CN109048933A - The manipulator and control method of a kind of explosive dismantling robot - Google Patents
The manipulator and control method of a kind of explosive dismantling robot Download PDFInfo
- Publication number
- CN109048933A CN109048933A CN201810938604.9A CN201810938604A CN109048933A CN 109048933 A CN109048933 A CN 109048933A CN 201810938604 A CN201810938604 A CN 201810938604A CN 109048933 A CN109048933 A CN 109048933A
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- forearm
- robot
- motor
- arm
- manipulator
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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
-
- 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
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot fields, more particularly to a kind of manipulator of explosive dismantling robot.The manipulator includes sequentially connected large arm, middle arm, forearm one, forearm two and gripper；The robot's arm is arranged on robot chassis by waist turntable；Forearm one is connect by speed changer with middle arm, realizes that arm vertical level is swung；Forearm two and one axis connection of forearm realize that two horizontal plane of forearm is swung；Gripper and two axis connection of forearm realize 360 ° of gripper rotations；Each joint of manipulator is all connected to motor, current sensor and controller；The motor rotates axis connection by shaft coupling and encoder, and motor rotation drives decoders-Synchronous rotation；The controller acquires encoder rotation numerical；The current sensor is connect with motor, for returning current value.Bomb disposal robot of the present invention is close instead of the mankind, disassembles explosive, reduces the personal injury rate of Security Personnel.
Description
Technical field
The present invention relates to robot fields, more particularly to the manipulator and controlling party of a kind of explosive dismantling robot
Method.
Background technique
In developed country, explosive-removal robot product is into the development and practice of spending decades, and function and technology are for existing
Demand has had reached more perfect degree.The product that explosive-removal robot can have been divided definitely has three generations, and the first generation produces
Product are that, on behalf of with vision and sensory perceptual system, can carry out information based on the explosive-removal robot for manually fully controlling and assisting, second
The semi-autonomous explosive-removal robot of processing.With the development of global science and technology, developing country has also assisted in grinding for this kind of robot
In hair.Seriation, scale, module are had been developed that by the basic research and smell of powder of many years in science and technology and military power
Change, versatility, interchangeability explosive-removal robot.So that explosive-removal robot expands out the classification for being suitble to different task.It greatly shortens
The research and development time and reduce investment amount.Relative to external research achievement and the smell of powder country due to developing later phase
The technology answered is more external more to fall behind but has been begun to take shape by scientific research in recent years.Some scientific research institutions and production
The enthusiastic cooperation of producer has had developed some product lines in succession and has put into domestic market.
Summary of the invention
For the problems in background technique, the purpose of the present invention is to provide a kind of manipulators of explosive dismantling robot
And control method.
To achieve the goals above, technical scheme is as follows:
A kind of manipulator of explosive dismantling robot, it is characterised in that: the manipulator include sequentially connected large arm,
Middle arm, forearm one, forearm two and gripper；The robot's arm is arranged on robot chassis by waist turntable；Forearm one is logical
It crosses speed changer to connect with middle arm, realizes that arm vertical level is swung；Forearm two and one axis connection of forearm realize that forearm two is horizontal
Face is swung；Gripper and two axis connection of forearm realize 360 ° of gripper rotations；
Each joint of manipulator is all connected to motor, current sensor and controller；The motor passes through connection
Axis device and encoder rotate axis connection, and motor rotation drives decoders-Synchronous rotation；The controller acquisition encoder rotation
Numerical value；The current sensor is connect with motor, for returning current value.
Further, it is sequentially connected the forearm one, forearm two and gripper connect and respectively includes two groups, two groups of forearms one, forearms
The disymmetrical top that arm in robot is set.
Further, the mechanical length of forearm one, forearm two is with true man's arm Proportionality design of 1:1.
Further, the individual pen resolution ratio of the encoder is 1024.
A method of the robot movement of control explosive dismantling robot, which is characterized in that the method includes such as
Lower step:
(1) robot body receives each mechanical joint rotation angle that remote control terminal is sent by radio transmitting device
Value；
(2) robot body's controller analyzing and processing data, and drive motor rotation at corresponding joint；Pass through connection simultaneously
Axis device is connected to the encoder on motor and is servo-actuated, and controller acquires encoder numerical value and obtains motor real time rotation angle；
(3) motor rotation, controller obtain motor real-time current value by current sensor, and analysis processing obtains each
Arm strength when joint rotates；
(4) robot body's controller acquisition motor rotational angle and current value, pass through specific radio transmitting device
Numerical value is passed back into remote control case, robot motion's state is preferably controlled convenient for operator.
Further, in step (2), controller acquires encoder numerical value and obtains the specific of motor real time rotation angle
Process is as follows:
(2.1) it is calculated based on following formula and sends data；
(2.2) being calculated by PID precision and obtaining resolution ratio is the corresponding rotational value of 1024 encoders；
(2.3) by data conversion module, the information communication of controller and encoder is realized.
The beneficial effects of the present invention are:
Existing explosive-removal robot is able to achieve the function of scouting, transfer explosive, there is certain limitation in actual use.Have
A little explosives ignite complicated conditions and all linked with one another, make suspicious explosive is immovable explosive personnel on site can only be sent to disassemble.
This just considerably increases the personal injury rate of explosive personnel.Invention bomb disposal robot is close instead of the mankind, disassembles explosive, reduces
The personal injury rate of Security Personnel.
It increases arm waist on robot chassis to turn, middle arm is flexible, is symmetrically installed two groups of mechanical arms on middle arm top.Forearm 1
It is connect by speed changer with middle arm and realizes that arm vertical level is swung, forearm 2 and 1 axis connection of forearm realize 2 horizontal plane of forearm
It swings, gripper and 2 axis connection of forearm realize 360 ° of gripper rotations.Corresponding encoder is technically installed on each motor, even
Connect current sensor.Controller reads encoder numerical value and current sensor numerical value, judges that body is each by the numerical value of passback
The rotation angle and motor current value in joint.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mobile platform and mechanical arm of the invention；
Fig. 2 is the schematic diagram of each joint motor of robot mechanical arm and the connection type of encoder.
In figure, 1- waist turntable, 2- large arm, 3- robot chassis, arm in 4-, 5- forearm one, 6- forearm two, 7- gripper, 8-
Motor, 9- shaft coupling, 10- encoder.
Specific embodiment
With reference to the accompanying drawing, detailed elaboration is made to specific embodiments of the present invention.
Robot includes ontology and remote control end.Robot body structure is mainly by mobile platform, manipulator two parts
Composition.The carrier that mobile platform is realized as entire explosive-removal robot function carries manipulator and executes the explosive explosive task of object.Control
End part processed is by being manually monitored and executing corresponding operation.For the manual remote control of robot, in addition to being able to achieve each joint
Independent control, should be able to also linkage control, to realize flexible controlling when explosive operation.Robot body and control terminal are logical
Reliable bi-directional data exchange is realized in the wireless data link communication for crossing encryption.Firstly the need of each joint motions of reading control
Angular values are transmitted to robot body, and robot body receives the corresponding joint of data control and makes corresponding movement, joint
Rotation angular values are back to control terminal.
Turn as shown in Figure 1, increasing arm waist on robot chassis, middle arm is flexible, is symmetrically installed two groups of machinery on middle arm top
Arm.Forearm 1, which is connect by speed changer with middle arm, realizes that arm vertical level is swung, and forearm 2 is realized small with 1 axis connection of forearm
2 horizontal plane of arm is swung, and gripper and 2 axis connection of forearm realize 360 ° of gripper rotations.Forearm one, forearm two mechanical length with 1:1
True man's arm Proportionality design.
As shown in Fig. 2, each joint (large arm, middle arm, forearm one, forearm two, the mutual connection of gripper of manipulator
Place) all it is connected to motor and current sensor.The motor rotates axis connection by shaft coupling and encoder, and motor turns
Dynamic to drive decoders-Synchronous rotation, controller acquires encoder rotation numerical；The motor connects current sensor, is used for back
Conduct electricity flow valuve.
Corresponding encoder is technically installed on each motor, controller reads encoder numerical value, passes through the number of passback
Value judges the rotation angle in each joint of body.It the use of encoder individual pen resolution ratio is 1024.
A method of the robot movement of control explosive dismantling robot, described method includes following steps:
(1) robot body receives each mechanical joint rotation angle that remote control terminal is sent by radio transmitting device
Value.
(2) robot body's controller analyzing and processing data, and drive motor rotation at corresponding joint.Pass through connection simultaneously
Axis device is connected to the encoder on motor and is servo-actuated, and controller acquires encoder numerical value and obtains motor real time rotation angle, tool
Body process is as follows:
(1.1) it is calculated based on following formula and sends data；
(1.2) resolution ratio is obtained as the corresponding rotational value of 1024 encoders by accurate calculate such as PID；
PID calculates P: proportionality coefficient I: time of integration D: the control of derivative time ratio (P) control ratio is a kind of most simple
Control mode.The output of its controller relationship proportional to input error signal.When only proportional control, system output is deposited
At steady-state error (Steady-state error).(I) control is integrated in integration control, the output of controller and error originated from input
The integral of signal is proportional.To an automatic controller, if claiming this control there are steady-state error after entering stable state
Device processed is that have steady-state error or referred to as have poor system (System with Steady-state Error).In order to eliminate stable state
Error must be introduced into " integral term " in the controller.Integral term depends on the integral of time to error, as time increases,
Integral term will increase.Even if integral term can also increase as time increases in this way, error very little, it pushes controller
Output, which increases, further decreases steady-state error, until being equal to zero.Therefore, proportional+integral (PI) controller, can make system exist
Without steady-state error after into stable state.Differential (D) control is in differential control, the output of controller and the differential of input error signal
(i.e. the change rate of error) is proportional.Automatic controller is in the adjustment process for overcoming error it is possible that vibrating even
Unstability.The reason is that there is the work for inhibiting error due to there are larger inertia component (link) or having lag (delay) component
With variation always lags behind the variation of error.Solution is the variation " advanced " for making to inhibit the effect of error, i.e., accidentally
Differential it is nearly zero when, inhibiting the effect of error should be just zero.This is to say, only introducing " ratio " item in the controller is often not
No more, the effect of proportional is only the amplitude of fault in enlargement, and needs increased to be " differential term " at present, it can predict that error becomes
The trend of change, in this way, having ratio+differential controller, it will be able to make the control action for inhibiting error be equal to zero in advance, even
For negative value, so as to avoid the serious overshoot of controlled volume.So to the controlled device for having larger inertia or lag, ratio+differential
(PD) controller can improve dynamic characteristic of the system in adjustment process.
(1.3) by 485 data conversion modules, the information communication of controller and encoder is realized.
The effect of 485 data conversion modules is that the pulse signal for issuing encoder is converted into the 485 of energy and controller communication
Communication signal.Realization principle is: the acquisition of STM32 single-chip microcontroller, the pulse signal serial ports for handling encoder output transmit data, then
Turn 485 modules for data type conversion into 485 communication types using TTL.
(3) motor rotation, controller obtain motor real-time current value by current sensor, and analysis processing obtains each
Arm strength when joint rotates.
(4) robot body's controller acquisition motor rotational angle and current value, pass through specific radio transmitting device
Numerical value is passed back into remote control case, robot motion's state is preferably controlled convenient for operator.
Explosive disassembles robot, and any joint of arm is stirred on control cabinet, and controller acquires encoder numerical value and obtains
Each articulation angle number of mechanical arm, is transmitted to robot body.Main body controller receives data and controls mechanical arm corresponding joint
To correspondingly rotate speed rotation, target action is realized.Each joint encoder acquisition numerical value of main body is back to control cabinet.
Claims (6)
1. a kind of manipulator of explosive dismantling robot, it is characterised in that: the manipulator include sequentially connected large arm, in
Arm, forearm one, forearm two and gripper；The robot's arm is arranged on robot chassis by waist turntable；Forearm one passes through
Speed changer is connect with middle arm, realizes that arm vertical level is swung；Forearm two and one axis connection of forearm realize two horizontal plane of forearm
It swings；Gripper and two axis connection of forearm realize 360 ° of gripper rotations；
Each joint of manipulator is all connected to motor, current sensor and controller；The motor passes through shaft coupling
Axis connection is rotated with encoder, motor rotation drives decoders-Synchronous rotation；The controller acquires encoder rotation numerical；
The current sensor is connect with motor, for returning current value.
2. a kind of manipulator of explosive dismantling according to claim 1 robot, it is characterised in that: be sequentially connected and connect
Forearm one, forearm two and gripper respectively include two groups, the disymmetrical top that arm in robot is arranged in of two groups of forearms one, forearm
End.
3. a kind of manipulator of explosive dismantling robot according to claim 1, it is characterised in that: forearm one, forearm
Two mechanical length is with true man's arm Proportionality design of 1:1.
4. a kind of manipulator of explosive dismantling robot according to claim 1, it is characterised in that:
The individual pen resolution ratio of the encoder is 1024.
5. a kind of method of the robot movement of control explosive dismantling robot, which is characterized in that the method includes as follows
Step:
(1) robot body receives each mechanical joint rotation angle value that remote control terminal is sent by radio transmitting device；
(2) robot body's controller analyzing and processing data, and drive motor rotation at corresponding joint；Pass through shaft coupling simultaneously
The encoder being connected on motor is servo-actuated, and controller acquires encoder numerical value and obtains motor real time rotation angle；
(3) motor rotation, controller obtain motor real-time current value by current sensor, and analysis processing obtains each joint
Arm strength when rotation；
(4) robot body's controller acquisition motor rotational angle and current value, will be counted by specific radio transmitting device
Value passes back to remote control case, and robot motion's state is preferably controlled convenient for operator.
6. a kind of control method of the manipulator of explosive dismantling robot according to claim 5, which is characterized in that
In step (2), controller acquires encoder numerical value acquisition motor real time rotation angle, and detailed process is as follows:
(2.1) it is calculated based on following formula and sends data；
(2.2) being calculated by PID precision and obtaining resolution ratio is the corresponding rotational value of 1024 encoders；
(2.3) by data conversion module, the information communication of controller and encoder is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810938604.9A CN109048933A (en) | 2018-08-17 | 2018-08-17 | The manipulator and control method of a kind of explosive dismantling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810938604.9A CN109048933A (en) | 2018-08-17 | 2018-08-17 | The manipulator and control method of a kind of explosive dismantling robot |
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| Publication Number | Publication Date |
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| CN109048933A true CN109048933A (en) | 2018-12-21 |
Family
ID=64687117
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|---|---|---|---|
| CN201810938604.9A Pending CN109048933A (en) | 2018-08-17 | 2018-08-17 | The manipulator and control method of a kind of explosive dismantling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN104669275A (en) * | 2015-02-06 | 2015-06-03 | 中国人民解放军63908部队 | Intelligent explosive ordnance disposal robot |
| CN105171734A (en) * | 2015-10-22 | 2015-12-23 | 哈尔滨联科自动化技术开发有限公司 | High-speed four-axis palletizing robot and palletizing method |
| CN205272038U (en) * | 2015-11-26 | 2016-06-01 | 南京工程学院 | Robot is exploded to visual row |
| CN206717887U (en) * | 2017-05-25 | 2017-12-08 | 河南科技学院 | Explosive-removal robot mechanical arm six degree of freedom coordinated control system |
| CN206748436U (en) * | 2017-01-20 | 2017-12-15 | 安徽大学 | A kind of multi-joint mechanical arm formula Remote explosive-removal robot based on PLC |
| CN108381517A (en) * | 2018-01-24 | 2018-08-10 | 陕西科技大学 | A kind of explosive-removal robot mechanical arm mechanism |
-
2018
- 2018-08-17 CN CN201810938604.9A patent/CN109048933A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN104669275A (en) * | 2015-02-06 | 2015-06-03 | 中国人民解放军63908部队 | Intelligent explosive ordnance disposal robot |
| CN105171734A (en) * | 2015-10-22 | 2015-12-23 | 哈尔滨联科自动化技术开发有限公司 | High-speed four-axis palletizing robot and palletizing method |
| CN205272038U (en) * | 2015-11-26 | 2016-06-01 | 南京工程学院 | Robot is exploded to visual row |
| CN206748436U (en) * | 2017-01-20 | 2017-12-15 | 安徽大学 | A kind of multi-joint mechanical arm formula Remote explosive-removal robot based on PLC |
| CN206717887U (en) * | 2017-05-25 | 2017-12-08 | 河南科技学院 | Explosive-removal robot mechanical arm six degree of freedom coordinated control system |
| CN108381517A (en) * | 2018-01-24 | 2018-08-10 | 陕西科技大学 | A kind of explosive-removal robot mechanical arm mechanism |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20190509 Address after: 300000 Building 609, Anshun Building, Shuiyou City Business District, Dafeng Road, Hongqiao District, Tianjin Applicant after: Tianjin Defense Shield Technology Co., Ltd. Applicant after: Han Yihui Address before: 100085 bungalow No. 2, 15 Anningzhuang East Road, Qinghe, Haidian District, Beijing Applicant before: BEIJING ZHONGKEDUN TECHNOLOGY CO., LTD. |
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