wrist joint connecting plate 59;

the right arm 1 also comprises a shoulder joint, a big arm, an elbow joint, a small arm, a wrist joint and fingers, wherein the shoulder joint, the big arm, the elbow joint, the small arm and the wrist joint have the same structure as the left arm 1, the fingers of the right arm 1 comprise a first right hand finger 60, a second right hand finger 61, a third right hand finger 62, a right hand finger limb 65, a sixth worm 66, a sixth worm gear 67, a right hand finger connecting piece 68 and a right hand finger motor 69, the second right wrist joint connecting plate 63 is fixedly connected with a rotating shaft of the second right wrist joint motor 70, a shell of the right hand finger motor 69 is fixedly connected to the second right wrist joint connecting plate 63, the rotating shaft is fixedly connected with the sixth worm 66, the sixth worm 66 is meshed with the sixth worm gear 67, the sixth worm gear 67 is rotatably connected with the right hand finger limb 65 and the right hand finger connecting piece 68, and the right hand finger connecting piece 68 is fixedly connected with the second right wrist joint connecting plate 63.

In order to reduce the number of parts and facilitate maintenance, the shoulder joint connecting plate 34 is L-shaped, and the left wrist joint connecting plate I55 is C-shaped.

In order to reduce the overall weight of the robot and maintain certain strength, the materials of the first worm wheel 9, the second worm wheel 17, the third worm wheel 24, the fourth worm wheel 46, the fifth worm wheel 53 and the sixth worm wheel 67 are all plastics, and the materials of the first worm 10, the second worm 22, the third worm 23, the fourth worm 41, the fifth worm 52 and the sixth worm 66 are all aluminum alloys; the neck connecting part 28, the first large arm connecting plate 38, the second large arm connecting plate 39, the third large arm connecting plate 43, the fourth large arm connecting plate 44, the fifth large arm connecting plate 45, the first small arm connecting plate 47, the second small arm connecting plate 48, the third small arm connecting plate 50 and the fourth small arm connecting plate 54 are all hollow parts; the material of the neck connecting part 28, the shoulder joint connecting plate 34, the first upper arm connecting plate 38, the second upper arm connecting plate 39, the first elbow joint connecting plate 42, the third upper arm connecting plate 43, the fourth upper arm connecting plate 44, the fifth upper arm connecting plate 45, the first forearm connecting plate 47, the second forearm connecting plate 48, the second elbow joint connecting plate 49, the third forearm connecting plate 50, the fourth forearm connecting plate 54, the first left wrist joint connecting plate 55, the second left wrist joint connecting plate 58, the left wrist joint connecting piece 59, the second right wrist joint connecting plate 63, the first right wrist joint connecting plate 64, the right finger limb 65 and the right finger connecting piece 68 is aluminum alloy or acrylic material; the first connecting shaft 8, the second connecting shaft 25, the first bevel gear 33, the first shoulder joint connecting shaft 35, the second shoulder joint connecting shaft 36 and the second bevel gear 37 are made of aluminum alloy, and the first connecting plate 13, the second connecting plate 19, the first wheel 7, the second wheel 14, the third wheel 18 and the fourth wheel 21 are made of plastic.

Preferably, the first swing cylinder 11, the second swing cylinder 12, the third swing cylinder 15, the fourth swing cylinder 26, the fifth swing cylinder 30 and the sixth swing cylinder 32 can be replaced by motors, and the elbow joint motor 40, the first wrist joint motor 51, the second left wrist joint motor 56, the third left wrist joint motor 57 and the right finger motor 69 can be replaced by swing cylinders.

The second swing cylinder 12, the second worm wheel 17 and the second worm 22 drive the third wheel 18 to serve as driving wheels to drive the second crawler belt 20 to move forwards or backwards, the third swing cylinder 15, the third worm 23 and the third worm wheel 24 drive the second wheel 14 to drive the third wheel 16 to be matched with the first swing cylinder 11 to drive the first worm wheel 9 and the first worm 10, and the heights of the right arm 1, the head 3 and the chest-waist joint 4 are adjusted together. The fourth swing cylinder 26 and the fifth swing cylinder 30 are used for adjusting the thoracic joint, the head 3, the right arm 1 and the left arm 5 to realize 360-degree rotation movement. A sixth swing cylinder 32, a first shoulder joint connecting shaft 35, a second shoulder joint connecting shaft 36 and a second bevel gear 37 drive the left big arm, the left small arm and the left wrist joint to rotate; the elbow joint motor 40, the worm gear four 41 and the worm gear four 46 drive the left forearm and the left wrist joint to move in flexion and extension; the wrist joint motor I51, the worm five 52 and the worm wheel five 53 drive the left wrist joint to move in a flexion-extension manner; the second left wrist joint motor 56 drives the left wrist joint to unfold and the third left wrist joint motor 57 drives the screwdriver or the wrench to rotate. The first right hand finger 60, the second right hand finger 61 and the third right hand finger 62 are driven by the motor to realize grabbing by a worm gear.

According to the invention, the swing cylinder and the motor are controlled to realize the control of the pose of the explosive-handling robot, the dynamic action can be realized, the accurate track control can be realized, and the invention has incomparable advantages compared with other explosive-handling robots.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.

Claims

1. A obstacle-crossing and explosion-removing robot is characterized by comprising six parts, namely a right arm (1), a right supporting leg (2), a head (3), a chest-waist joint (4), a left arm (5) and a left supporting leg (6);

the right supporting leg (2) comprises a first wheel (7), a first connecting shaft (8), a first worm wheel (9), a first worm (10), a first pneumatic motor (11), a second pneumatic motor (12), a first connecting plate (13), a second wheel (14), a third pneumatic motor (15), a first crawler belt (16), a second worm wheel (17), a third wheel (18), a second connecting plate (19), a second crawler belt (20), a fourth wheel (21), a second worm (22), a third worm (23), a third worm wheel (24) and a second connecting shaft (25);

the third wheel (18) and the fourth wheel (21) are in meshing transmission through the second crawler belt (20), the first wheel (7) and the second wheel (14) are in meshing transmission through the first crawler belt (16), and the fourth wheel (21) and the second wheel (14) share the second connecting shaft (25); a second connecting plate (19) is rotatably connected between the shaft of the third wheel (18) and the second connecting shaft (25) of the fourth wheel (21), a second worm wheel (17) is fixedly connected to the shaft of the third wheel (18), the second worm wheel (17) is meshed with a second worm (22), one end of the second worm (22) is connected with the shaft of the second pneumatic motor (12), and a cylinder body of the second pneumatic motor (12) is fixed to the second connecting plate (19); in a similar way, the connecting shaft II (25) is fixedly connected with the worm gear III (24), the worm gear III (24) is meshed with the worm gear III (23), one end of the worm gear III (23) is connected with the shaft of the pneumatic motor III (15), and the cylinder body of the pneumatic motor III (15) is fixed on the connecting plate II (19); a first connecting plate (13) is rotatably connected between a first connecting shaft (8) of the first wheel (7) and a second connecting shaft (25) of the second wheel (14), a first worm wheel (9) is fixedly connected to the first connecting shaft (8) of the first wheel (7), the first worm wheel (9) is meshed with a first worm (10), the first worm (10) is connected with a shaft of a first pneumatic motor (11), and a cylinder body of the first pneumatic motor (11) is fixed to the first connecting plate (13);

the left supporting leg (6) and the right supporting leg (2) have the same structure;

the chest-waist joint (4) comprises a chest joint and a waist joint, the waist joint and the chest joint are formed by fixedly connecting a front flat plate, a rear flat plate, a left flat plate, a right flat plate and an upper flat plate, connecting shafts of a left leg and a right leg are respectively and rotatably connected to the flat plates on the left side and the right side, a cylinder body of a pneumatic motor four (26) is fixedly connected with the flat plate on the upper side of the waist joint, a rotating shaft of the pneumatic motor four (26) is fixedly connected with the upper flat plate of the chest joint, a cylinder body of a pneumatic motor five (30) is fixedly connected with a flat plate (31) on the upper portion of the chest joint, and a rotating shaft of the pneumatic motor five (30) is sequentially and fixedly connected with a neck connecting part (28) and a camera (29) of the head (;

the left arm (5) comprises a shoulder joint, a big arm, an elbow joint, a small arm, a wrist joint and fingers, wherein the shoulder joint comprises a pneumatic motor six (32), a bevel gear I (33), a shoulder joint connecting plate (34), a shoulder joint connecting shaft I (35), a shoulder joint connecting shaft II (36) and a bevel gear II (37), the big arm comprises a big arm connecting plate I (38), a big arm connecting plate II (39), a big arm connecting plate III (43), a big arm connecting plate IV (44) and a big arm connecting plate V (45), the elbow joint comprises an elbow joint motor (40), a worm IV (41), an elbow joint connecting plate I (42), a worm wheel IV (46) and an elbow joint connecting plate II (49), the small arm comprises a small arm connecting plate I (47), a small arm connecting plate II (48), a small arm connecting plate III (50) and a small arm connecting plate IV (54), and the wrist joint comprises a wrist joint motor I (51), The finger comprises a fifth worm (52), a fifth worm wheel (53), a first left wrist joint connecting plate (55) and a second left wrist joint motor (56), and the finger comprises a third left wrist joint motor (57), a second left wrist joint connecting plate (58) and a left wrist joint connecting piece (59);

the cylinder body of the pneumatic motor six (32) is fixedly connected to the waist joint left side flat plate, the rotating shaft of the pneumatic motor six (32) is fixedly connected with a shoulder joint connecting shaft I (35), the shoulder joint connecting shaft I (35) is rotatably connected with a shoulder joint connecting plate (34), the shoulder joint connecting shaft I (35) is fixedly connected with a bevel gear I (33), a bevel gear II (37) is meshed with the bevel gear I (33), one end of the shoulder joint connecting shaft II (36) is fixedly connected with the bevel gear II (37), and the other end of the shoulder joint connecting shaft II is fixedly connected with the shoulder joint connecting plate (34) after being rotatably connected with the shoulder joint connecting plate and then fixedly connected to a large arm connecting plate I (38); the large arm connecting plate four (44), the large arm connecting plate three (43), the large arm connecting plate five (45) and the large arm connecting plate two (39) are respectively fixed on the large arm connecting plate one (38) at the inner, outer, upper and lower four surfaces, the shell of the elbow joint motor (40) is fixedly connected to the large arm connecting plate two (39), the rotating shaft is fixedly connected with the worm four (41), the worm four (41) is meshed with the worm wheel four (46), one end of the worm wheel four (46) is rotatably connected with the large arm connecting plate three (43) and the large arm connecting plate four (44), two ends of the elbow joint connecting plate one (42) are respectively fixedly connected with the worm wheel four (46) and the small arm connecting plate two (48), and two ends of the elbow joint connecting plate two (49) are respectively fixedly connected with the worm wheel four (46) and the small arm connecting plate four (54); a forearm connecting plate four (54), a forearm connecting plate two (48), a forearm connecting plate one (47) and a forearm connecting plate three (50) are respectively positioned in the inner, outer, upper and lower directions and are fixedly connected with each other to form a forearm frame, a shell of a wrist joint motor one (51) is fixed on the forearm connecting plate three (50), a rotating shaft is fixedly connected with a worm five (52), the worm five (52) is meshed with a worm wheel five (53), the worm wheel five (53) is rotatably connected with the forearm connecting plate two (48) and the forearm connecting plate four (54), the lower end of a left wrist joint connecting plate one (55) is fixedly connected with the worm wheel five (53), a shell of a left wrist joint motor two (56) is fixedly connected on the left wrist joint connecting plate one (55), the rotating shaft is fixedly connected with the left wrist joint connecting plate two (58), a shell of the left wrist joint motor three (57) is fixedly connected on the left wrist joint connecting plate two (58), the rotating shaft is fixedly connected with a left wrist joint connecting piece (59);

right arm (1) also include shoulder joint, big arm, elbow joint, forearm, wrist joint, finger, wherein shoulder joint, big arm, elbow joint, forearm, wrist joint and left arm (5) structure the same, the finger of right arm (1) include right hand finger one (60), right hand finger two (61), right hand finger three (62), right hand finger limb (65), worm six (66), worm wheel six (67), right hand finger connecting piece (68), right hand finger motor (69), the axis of rotation fixed connection of right wrist joint connecting plate two (63) and right wrist joint motor two (70), the casing fixed connection of right hand finger motor (69) is on right wrist joint connecting plate two (63), axis of rotation and worm six (66) fixed connection, worm six (66) and worm wheel six (67) mesh, worm wheel six (67) and right hand finger limb (65), The right hand finger connecting piece (68) is rotatably connected, and the right hand finger connecting piece (68) is fixedly connected with the right wrist joint connecting plate II (63);

the shoulder joint connecting plate (34) is L-shaped, and the left wrist joint connecting plate I (55) is C-shaped;

the worm wheel I (9), the worm wheel II (17), the worm wheel III (24), the worm wheel IV (46), the worm wheel V (53) and the worm wheel VI (67) are all made of plastics, and the worm wheel I (10), the worm wheel II (22), the worm wheel III (23), the worm wheel IV (41), the worm wheel V (52) and the worm wheel VI (66) are all made of aluminum alloy.

2. The obstacle-crossing and explosion-removing robot according to claim 1, wherein the neck connecting part (28), the first large arm connecting plate (38), the second large arm connecting plate (39), the third large arm connecting plate (43), the fourth large arm connecting plate (44), the fifth large arm connecting plate (45), the first small arm connecting plate (47), the second small arm connecting plate (48), the third small arm connecting plate (50) and the fourth small arm connecting plate (54) are all hollow parts.

3. An obstacle-crossing and explosion-removing robot as claimed in claim 1, wherein the first pneumatic motor (11), the second pneumatic motor (12), the third pneumatic motor (15), the fourth pneumatic motor (26), the fifth pneumatic motor (30) and the sixth pneumatic motor (32) can be replaced by motors, and the first elbow joint motor (40), the first wrist joint motor (51), the second left wrist joint motor (56), the third left wrist joint motor (57) and the right finger motor (69) can be replaced by pneumatic motors.

4. A barrier-crossing and explosion-removing robot as recited in claim 1, the material of neck connecting part (28), shoulder joint connecting plate (34), big arm connecting plate (38), big arm connecting plate two (39), elbow joint connecting plate (42), big arm connecting plate three (43), big arm connecting plate four (44), big 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 wrist joint connecting plate one (55), left wrist joint connecting plate two (58), left wrist joint connecting piece (59), right wrist joint connecting plate two (63), right wrist joint connecting plate one (64), right hand finger limb (65), right hand finger connecting piece (68) be aluminum alloy or ya keli material.

5. A obstacle-crossing and explosion-removing robot as claimed in claim 1, wherein the first connecting shaft (8), the second connecting shaft (25), the first bevel gear (33), the first shoulder joint connecting shaft (35), the second shoulder joint connecting shaft (36) and the second bevel gear (37) are made of aluminum alloy, and the first connecting plate (13), the second connecting plate (19), the first wheel (7), the second wheel (14), the third wheel (18) and the fourth wheel (21) are made of plastic.