CN110076796A - A kind of variable topology multi-joint collaboration passive robot - Google Patents
A kind of variable topology multi-joint collaboration passive robot Download PDFInfo
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- CN110076796A CN110076796A CN201910363025.0A CN201910363025A CN110076796A CN 110076796 A CN110076796 A CN 110076796A CN 201910363025 A CN201910363025 A CN 201910363025A CN 110076796 A CN110076796 A CN 110076796A
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of variable topology multi-joints to cooperate with passive robot, belong to robot field, solving mechanical arm in the prior art can not achieve synchronization action and real-time control with people, flexibility and operability are low, and anthropomorphic robot is only capable of apish partial act, the problem of being unable to carrying heavy goods.The bionical executing agency of personification of the invention has 16 joints and 2 mechanical paws, the bionical executing agency of personification with head, waist, left arm, right arm, left hand, the right hand, and head installation camera has an anthropomorphic visual angle, robot can be fulfiled assignment task with the movement of duplicator.The bionical executing agency of personification of the invention can accurately execute out the movement posture of people under the conditions of servo-actuated manipulation, and the collaboration for realizing machine person to person under remote control is servo-actuated and the synchronous manipulation of Human-to-Machine people, and robot is made to replace people in hazardous environment operation.
Description
Technical field
The present invention relates to remote-controlled robot fields more particularly to a kind of variable topology multi-joint to cooperate with passive robot.
Background technique
Explosive-removal robot is the equipment special that explosive personnel are used to dispose or destroy suspicious explosive, avoids unnecessary people
Member's injures and deaths.It is mainly used for that explosive personnel is replaced to carry, shifts suspicious explosive product and other harmful dangerous material；Instead of explosive personnel
Use the dangerous goods such as Explosive Ordnance Demolition device destruction of bomb.Existing explosive-removal robot, although can be manipulated with remote control,
It is only capable of completing fixed movement, the flexibility that execution task is is low.Operation identical with human action, the reality that can solve can not be executed
Border problem is limited.
Existing six degree of freedom mechanical arm, can not be in the case where the three-dimensional position of holding tail house be constant from one
Configuration transforms to another configuration.Therefore, existing six-shaft industrial robot is when completing weld job, even if in the same position
When setting welding, also can entirely it turn round a little while here, it is a little while entire to turn round there, it appears that the appearance extremely dazzled very much.
In fact the reason of doing so be, although the direction for changing tail house is just hoped in welding, position without changing tail house,
But due to the limitation of its structure motion principle, tail house has to shrink back, and then changes whole posture.It is existing
The motion principle of six shaft mechanical arms is different from human arm operating principle, acts therefore, it is impossible to realize with the whole of human arm.
And existing machinery arm is only able to achieve the action command that preprogramming is set, and cannot achieve the real-time control of people and the movement with people
It is synchronous.
Existing human emulated robot is chiefly used in performance, exhibition etc., and balanced capacity and load capacity are all poor, is not suitable for
Road conditions and all more complicated explosive operation of environment on site, are also unable to complete the carrying dangerous material of the task.Therefore, it is necessary to a kind of machines
Device people is able to achieve the synchronous collaboration with human body, while having good load capacity.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of variable topology multi-joint cooperates with passive robot, to solve
The problem of certainly existing robot product can not achieve the synchronization action of robot and human body, be unable to carrying heavy goods.
The purpose of the present invention is mainly achieved through the following technical solutions:
A kind of variable topology multi-joint collaboration passive robot, comprising: anthropomorphic bionical executing agency, walking mechanism and manipulation
System；
Anthropomorphic bionical executing agency includes: head, neck, trunk, left arm, right arm, waist and mechanical paw；
The movement that anthropomorphic bionical executing agency is used to replicate operator replaces people to be operated on the spot；Anthropomorphic bionical execution
Mechanism is rotatablely connected by waist and walking mechanism；Left arm, right arm are sixdegree-of-freedom simulation；Each joint energy of left arm, right arm
It is enough to be acted with the consistent kinematics characteristic of human synovial；
3D camera and microphone are provided on joint of head；Camera and microphone are used to transmit video to control system
And audio-frequency information；
Control system is executed for acquiring operator's action message and passing to the bionical executing agency of the personification.
Specifically, it is connected between head and trunk by neck；It is driven along itself axial rotation by the first joint on head
It is dynamic；First joint for realizing new line of bowing movement；
It is connected between neck and trunk by second joint；Second joint is for realizing head left rotation and right rotation.
Specifically, left arm includes: left shoulder, left upper arm, lower-left arm, left wrist；
It is connected between left shoulder and trunk by third joint, third joint is lifted for realizing left arm puts down movement；It is left
It is connected between shoulder and left upper arm by the 4th joint, the 4th joint is for realizing left arm arms sideward lift；
Left upper arm is connect with lower-left arm by the 6th joint, and the 6th joint is lifted for realizing left arm forearm puts down movement；
It is connected between left upper arm and the left hand elbow by the 5th joint, the 5th joint is for realizing left arm forearm around upper
The rotary motion of arm axle line；
Lower-left arm is connect with left wrist by the 7th joint, and the 7th joint is for realizing left arm forearm along length axis
Azimuthal rotational motion；
8th joint is set in left wrist, and the 8th joint is for realizing left wrist along the rotation of own axes.
Specifically, right arm includes: right shoulder, right upper arm, bottom right arm, right wrist；The structure and composition phase of right arm and left arm
Together, right arm and left arm are symmetrical arranged along robot body.
Specifically, left wrist connects left mechanical paw by the 8th joint；Right wrist connects right machine by the 14th joint
Tool gripper；Left mechanical paw is internally provided with the 17th joint, and the 17th joint is closed for realizing the opening of left arm mechanical paw
Resultant motion；
Specifically, the 18th joint is set inside right mechanical paw, the 18th joint is for realizing right arm mechanical paw
Opening and closing movement.
Specifically, left mechanical paw and right mechanical paw top are mounted on camera.
Specifically, walking mechanism is creeper truck；Mounting seat is provided on walking mechanism；Waist by the 15th joint with
Trunk connection, the 15th joint is for realizing waist left-right rotation；
Waist is rotatablely connected by the 16th joint and mounting seat, and the 16th joint is for realizing waist pitch fortune
It is dynamic.
In addition, at least one joint is provided with electromagnetic brake, the electromagnetic brake is used in the collaboration follower
Device people loses the braking in realization joint under conditions of electric power.
Specifically, control system is provided with audio frequency and video output system and motion capture system.
Specifically, audio frequency and video output equipment is VR glasses or display screen, operates live outdoor scene for providing；Motion capture
System executes human body synchronization action for collecting operator's action message and passing to the bionical executing agency of the personification.
Beneficial effect using the above scheme is:
1, augmented reality, servo-actuated in conjunction with human body.The servo-actuated executing agency of topological multi-joint of the invention has and human arm
The front and back swing arm and left and right stretching, extension fitting that two cradle heads realize arm is arranged in the identical mechanical arm of motor pattern, shoulder, greatly
Stretching, extension bending and left-right rotation that two cradle heads realize forearm are set between arm and forearm, and forearm and wrist junction are arranged
The left-right rotation of hand and the rotation along forearm axis are realized in two joints, and the movement one of mechanical arm and human arm may be implemented
It causes, mechanical arm is allow to replicate human action completely.The available field data of camera on anthropomorphic bionical executing agency head
Operator is passed to, and control system can capture human action and control anthropomorphic bionical executing agency and execute identical move
Make, so that operator is realized when executing and searching explosive task and the real-time synchronization of robot is manipulated, there is preferably manipulation
Performance.
2, good load capacity.15th, ten No. six joint of the invention is waist joint, can complete to bend over, turn
Body movement.Waist 23 is connect with mounting seat simultaneously, and waist 23 has load capacity.Existing human emulated robot is chiefly used in table
Drill, article can not be carried, can not complete to search explosive task, robot of the invention have lumbar support can with carrying heavy goods,
Instead of the labour of people, can also complete accurately to search, explosive task.
3, it can carry and use all kinds of tools.Mechanical arm of the invention can be adapted to different types of clamper, according to operation
Demand installs different types of clamper, and it is more that clamping, crawl etc. may be implemented in hand motion of the clamper as manpower executor
Kind precise movement identical with the mankind, the different operation for adapting to different application scene need, and efficient manipulation executes complexity and searches, is explosive
Task.
4, remote audio video transport camera and microphone can collect field data and pass to operator, provide
Anthropomorphic visual angle enables operator to know the working environment of robot at a distance.Operator is by wearing VR glasses or sight
See screen can direct feel to working site environment, and pass through control system realize remote operation.
5, walking mechanism is crawler type trolley.Collaboration of the invention is servo-actuated operating-controlling mechanism bottom and installs crawler-type traveling machine
Structure, the movement such as advance, retreat, turn to may be implemented in crawler type walking mechanism, and crawler type walking mechanism is adapted to complicated road
Condition, walking is flexibly and stability is high.
It in invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This hair
Other bright feature and advantage will illustrate in the following description, also, certain advantages can become aobvious and easy from specification
See, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims and
It is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the zero point posture main view of collaboration passive robot of the invention；
Fig. 2 is the zero point posture side view of collaboration passive robot of the invention；
Fig. 3 is the zero point posture top view of collaboration passive robot of the invention.
Appended drawing reference:
The first joint 1-；2- second joint；3- third joint；The 4th joint 4-；The 5th joint 5-；The 6th joint 6-；7-
7th joint；The 8th joint 8-；The 9th joint 9-；The tenth joint 10-；The 11st joint 11-；The 12nd joint 12-；13-
13 joints；The 14th joint 14-；The 15th joint 15-；The 16th joint 16-；The 17th joint 17-；18- the 18th is closed
Section；19- mounting seat；The head 20-；21- neck；22- trunk；23- waist；24- walking mechanism.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
A specific embodiment of the invention discloses a kind of variable topology multi-joint collaboration passive robot, comprising: quasi-
The bionical executing agency of people, walking mechanism 24 and control system；
Anthropomorphic bionical executing agency includes: head 20, neck 21, trunk 22, left arm, right arm, waist 23 and mechanical paw；
The movement that anthropomorphic bionical executing agency is used to replicate operator replaces people to be operated on the spot；
The left and right arm of anthropomorphic bionical executing agency is six shaft mechanical arms；The freedom of the series connection cradle head of left arm, right arm
The arrangement sequence for spending direction is identical as the arrangement sequence of human arm freedom degree direction；That is, personification of the invention is bionical
Two joints are arranged in shoulder in executing agency, and the swing and left and right outreach opening for completing arm entirety cling to the body with folding
Movement；Two vertical joints of rotation direction are set at elbow, complete the stretching, extension introversion and left rotation and right rotation movement of forearm；?
Two joints, the left-right rotation relative to forearm for realizing hand and the spinning movement along forearm axis is arranged in wrist location.
The left arm of the bionical executing agency of personification, each joint of right arm and human synovial of the invention has consistent kinematics
The rotation direction of characteristic, each joint is consistent with the rotation direction of human arm corresponding joint, can be realized mechanical arm and human body hand
The movement of arm is synchronous, realizes that robot synchronizes at implementation scene and executes operator in the movement of control room.
Specifically, 3D camera and microphone array are provided on head 20；Camera and microphone are used for
System transmission video and audio-frequency information.Since the bionical executing agency of personification of the invention is that synchronous human action completes execute-in-place
, the 3D binocular camera on head 20 can provide anthropomorphic visual angle for operator, make human action and anthropomorphic bio-mechanism
Execution movement have better harmony, guarantee robot execute operator's accuracy of action.
In addition, the motion capture system of control system is for acquiring operator's action message and passing to anthropomorphic bionical hold
Row mechanism executes.
Specifically, each joint of anthropomorphic bionical executing agency is revolute pair.Third of the invention is to 15 joints
Driving can be realized by the cooperation of DC brushless motor and harmonic speed reducer, due to the joint drive mode of robot have it is more
The realization of kind and articulation movement belongs to the technology of this field maturation, does not repeat one by one in the present invention, only specific to introduce this
The working principle of invention collaboration follower (i.e. anthropomorphic bionical executing agency) and the motion principle in each joint.
As shown in Figure 1-3, for the zero point posture of the bionical executing agency of personification of the invention, specifically, when zero point posture, machine
Waist 23, trunk 22, neck 21, the left and right upper arm of structure are each perpendicular to ground, and left and right lower arm lifts parallel to the ground.
Establish the rectangular coordinate system of zero point posture are as follows: direction of travel is Z axis, is perpendicular to the ground upwards X-axis, direction of travel
Left side is Y-axis；
The operating principle at the bionical each position of executing agency of personification of the invention is introduced by taking zero point posture as an example:
Preferably, it is connected between head 20 and trunk 22 by neck 21；Head 20 is along the joint of itself axial-rotation
First joint 1；It is connected between neck 21 and trunk 22 by second joint 2.It is realized by digital stack machine and transmission gear cooperation
The driving of first joint 1 and second joint 2 rotates.
Specifically, the first joint 1 is rotated around Y-axis, realizes the movement for new line of bowing；Second joint 2 is rotated around X-axis,
Realize that head 20 rotates left and right；Neck 21 is simulated with second joint 2 and is acted in the first joint 1.
Preferably, left arm includes: left shoulder, left upper arm, lower-left arm, left wrist.
It is connected between left shoulder and trunk by third joint 3；Third joint 3 is rotated around Y-axis, is realized that left arm lifts and is put
Lower movement；That is the movement of the simulation of third joint 3 human arm swing.
It is connected between left shoulder and left upper arm by the 4th joint 4；4th joint 4 is rotated around Z axis, realizes left arm outreach
Movement；Simulate human arm it is open and flat parallel with shoulder or it is interior receive be bonded body when movement.
Left upper arm is connect with lower-left arm by the 6th joint 6, left hand of the 6th joint 6 as anthropomorphic bionical executing agency
Elbow.6th joint 6 is rotated around Y-axis, is realized that left arm forearm lifts and is put down movement；That is the 6th joint 6 rotation simulation human body forearm
Introversion and stretching relative to large arm.
It is connected between left upper arm and left hand elbow by the 5th joint 5；5th joint 5 is rotated around X-axis, realizes left arm forearm
Around the rotary motion of upper arm axis；Angle between forearm and large arm remains unchanged, and realizes the left-right rotation of forearm, that is, simulates
Spinning movement of the forearm centered on elbow.
Lower-left arm is connect with left wrist by the 7th joint 7；7th joint 7 is rotated around Z axis, realizes left arm forearm along certainly
Body length axis direction rotary motion；Movement when human body twists key can be simulated.
8th joint 8 is set in left wrist, and the 8th joint 8 is for realizing left wrist along the rotation of own axes.8th closes
Section 8 is rotated around X-axis, realizes swinging for left finesse；Movement when i.e. forearm remains stationary only movable wrist joint.
The working principle of right arm is identical as left arm.Specifically, right arm includes: right shoulder, right upper arm, bottom right arm, right wrist；
It is connected between right shoulder and trunk by the 9th joint 9；It is connected between right shoulder and right upper arm by the tenth joint 10；Right upper arm
It is connect with bottom right arm by the 12nd joint 12, right hand elbow of the 12nd joint 12 as anthropomorphic bionical executing agency；Right upper arm
It is connect between right hand elbow by the 11st joint 11；Bottom right arm is connect with right wrist by the 13rd joint 13；In right wrist
14th joint 14 is set, and the 14th joint 14 is for realizing right wrist along the rotation of own axes.
Specifically, the 9th joint 9 is rotated around Y-axis, is realized that right arm lifts and is put down movement；It is revolved around Z axis in tenth joint 10
Turn, realizes right arm arms sideward lift；11st joint 11 is rotated around X-axis, realizes that right arm forearm is transported around the rotation of upper arm axis
It is dynamic；12nd joint 12 is rotated around Y-axis, is realized that right arm forearm lifts and is put down movement；13rd joint 13 is rotated around Z axis,
Realize right arm forearm along length axis direction rotary motion；14th joint 14 is rotated around X-axis, realizes right arm wrist
It swings；
Preferably, waist is connect by the 15th joint 15 with trunk；Waist passes through the 16th joint 16 and walking mechanism
The mounting seat 19 being arranged on 24 is rotatablely connected.
Specifically, the 15th joint 15 is rotated around X-axis, realizes 23 left-right rotation of waist；Only 15 turns of 15 joint
Move other joints it is motionless when, the 15th joint 15 rotation of waist can drive the whole left-right rotation of 23 or more waist, simulate people
The body twist of body.
16th joint 16 is rotated around Y-axis, realizes the movement of 23 pitch of waist；Simulation human body bends over to act.This
16th joint 16 of invention can be driven by belt or turbine and worm is driven, and provide drive by driving motor or hydraulic-driven
Power.
Preferably, left wrist connects left mechanical paw by the 8th joint 8, and right wrist connects right machine by 14 joints 14
Tool gripper realizes hand along the rotation of wrist axis by the 8th joint 8 and the 14th joint 14.
Specifically, the 17th joint 17 is set inside mechanical paw, the 18th joint 18 is set inside right mechanical paw.The
17 joints 17 are moved around X-axis, realize the opening and closing movement of left mechanical paw；18th joint 18 is moved around X-axis, real
The opening and closing movement of existing right mechanical paw.
In addition, camera is mounted on left mechanical paw and right mechanical paw, in order to realize the scene of better understanding
Environment.
Specifically, mechanical paw is the clamper installed according to work on the spot demand, clamper can complete clamping tool,
It opens knapsack, clasp the work such as article.The folder of different model or different function can also be matched according to the difference of live task
Holder.
Preferably, in order to guarantee the traveling of the invention of the stability of collaboration passive robot of the invention during traveling
Mechanism 24 is creeper truck, and the movements such as the forward-reverse of robot and steering are realized by creeper truck, and creeper truck
It can guarantee the normal traveling on complex road condition.
It is considered that collaboration passive robot of the invention be for replace people execute execute-in-place, such as explosive task or
Other may have the work of certain risk.During execution task, it is often necessary to some dangerous material are carried, in order to avoid
Each joint is unable to complete required movement or dangerous material from the risks such as mechanical paw disengaging, the present invention when mechanism not enough power supply
Electromagnetic brake is installed in some important joints.
Specifically, electromagnetic brake is provided with inside 3 to the 16th joint 16 of third joint, electromagnetic brake is used for
Collaboration passive robot loses the braking in realization joint under conditions of electric power.
Particularly, electromagnetic brake can guarantee to realize each joint under conditions of cooperateing with follower to lose electric power
Braking, allow the robot to maintain fixed movement.The joint of each component of correlation of bionical executing agency is locked, is kept fixed
Posture is motionless can to guarantee that state is clasped in dangerous material maintenance, avoid the danger such as robot damage even dangerous material explosion, improve
The safety of mechanism also keeps the scene intact the safety of environment.
Specifically, control system is provided with audio frequency and video output equipment and wearable sensing equipment；Audio frequency and video output is set
Standby is VR glasses or display screen, operates live outdoor scene for providing；Wearable sensing equipment acts letter for collecting operator
It ceases and passes to anthropomorphic bionical executing agency and execute human body synchronization action.
When implementation, cooperates with the camera on the head of servo-actuated executing agency that live image is transmitted to control system, manipulate people
Member observes site environment by VR glasses or display screen, and takes corresponding operation, for example clamps, carries article, opens back
Packet, gripping tool etc..The movement of operator is captured and be converted into manipulation instruction to pass to collaboration servo-actuated by motion capture system
Executing agency cooperates with servo-actuated executing agency to synchronize and makes movement identical with operator, completes field operation or explosive task
Deng.
Since the information between robot of the invention and operator passes through wireless signal transmission, of the invention
The time for cooperateing with servo-actuated executing agency's collection site audio frequency and video to pass to operator is very short, the action message of operator
The time that the bionical executing agency of personification for passing to collaboration passive robot makes corresponding actions is also very short.
It is thereby achieved that the synchronization action of operator and robot, operator can judge site environment at any time
It makes a response, robot can also accurately execute the movement of operator, and variable topology multi-joint collaboration of the invention is servo-actuated to hold
Row robot can accurately execute out the movement posture of the human body, " duplication as operator under the conditions of human body servo-actuated manipulation
Body " has in explosive live execution task and executes the flexibility that operation is equal at the scene with the mankind, while ensure that the peace of personnel
Entirely.
Compared with prior art, the servo-actuated robot that executes of collaboration provided in this embodiment at least has the advantages that it
One:
1) augmented reality combination human body is servo-actuated.Topological multi-joint of the invention, which is servo-actuated executing agency, to be had and human arm fortune
The front and back swing arm and left and right stretching, extension fitting that two cradle heads realize arm, large arm is arranged in the identical mechanical arm of dynamic model formula, shoulder
Stretching, extension bending and left-right rotation that two cradle heads realize forearm, forearm and wrist junction setting two are set between forearm
The left-right rotation of hand and the rotation along forearm axis are realized in a joint, and the movement one of mechanical arm and human arm may be implemented
It causes, mechanical arm is allow to replicate human action completely.The available field data of the camera on head passes to operator, and
Control system of the invention can capture the identical movement of execution of human action control executing agency, and operator is enable to exist
The real-time synchronization manipulation realized when searching explosive task to robot is executed, there is better handling.
2) good load capacity.15th, ten No. six joint of the invention is waist joint, can complete to bend over, turn
Body movement.Waist 23 is connect with mounting seat simultaneously, and waist 23 has load capacity.Existing human emulated robot is chiefly used in table
Drill, article can not be carried, can not complete to search explosive task, robot of the invention have lumbar support can with carrying heavy goods,
Instead of the labour of people, can also complete accurately to search, explosive task.
3) it can carry and use all kinds of tools.Mechanical arm of the invention can be adapted to different types of clamper, according to operation
Demand installs different types of clamper, and it is more that clamping, crawl etc. may be implemented in hand motion of the clamper as manpower executor
Kind precise movement identical with the mankind, the different operation for adapting to different application scene need, and efficient manipulation executes complexity and searches, is explosive
Task.
4) remote audio video transport camera and microphone can collect field data and pass to operator, provide
Anthropomorphic visual angle enables operator to know the working environment of robot at a distance.Operator is by wearing VR glasses or sight
See screen can direct feel to the environment of working site, and robot is precisely controlled by control system and is remotely operated.
5) walking mechanism is crawler type trolley.Collaboration of the invention is servo-actuated operating-controlling mechanism bottom and installs crawler-type traveling machine
Structure, the movement such as advance, retreat, turn to may be implemented in crawler type walking mechanism, and crawler type walking mechanism is adapted to complicated road
Condition, walking is flexibly and stability is high.
6) the servo-actuated execution robot of variable topology multi-joint of the invention collaboration can replace operator and examine on the spot, real
When transmit live image；It carries, shift suspicious explosive product and other harmful dangerous material, avoid unnecessary casualties.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of variable topology multi-joint cooperates with passive robot characterized by comprising anthropomorphic bionical executing agency, traveling
Mechanism (24) and control system；
The bionical executing agency of personification include: head (20), neck (21), trunk (22), left arm, right arm, waist (23) and
Mechanical paw；
The movement that the bionical executing agency of personification is used to replicate operator replaces people to be operated on the spot；The personification is bionical
Executing agency is rotatablely connected by waist (23) and walking mechanism (24)；The left arm, right arm are sixdegree-of-freedom simulation；Institute
Stating each joint of left arm, right arm can be acted with the consistent kinematics characteristic of human synovial；
3D camera and microphone are provided on head (20) joint；The camera and microphone are used for control system
Transmit video and audio-frequency information；
The control system is executed for acquiring operator's action message and passing to the bionical executing agency of the personification.
2. variable topology multi-joint according to claim 1 cooperates with passive robot, which is characterized in that the head (20)
It is connect between the trunk (22) by neck (21)；The head (20) passes through the first joint along itself axial rotation
(1) it drives；First joint (1) for realizing new line of bowing movement；
It is connect between the neck (21) and the trunk (22) by second joint (2)；The second joint (2) for realizing
Head rotates left and right.
3. variable topology multi-joint according to claim 2 cooperates with passive robot, which is characterized in that the left arm packet
It includes: left shoulder, left upper arm, lower-left arm, left wrist；
It is connect between the left shoulder and the trunk (22) by third joint (3), the third joint (3) is for realizing a left side
Arm, which lifts, puts down movement；It is connected between the left shoulder and the left upper arm by the 4th joint (4), the 4th joint (4)
For realizing left arm arms sideward lift；
The left upper arm is connect with the lower-left arm by the 6th joint (6), and the 6th joint (6) is for realizing left arm forearm
It lifts and puts down movement；
It is connected between the left upper arm and the left hand elbow by the 5th joint (5), the 5th joint (5) is for realizing left arm
Forearm surrounds the rotary motion of upper arm axis；
The lower-left arm is connect with the left wrist by the 7th joint (7), and the 7th joint (7) is for realizing left arm forearm
Along length axis direction rotary motion；
8th joint (8) is set in the left wrist, and the 8th joint (8) is for realizing left wrist along the rotation of own axes
Turn.
4. variable topology multi-joint according to claim 3 cooperates with passive robot, which is characterized in that the right arm packet
It includes: right shoulder, right upper arm, bottom right arm, right wrist；The structure of the right arm and left arm is identical as composition, the right arm and left arm
It is symmetrical arranged along robot body.
5. variable topology multi-joint according to claim 4 cooperates with passive robot, which is characterized in that the left wrist is logical
It crosses the 8th joint (8) and connects left mechanical paw；The right wrist connects right mechanical paw by the 14th joint (14)；Institute
It states left mechanical paw and is internally provided with the 17th joint (17), the 17th joint (17) is for realizing left arm mechanical paw
Opening and closing movement；
The 18th joint (18) is set inside the right mechanical paw, the 18th joint (18) is for realizing right arm manipulator
The opening and closing of pawl moves.
6. variable topology multi-joint according to claim 5 cooperates with passive robot, which is characterized in that the left manipulator
Pawl and right mechanical paw top are mounted on camera.
7. variable topology multi-joint according to claim 5 or 6 cooperates with passive robot, which is characterized in that the traveling
Mechanism (24) is creeper truck；Mounting seat (19) are provided on the walking mechanism (24)；The waist (23) passes through the 15th
Joint (15) is connect with the trunk (22), and the 15th joint (15) is for realizing waist left-right rotation；
The waist (23) is rotatablely connected by the 16th joint (16) and the mounting seat (19), the 16th joint
(16) for realizing the movement of waist pitch.
8. variable topology multi-joint according to claim 7 cooperates with passive robot, which is characterized in that at least one joint
It is provided with electromagnetic brake, the electromagnetic brake is used to realize under conditions of the collaboration passive robot loses electric power and close
The braking of section.
9. variable topology multi-joint according to claim 1-8 cooperates with passive robot, which is characterized in that described
Control system is provided with audio frequency and video output system and motion capture system.
10. variable topology multi-joint according to claim 9 cooperates with passive robot, which is characterized in that the audio view
Frequency output equipment is VR glasses or display screen, operates live outdoor scene for providing；The motion capture system is for collecting manipulation
Personnel's action message simultaneously passes to the bionical executing agency's execution human body synchronization action of the personification.
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