CN110076796A - A kind of variable topology multi-joint collaboration passive robot - Google Patents

A kind of variable topology multi-joint collaboration passive robot Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
joint
arm
robot
realizing
bionical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910363025.0A
Other languages
Chinese (zh)
Inventor
杨斌
杨子健
郝长岭
李慧娟
唐侃
周砚
王昱天
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Aerospace Innovation Patent Investment Center (limited Partnership)
China Aerospace Times Electronics Co Ltd
Original Assignee
Beijing Aerospace Innovation Patent Investment Center (limited Partnership)
China Aerospace Times Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Aerospace Innovation Patent Investment Center (limited Partnership), China Aerospace Times Electronics Co Ltd filed Critical Beijing Aerospace Innovation Patent Investment Center (limited Partnership)
Priority to CN201910363025.0A priority Critical patent/CN110076796A/en
Publication of CN110076796A publication Critical patent/CN110076796A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/002Manipulators for defensive or military tasks
    • B25J11/0025Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

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

A kind of variable topology multi-joint collaboration passive robot
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.
CN201910363025.0A 2019-04-30 2019-04-30 A kind of variable topology multi-joint collaboration passive robot Pending CN110076796A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910363025.0A CN110076796A (en) 2019-04-30 2019-04-30 A kind of variable topology multi-joint collaboration passive robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910363025.0A CN110076796A (en) 2019-04-30 2019-04-30 A kind of variable topology multi-joint collaboration passive robot

Publications (1)

Publication Number Publication Date
CN110076796A true CN110076796A (en) 2019-08-02

Family

ID=67418182

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910363025.0A Pending CN110076796A (en) 2019-04-30 2019-04-30 A kind of variable topology multi-joint collaboration passive robot

Country Status (1)

Country Link
CN (1) CN110076796A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112338934A (en) * 2020-11-12 2021-02-09 深圳沃达龙医疗集团股份有限公司 Medical logistics robot
CN112659108A (en) * 2021-01-06 2021-04-16 北京唐柏世纪科技发展有限公司 Distributed energy humanoid robot suitable for inflammable and explosive scenes
CN112894792A (en) * 2021-01-29 2021-06-04 王安平 9-shaft double-arm robot
CN114589680A (en) * 2021-05-08 2022-06-07 万勋科技(深圳)有限公司 Control device, special robot system and control method thereof
CN116852290A (en) * 2023-07-25 2023-10-10 广东电网有限责任公司广州供电局 Work robot and work vehicle

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100068024A1 (en) * 2008-09-18 2010-03-18 Agens Michael W Remotely controlled robots having improved tool deployment systems
CN202062377U (en) * 2011-04-27 2011-12-07 北京工业大学 Remote control robot system based on exoskeleton technology
CN203510225U (en) * 2013-08-16 2014-04-02 洛阳理工学院 Human-shape-imitated explosive-handling robot
WO2014179855A2 (en) * 2013-05-09 2014-11-13 Alves De Carvalho Gilmar José Continuous exoskeleton track suitable as an orthesis assisting human locomotion
CN106003053A (en) * 2016-07-29 2016-10-12 北京工业大学 Teleoperation passive robot control system and control method thereof
CN106041995A (en) * 2016-08-05 2016-10-26 北京工业大学 Human-simulated mechanical hand
CN107127760A (en) * 2017-07-12 2017-09-05 清华大学 A kind of track combined anthropomorphic robot of foot
CN108161885A (en) * 2018-01-06 2018-06-15 哈尔滨工大特种机器人有限公司 A kind of public safety mobile robot
CN207575604U (en) * 2017-12-05 2018-07-06 蓝恺 The humanoid fire-fighting robot of body-sensing remote control
CN108393894A (en) * 2018-05-14 2018-08-14 安徽理工大学 Both arms casting sample detection robot
CN208375297U (en) * 2018-06-14 2019-01-15 中瑞福宁机器人(沈阳)有限公司 A kind of tiltable robot of waist

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100068024A1 (en) * 2008-09-18 2010-03-18 Agens Michael W Remotely controlled robots having improved tool deployment systems
CN202062377U (en) * 2011-04-27 2011-12-07 北京工业大学 Remote control robot system based on exoskeleton technology
WO2014179855A2 (en) * 2013-05-09 2014-11-13 Alves De Carvalho Gilmar José Continuous exoskeleton track suitable as an orthesis assisting human locomotion
CN203510225U (en) * 2013-08-16 2014-04-02 洛阳理工学院 Human-shape-imitated explosive-handling robot
CN106003053A (en) * 2016-07-29 2016-10-12 北京工业大学 Teleoperation passive robot control system and control method thereof
CN106041995A (en) * 2016-08-05 2016-10-26 北京工业大学 Human-simulated mechanical hand
CN107127760A (en) * 2017-07-12 2017-09-05 清华大学 A kind of track combined anthropomorphic robot of foot
CN207575604U (en) * 2017-12-05 2018-07-06 蓝恺 The humanoid fire-fighting robot of body-sensing remote control
CN108161885A (en) * 2018-01-06 2018-06-15 哈尔滨工大特种机器人有限公司 A kind of public safety mobile robot
CN108393894A (en) * 2018-05-14 2018-08-14 安徽理工大学 Both arms casting sample detection robot
CN208375297U (en) * 2018-06-14 2019-01-15 中瑞福宁机器人(沈阳)有限公司 A kind of tiltable robot of waist

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
汤漾平: "《机械制造装备技术》", 31 March 2015 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112338934A (en) * 2020-11-12 2021-02-09 深圳沃达龙医疗集团股份有限公司 Medical logistics robot
CN112659108A (en) * 2021-01-06 2021-04-16 北京唐柏世纪科技发展有限公司 Distributed energy humanoid robot suitable for inflammable and explosive scenes
CN112894792A (en) * 2021-01-29 2021-06-04 王安平 9-shaft double-arm robot
CN114589680A (en) * 2021-05-08 2022-06-07 万勋科技(深圳)有限公司 Control device, special robot system and control method thereof
CN116852290A (en) * 2023-07-25 2023-10-10 广东电网有限责任公司广州供电局 Work robot and work vehicle

Similar Documents

Publication Publication Date Title
CN110076796A (en) A kind of variable topology multi-joint collaboration passive robot
Zhao et al. Dual-arm robot design and testing for harvesting tomato in greenhouse
CN106695748B (en) A kind of double mechanical arms hot line robot
CN100484726C (en) Flexible and remote-controlled operation platform for robot based on virtual reality
CN106363612A (en) Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof
CN103271784A (en) Man-machine interactive manipulator control system and method based on binocular vision
CN205552540U (en) Both arms work robot
CN207104105U (en) A kind of laser process equipment
CN208033076U (en) A kind of sorting machine people
CN106737547A (en) A kind of hot line robot
CN107856014A (en) Mechanical arm pose control method based on gesture recognition
CN203765607U (en) Combined double-arm multifunctional robot
CN110039547A (en) A kind of human-computer interaction terminal and method of flexible mechanical arm remote operating
JP2018069342A (en) Control device, robot, and robot system
CN108582031A (en) A kind of hot line robot branch based on force feedback master & slave control connects gage lap method
CN206510017U (en) A kind of hot line robot
CN206254183U (en) A kind of intelligent robot drags teaching system
CN113021357A (en) Master-slave underwater double-arm robot convenient to move
CN206748436U (en) Multi-joint mechanical arm type remote control explosive ordnance disposal robot based on PLC
CN108582119A (en) A kind of hot line robot force feedback master-slave control method and system
CN111409068A (en) Bionic manipulator control system and bionic manipulator
CN116160440A (en) Remote operation system of double-arm intelligent robot based on MR remote control
CN104669254A (en) Automated locating method of double-series connection mechanical arm type mobile manipulator device
CN207448484U (en) Explosive-removal robot
Wang et al. Keeping Workers Safe in Electric Working: A Robot System for High-Voltage Live Operation

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20190802

RJ01 Rejection of invention patent application after publication