CN110682296B - Tool changing warehouse for emergency disposal operation of explosive-handling robot and working method thereof - Google Patents
Tool changing warehouse for emergency disposal operation of explosive-handling robot and working method thereof Download PDFInfo
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- CN110682296B CN110682296B CN201910821593.0A CN201910821593A CN110682296B CN 110682296 B CN110682296 B CN 110682296B CN 201910821593 A CN201910821593 A CN 201910821593A CN 110682296 B CN110682296 B CN 110682296B
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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
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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
Abstract
The invention discloses a replacement tool library for emergency disposal operation of an explosive-handling robot and a working method thereof. The quick-change connector can be matched with a mechanical arm and a tool, can carry eight tools except a main paw for operation, can realize one-key automatic replacement of the tool under remote operation aiming at different dangerous object types, and can be matched with various types of explosive handling robots for use. The locking and releasing of the quick-change connector provided by the invention are operated through a mechanical structure without depending on an external air source.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a tool changing warehouse for emergency disposal operation of an explosive-handling robot and a working method thereof.
Background
In the face of emergency explosive-handling operation, rapid response deployment of the robot is extremely important. Whether the robot can quickly enter a working state or not and whether the function module can be accurately selected or not, whether the function module can be quickly started and completes the action or not is particularly important for the whole task.
During explosive-removing operation, the target type and dosage are usually unknown, which brings trouble to the selection of the robot function module. In the prior art, the explosion elimination procedure firstly needs the robot to detect in advance, return after the target is found out, and continuously complete the task after the functional component is replaced manually. Secondly, the large robot is provided with two mechanical arms and carries less than 2-3 functional components to complete tasks.
Disclosure of Invention
In order to solve the limitation and defect of the prior art, the invention provides a tool replacing library for emergency disposal operation of an explosive-handling robot, which comprises an explosive-handling robot body, a quick-change connector and a movable tool library, wherein the quick-change connector comprises a mechanical arm end connector and a tool end connector, the movable tool library comprises a frame, a rotary tool frame, a rotary motor, a standby tool and a sensor, a mechanical arm end comprises a secondary arm, a clamping ring limiting ring, a clamping ring and a mechanical arm end interface, the mechanical arm end interface is fixedly arranged at the tail end of the secondary arm, and the initial position of the clamping ring is limited by the clamping ring limiting ring;
the mechanical arm end interface comprises a first communication and power supply port, a first interface body, a cable preformed hole, a first positioning groove, a communication socket, an oval positioning groove and a connecting block, wherein the oval positioning groove is arranged below the first communication and power supply port, the connecting block and the first positioning groove are respectively and uniformly distributed on the circumference of the first interface body, the connecting block is in matched contact with a connecting groove of the tool end connector, and the first positioning groove is in positioning contact with the clamping ring;
the instrument end joint includes second interface body, spread groove, second constant head tank and second communication and power supply port, the side of second interface body vertically is provided with the second constant head tank, the second constant head tank with the first constant head tank of arm end interface corresponds the setting, the second constant head tank with the locating piece of snap ring corresponds the setting, the inboard of second interface body is provided with the spread groove, the spread groove with the connecting block cooperation of arm end interface, second communication and power supply port with first communication and power supply port correspond the setting.
Optionally, the mechanical arm end interface further comprises a bolt hole, and the bolt hole is used for connecting the tail end of the secondary arm.
Optionally, the first communication and power supply port includes a female connector of a 15-pin serial port, the second communication and power supply port includes a male connector of the 15-pin serial port, and the female connector corresponds to the male connector.
Optionally, the tool end joint further comprises a permanent magnet, and the permanent magnet is used for assisting in fixing the clamping and changing positions of the mechanical arm end interface and the tool end joint.
Optionally, the tool end connector further includes an elliptical positioning boss and a communication pin, the elliptical positioning boss is disposed on the outer side of the second communication and power supply port, and the communication pin is disposed on the outer side surface of the elliptical positioning boss.
Optionally, the second communication and power supply port is axially provided with a return spring, the return spring is arranged in the circumferential groove of the second interface body, and the return spring is used for automatically returning to an initial position when the tool is in a preparation state and a release state.
Optionally, the snap ring is used for limiting the relative rotation of the mechanical arm end joint and the tool end joint after longitudinal locking, the snap ring comprises a snap ring body, a limiting ring and a positioning block, the positioning block is matched with the first positioning groove of the mechanical arm end joint, the limiting ring is used for matching the auxiliary arm with the rotary tool rack to complete the sinking action of the snap ring, and the mechanical arm end joint is locked.
Optionally, the gyration instrument frame includes and keeps off ring, solid fixed ring in middle, locking piece and instrument fixed ring group, solid fixed ring in middle sets up go up keep off the ring with between the locking piece, the locking piece sets up solid fixed ring in middle with between the instrument fixed ring group.
The invention also provides a working method of any tool library replacement for the emergency disposal operation of the explosive disposal robot, which is characterized by comprising the following steps:
the controller of the explosive-handling robot transmits a signal to the tool replacing library, the tool replacing library rotates to enable the required tool to be rotated to be close to the forefront of the explosive-handling robot, and the mechanical arm starts to feed from an initial position to a preset replacing position;
when the mechanical arm approaches the tool magazine to be replaced, the mechanical arm transversely feeds, and finally the position of the auxiliary arm is determined by the contact between the lower side of the clamping ring limiting ring and the upper side of the middle fixing ring of the tool magazine;
the auxiliary arm is longitudinally fed, three connecting blocks of the mechanical arm end joint respectively enter three connecting grooves of the tool end joint, the auxiliary arm is fed to the mechanical arm end joint to be attached to the surface of the tool end joint, an oval positioning groove and an oval positioning boss of a communication and power supply port of the mechanical arm end joint and the tool end joint are combined, pins of the first communication and power supply port are inserted into a socket of the second communication and power supply port, and a reset spring is in an original state;
the auxiliary hand arm drives the clamping ring and the mechanical arm end joint to rotate clockwise by 50 degrees, the connecting block is embedded into the connecting groove to complete the longitudinal locking of the mechanical arm end joint and the tool end joint, a communication and power supply port of the tool end joint rotates along with the auxiliary hand arm, and the reset spring is in a compressed state;
the auxiliary arm drives the clamping ring, the tool, the mechanical arm end joint and the tool end joint to vertically lift, the clamping ring, the tool, the mechanical arm end joint and the tool end joint start from the middle fixing ring of the tool rack and move towards the upper retaining ring, and the top of the clamping ring limiting ring is in contact with the bottom of the upper retaining ring;
the motion of snap ring spacing ring is restricted, vice arm with arm end joint the instrument end joint continues the upward movement, vice arm with arm end joint after the snap ring working range of instrument end joint motion, the snap ring spacing ring has covered vice arm end joint with instrument end joint is enough to restrict arm end joint with the relative rotation of instrument end joint both sides.
Optionally, the method further includes:
when the secondary arm acts, the mechanical arm end joint and the tool end joint are matched with each other to ensure the connection of the mechanical arm and the tool end, and the first communication and power supply port and the second communication and power supply port are matched with each other to ensure the communication power supply and the driving power supply;
the mechanical arm end joint and the tool end joint are longitudinally locked, so that the mechanical arm end joint and the tool end joint are ensured not to rotate relatively.
The invention has the following beneficial effects:
the tool replacement library for the emergency disposal operation of the explosive-handling robot comprises an explosive-handling robot body, a quick-change connector and a movable tool library, wherein the quick-change connector comprises a mechanical arm end connector and a tool end connector, the movable tool library comprises a frame, a rotary tool frame, a rotary motor, a standby tool and a sensor, the mechanical arm end comprises a secondary arm, a clamping ring limiting ring, a clamping ring and a mechanical arm end interface, the mechanical arm end interface is fixedly arranged at the tail end of the secondary arm, and the initial position of the clamping ring is limited by the clamping ring limiting ring. The quick-change connector can be matched with a mechanical arm and a tool, can carry eight tools except a main paw for operation, can realize one-key automatic replacement of the tool under remote operation aiming at different dangerous object types, and can be matched with various types of explosive handling robots for use. The locking and releasing of the quick-change connector provided by the invention are operated through a mechanical structure without depending on an external air source.
Drawings
Fig. 1 is a perspective view of a tool changer for emergency disposal of an explosive ordnance disposal robot according to an embodiment of the present invention.
Fig. 2 is a schematic view of a tool replacement state of a tool replacement library for emergency disposal of an explosive-handling robot according to an embodiment of the present invention.
Fig. 3 is a schematic view of a quick change structure of a manipulator end of a tool changing magazine for emergency disposal operation of an explosive ordnance disposal robot according to an embodiment of the present invention.
Fig. 4a to 4b are schematic diagrams of the robot-end interface of the tool changing library for emergency disposal of the explosive-handling robot according to the embodiment of the present invention.
Fig. 5a to 5b are schematic diagrams of a tool end interface of a tool changing library for emergency disposal of an explosive-handling robot according to an embodiment of the present invention.
Fig. 6a to 6b are schematic structural diagrams of a snap ring of a tool changing magazine for emergency disposal of an explosive-handling robot according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a tool rack of a tool magazine replacement for emergency disposal of an explosive ordnance disposal robot according to an embodiment of the present invention.
Fig. 8a to 8b are schematic diagrams illustrating a mechanical arm feeding route and a predetermined position of a tool changing magazine for emergency handling operation of an explosive-handling robot according to a second embodiment of the present invention.
Fig. 9a to 9b are schematic diagrams of the operation of the sub-arm of the tool magazine for emergency disposal of the explosive ordnance disposal robot according to the second embodiment of the present invention.
Fig. 10a to 10d are schematic diagrams illustrating the fitting of the joint of the tool changing magazine for emergency disposal of the explosive ordnance disposal robot according to the second embodiment of the present invention.
Fig. 11a to 11c are schematic diagrams illustrating a vertical lifting operation of the secondary arm of the tool changing magazine for emergency disposal of the explosive ordnance disposal robot according to the second embodiment of the present invention.
Fig. 12a-12b are schematic diagrams illustrating the exit route and the expected working state of the robot arm of the tool changing library for the emergency disposal operation of the explosive disposal robot according to the second embodiment of the present invention.
Wherein the reference numerals are: 1. a robot body; 2. the auxiliary mechanical arm and the quick-change connector; 3. a mobile tool library; 4. a secondary arm; 5. a snap ring limit ring; 6. a snap ring; 7. a mechanical arm end interface; 8. bolt holes; 9. a first communication and power supply port; 10. a first interface body; 11. an elliptical positioning slot; 12. a communication socket; 13. a first positioning groove; 14. a cable preformed hole; 15. connecting blocks; 16. connecting grooves; 17. a second interface body; 18. a second positioning groove; 19. a permanent magnet; 20. a second communication and power port; 21. a communication pin; 22. a return spring; 23. an elliptical positioning boss; 24. a snap ring body; 25. a limiting ring; 26. positioning blocks; 27. an upper baffle ring; 28. a middle fixing ring; 29. a locking block; 30. a tool retaining ring set; 31. a secondary arm; 32. a stop ring is arranged on the tool rack; 33. a snap ring limit ring; 34. a snap ring; 35. a mechanical arm end joint; 36. a tool end fitting; 37. a permanent magnet; 38. a tool holder; 39. and a middle fixing ring.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the tool changing library for emergency disposal of explosive ordnance disposal robot provided by the present invention is described in detail below with reference to the accompanying drawings.
Example one
Fig. 1 is a perspective view of a tool magazine for emergency disposal of an explosive-handling robot according to a first embodiment of the present invention, and fig. 2 is a schematic view of a tool changing state of the tool magazine for emergency disposal of an explosive-handling robot according to a first embodiment of the present invention. As shown in fig. 1-2, the overall device comprises a explosive-handling robot body 1, a quick-change connector and a movable tool magazine set, wherein the quick-change connector comprises a mechanical arm end connector, a tool end connector, a communication and power supply port and a clamping ring 6, and the movable tool magazine 3 comprises a vehicle frame, a rotary tool rack, a rotary motor, a spare tool and a sensor. In this embodiment, the end effector of the adaptive robot body 1 needs to be rotatable. This embodiment is equipped with dual robots, with the primary gripper unchanged and only the tool on the secondary robot replaced. In addition to this, the same is applicable to a single-arm end-turnable robot.
Fig. 3 is a schematic view of a quick change structure of a manipulator end of a tool changing magazine for emergency disposal operation of an explosive ordnance disposal robot according to an embodiment of the present invention. As shown in fig. 3, the mechanical arm end interface 7 is composed of an auxiliary arm 4, a snap ring limit ring 5, and a snap ring 6. The mechanical arm end interface 7 is fixed at the tail end of the mechanical arm through a bolt, a positioning groove is axially formed in the mechanical arm end interface 7 and matched with a positioning block 26 in the clamping ring, and the initial position of the clamping ring 6 is limited by a mechanical arm end limiting ring 25.
Fig. 4a to 4b are schematic diagrams of the robot-end interface of the tool changing library for emergency disposal of the explosive-handling robot according to the embodiment of the present invention. As shown in fig. 4a-4b, the bolt hole 8 is used for connecting with the tail end of the mechanical arm, and the communication and power supply port is a female head of a 15-pin serial port and is fixedly connected with the interface body and can not rotate. The oval positioning groove is formed below the communication and power supply port, so that accurate insertion of the port can be further guaranteed. Connecting block 15 and constant head tank triangle evenly distributed are on the circumference of first interface body 10, and connecting block 15 contacts with the spread groove 16 of instrument end joint when the butt joint, and the constant head tank contacts with snap ring 6 and fixes a position.
Fig. 5a to 5b are schematic diagrams of a tool end interface of a tool changing library for emergency disposal of an explosive-handling robot according to an embodiment of the present invention. As shown in fig. 5a-5b, the side of the interface body is longitudinally provided with a positioning groove, the positioning groove of the tool-end interface is aligned with the positioning groove of the mechanical arm-end interface 7, the positioning groove is matched with the positioning block 26 of the snap ring 6, the inner side of the interface body is provided with a connecting groove 16, and the connecting groove 16 is matched with the connecting block 15 of the mechanical arm-end interface 7, so that the interfaces on two sides are locked to provide longitudinal force. The supplementary fixed card that this embodiment provided trades the position, and communication and power supply port are the public head of 15 pin serial ports, set up the lower extreme at the interface body, and communication and power supply port axial are provided with reset spring 22, and reset spring 22 assembles among body hoop groove, can prepare at the instrument and return initial position by oneself with the release state, waits to connect next time.
Fig. 6a to 6b are schematic structural diagrams of a snap ring of a tool changing magazine for emergency disposal of an explosive-handling robot according to an embodiment of the present invention. As shown in fig. 6a-6b, the snap ring 6 is provided only to limit the relative rotation of the arm end fitting and the tool end fitting after being locked in the longitudinal direction. The positioning block 26 is matched with the positioning groove of the joint, and the limiting ring 25 is matched with the mechanical arm and the tool rack to finish the sinking action of the snap ring 6, so that the joint is locked.
Fig. 7 is a schematic structural view of a tool rack of a tool magazine replacement for emergency disposal of an explosive ordnance disposal robot according to an embodiment of the present invention. As shown in fig. 7, the rotary tool rack is composed of an upper stop ring 27, a middle fixing ring 28, a locking block 29 and a tool fixing ring group 30, and the rotary motor and the vehicle frame are matched to form the mobile tool magazine 3. The rotary tool rack is an important component of the mobile tool magazine 3, is mainly used for carrying spare tool sets, and automatically rotates to match with tool replacement actions of the mechanical arm. The locking piece 29 is provided to prevent unwanted shaking of the tool in the released state. Every time the tool is changed, the tool holder needs to be turned 45 deg. for 0.125 seconds, except for the first time. The motor selection process provided by the embodiment is as follows: the rotary motor needs to drive an object to rotate for a certain angle under extreme conditions, the influence of starting torque does not need to be considered due to the slow rotating speed, the torque to be overcome mainly comes from the friction torque of the thrust bearing, and the calculation formula is as follows:
wherein M is the friction torque of the rolling bearing, mu is the friction coefficient, P is the bearing load, d is the nominal inner diameter of the bearing, and n is the motor rotating speed.
In this embodiment, the weight of the tool holder above the bearing can be calculated by software. The motor is a speed reduction stepping motor with a speed reduction ratio of 2/1, and the power of the rotary motor and the friction torque to be overcome are calculated as follows when the speed reduction stepping motor is set to be 60 rpm:
M＝3.5Ngm
P＝22W
the explosive-handling robot that this embodiment provided belongs to special type robot, except discerning, getting rid of the explosion, also needs to possess functions such as fire control, transport, destroy. Various forms of explosive disposal assembly sets exist, but lack a unified standard, and the embodiment configures a basic functional set aiming at general requirements during the execution of tasks of the robot, which includes the following tools (for reference only, can be flexibly configured according to specific situations):
1. portable explosive detector. The type and other attributes of the task object are generally unknown during explosive disposal operation. In order to safely and accurately operate, the robot needs to judge the type and the setting form of the explosive in advance. Wherein, the detecting instrument is exemplified by the signal arrival company QS-H150.
2. Folding X-ray machine. And simply scanning the suspicious packages to further clarify the operation content.
3. And (4) a mechanical paw. After the identification of the dangerous object is completed, the robot needs to take out the dangerous object by using the gripper and transport the dangerous object to a predetermined disposal area.
4. A pair of scissors. When a dangerous object is placed in a cloth bag or fixed somewhere in another form, the robot needs to exchange the executing component for scissors to complete the subsequent action.
5. Water guns. When the dangerous objects need to be destroyed on the spot, the dangerous objects can be bombarded by water guns to be crushed and disintegrated, so that the explosion power is lost. Wherein, the gun is exemplified by the letter company DT-38A.
6. Other tools: electric drills, microsound electric saws, pliers.
Example two
In the current explosive disposal procedure, the replacement of the mechanical arm execution part needs to be completed manually. The invention provides a quick loading method for automatically replacing an end tool of a mechanical arm, aiming at simplifying an operation program and shortening response time. The method is realized by relying on a quick-change connector between the mechanical arm and the tool, and the connector provided by the embodiment is divided into a mechanical arm end and a tool end. And the mechanical, power supply and communication connection between the mechanical arm and the tool is realized by virtue of the universal joint.
The mobile tool library has no power, so the robot body needs to drag the mobile tool library. In order to adapt to the change of the terrain in the operation process, a universal joint and a flexible cable are connected between the robot and the tool magazine, certain offset is allowed, and certain trafficability is kept while communication capacity is kept.
Fig. 8a to 8b are schematic diagrams illustrating a mechanical arm feeding route and a predetermined position of a tool changing magazine for emergency handling operation of an explosive-handling robot according to a second embodiment of the present invention. As shown in fig. 8a-8b, the robot can carry an explosive detector when entering the field, after the type of the dangerous object is detected, the data is transmitted back, and after the operation terminal issues an instruction, the tool change is started. According to the command, the robot controller transmits a signal to the tool magazine, which is rotated first to bring the desired tool to the forefront near the robot, with a tool change interval step of 45 degrees. The robot arm starts to feed from the initial position to a predetermined replacement position. The final action of the robot arm when approaching the tool magazine is to be infeed, and finally the position of the secondary arm 31 is determined by the contact of the underside of the collar retainer ring 33 with the upper side of the intermediate retainer ring 39 of the tool magazine.
Fig. 9a-9b are schematic diagrams illustrating the operation of the sub-arm 31 of the tool magazine for emergency disposal of the explosive ordnance disposal robot according to the second embodiment of the present invention. As shown in fig. 9a-9b, the sub-arm 31 is advanced longitudinally and the three links of the arm end fitting 35 enter the three connecting slots of the tool end fitting 36 respectively, until the arm end fitting 35 is brought into face abutment with the tool end fitting 36. At the moment, the oval positioning grooves of the communication and power supply ports of the two end connectors are combined with the oval positioning bosses. The pins of the arm end fitting 35 are inserted into the communication socket of the tool end fitting 36 with the return spring in the home state. Then the sub-arm 31 carries the snap ring 34 and the mechanical arm end joint 35 to rotate clockwise by 50 degrees, the connecting block is embedded into the L-shaped connecting groove, and the longitudinal locking of the mechanical arm end joint 35 and the tool end joint 36 is completed. The communication port of the tool end interface rotates with the sub-arm 31, and the return spring 3 is in a compressed state.
Fig. 10a to 10d are schematic diagrams illustrating the fitting of the joint of the tool changing magazine for emergency disposal of the explosive ordnance disposal robot according to the second embodiment of the present invention. As shown in fig. 10a-10d, when the sub-arm 31 is actuated, the mechanical arm end connector 35 and the tool end connector 36 cooperate to ensure the connection between the mechanical arm and the tool end, the communication and power supply port is 15 serial ports, and the communication and power supply port female connector and the communication and power supply port male connector cooperate to ensure the normal communication and driving power supply of the control.
Fig. 11a to 11c are schematic diagrams illustrating a vertical lifting action of the sub-arm 31 of the tool magazine for replacement of the explosive ordnance disposal robot according to the second embodiment of the present invention. As shown in fig. 11a-11c, since the two end fittings are locked longitudinally, the next step is to ensure that the two end fittings do not rotate relatively.
In this embodiment, the end joints have been longitudinally locked, and the sub-arm 31 lifts the snap ring 34, tool and joint end vertically, where the joint end arm end joint 35 and tool end joint 36 move up the stop ring starting from the middle retaining ring 39 of the tool holder 38. The top of the snap ring retainer 33 first contacts the bottom of the upper retainer, then the movement of the snap ring 34 is restricted and the upward movement of the sub-arm 31 and the joint is continued. After a single working range of the snap ring, which is about 40mm, has been moved, the snap ring stop has covered the secondary arm 31, the arm end joint 35 and the tool end joint 36 sufficient to limit the relative rotation of the two sides of the joint. Typically, the operative position of the snap ring 34 has been fixed by the component assembly relationship. To prevent the snap ring 34 from moving up and down in extreme cases, the present embodiment uses permanent magnets 37 on the sides of the tool end fitting 36 to attract the snap ring 34, in addition to the assembled relationship, to complement the snap ring position definition. To this end, the connection of the tool to the robotic arm has been completed.
Fig. 12a-12b are schematic diagrams illustrating the exit route and the expected working state of the robot arm of the tool changing library for the emergency disposal operation of the explosive disposal robot according to the second embodiment of the present invention. As shown in fig. 12a-12b, the robotic arm carries the tool out of the tool rack 38 and completes the operation. The operation of the release tool is similar to that of the locking operation, and the description is not repeated, and the present embodiment only describes the differences: assuming that the task is completed or the tool needs to be replaced again in the process, the tool needs to be released first and then locked. Fig. 10 is an initial position of the release operation. The next action is: the sub-arm 31 is fed vertically downward, the arm, the joint, the tool, and the snap ring 34 are simultaneously lowered, and the lower surface of the snap ring 34 first contacts the upper surface of the intermediate fixing ring 39 of the tool holder 38. Movement of the snap ring 34 is then restricted. Continued downward movement of the arm and joint results in relative movement between the snap ring 34 and the tool end joint 36. After the relative movement distance reaches a snap ring working range, the snap ring 34 is disconnected from the tool end fitting 36 and is retracted to the initial position. Then the mechanical arm drives the mechanical arm end joint 35 to rotate reversely, rise, horizontally withdraw and release. And then the rear mechanical arm feeds for a new round, and a new round of circulation is started.
The motion process can be matched with the function of a preset position of the explosive-handling robot, the motion sequence is programmed into the robot in advance, and after receiving a tool replacement instruction, an operator can complete the motion by operating a preset key once. The method can be used as a subsequent expansion route of the original method.
In this embodiment, the tool magazine provides multiple carrying scheme, can be directed against the explosive type that probably appears in the explosive disposal environment, and the flexible selection executive component, expansibility is strong. A universal rapid carrying interface is designed between the functional component and the mechanical arm, and modularization is achieved in the aspects of machinery and communication. The technical scheme that this embodiment provided combines with "both hands claw" arm, further improves the diversified operation ability of robot.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (9)
1. A tool replacement library for emergency disposal operation of an explosive-handling robot is characterized by comprising an explosive-handling robot body, a quick-change connector and a movable tool library, wherein the quick-change connector comprises a mechanical arm end interface and a tool end connector;
the mechanical arm end interface comprises a first communication and power supply port, a first interface body, a cable preformed hole, a first positioning groove, a communication socket, an elliptical positioning groove and a connecting block, wherein the elliptical positioning groove is formed below the first communication and power supply port, the connecting block and the first positioning groove are respectively and uniformly distributed on the circumference of the first interface body, the connecting block is in matched contact with a connecting groove of the tool end connector, and the first positioning groove is in positioning contact with the clamping ring;
the tool end connector comprises a second interface body, a connecting groove, a second positioning groove and a second communication and power supply port, wherein the second positioning groove is longitudinally arranged on the side surface of the second interface body, the second positioning groove is arranged corresponding to the first positioning groove of the mechanical arm end connector, the second positioning groove is arranged corresponding to the positioning block of the clamping ring, the connecting groove is arranged on the inner side of the second interface body, the connecting groove is matched with the connecting block of the mechanical arm end connector, and the second communication and power supply port is arranged corresponding to the first communication and power supply port;
the tool end connector further comprises an oval positioning boss and a communication pin, the oval positioning boss is arranged on the outer side of the second communication and power supply port, and the communication pin is arranged on the surface of the outer side of the oval positioning boss.
2. The replacement tool magazine for emergency disposal work for an explosive disposal robot as claimed in claim 1, wherein the arm end interface further comprises a bolt hole for connecting a tip of the sub-arm.
3. The tool magazine of claim 1, wherein the first communication and power supply port comprises a female connector of a 15-pin serial port, the second communication and power supply port comprises a male connector of a 15-pin serial port, and the female connector and the male connector are arranged correspondingly.
4. The tool magazine of claim 1, wherein the tool end connector further comprises a permanent magnet for assisting in fixing the position of the mechanical arm end interface to be engaged and disengaged with the tool end connector.
5. The tool magazine as claimed in claim 1, wherein the second communication and power supply port is axially provided with a return spring disposed in a circumferential groove of the second interface body, the return spring being adapted to return to an initial position by itself in a tool ready and released state.
6. The tool changing garage for the emergency disposal of the explosive-handling robot as claimed in claim 1, wherein the snap ring is used for limiting the relative rotation of the mechanical arm end interface and the tool end connector after longitudinal locking, the snap ring comprises a snap ring body, a limiting ring and a positioning block, the positioning block is matched with the first positioning groove of the mechanical arm end interface, and the limiting ring is used for matching the auxiliary arm and the rotary tool rack to complete the sinking motion of the snap ring and lock the mechanical arm end interface.
7. The tool magazine as claimed in claim 1, wherein the rotary tool rack comprises an upper retaining ring, an intermediate retaining ring, a locking block and a tool retaining ring set, the intermediate retaining ring is disposed between the upper retaining ring and the locking block, and the locking block is disposed between the intermediate retaining ring and the tool retaining ring set.
8. An operating method of a tool changing warehouse facing to the emergency disposal operation of the explosive disposal robot according to any one of claims 1 to 7, which is characterized by comprising the following steps:
the controller of the explosive-handling robot transmits a signal to the tool replacing library, the tool replacing library rotates to enable the required tool to be rotated to be close to the forefront of the explosive-handling robot, and the mechanical arm starts to feed from an initial position to a preset replacing position;
when the mechanical arm approaches the tool magazine to be replaced, the mechanical arm transversely feeds, and finally the position of the auxiliary arm is determined by the contact between the lower side of the clamping ring limiting ring and the upper side of the middle fixing ring of the tool magazine;
the auxiliary arm is fed longitudinally, three connecting blocks of the mechanical arm end interface respectively enter three connecting grooves of the tool end connector, the auxiliary arm is fed to the mechanical arm end interface to be attached to the surface of the tool end connector, an oval positioning groove of a communication and power supply port of the mechanical arm end interface is combined with an oval positioning boss of a communication and power supply port of the tool end connector, pins of the first communication and power supply port are inserted into a socket of the second communication and power supply port, and a reset spring is in an original state;
the auxiliary hand arm drives the clamping ring and the mechanical arm end interface to rotate clockwise by 50 degrees, the connecting block is embedded into the connecting groove to complete the longitudinal locking of the mechanical arm end interface and the tool end connector, the communication and power supply port of the tool end connector rotates along with the auxiliary hand arm, and the reset spring is in a compressed state;
the auxiliary arm drives the clamping ring, the tool, the mechanical arm end interface and the tool end connector to vertically lift, the clamping ring, the tool, the mechanical arm end interface and the tool end connector move upwards from the middle fixing ring of the tool rack to the upper retaining ring, and the top of the clamping ring limiting ring is in contact with the bottom of the upper retaining ring;
the motion of snap ring spacing ring is restricted, vice arm with arm end interface the instrument end joint continues the upward movement, vice arm with arm end interface after the snap ring working range of instrument end joint motion, the snap ring spacing ring has covered vice arm end interface with instrument end joint is enough to restrict arm end interface with the relative rotation of instrument end joint both sides.
9. The working method of the tool magazine replacement for the emergency disposal work of the explosive-handling robot as claimed in claim 8, further comprising:
when the secondary arm acts, the mechanical arm end interface and the tool end joint are matched with each other to ensure the connection of the mechanical arm and the tool end, and the first communication and power supply port and the second communication and power supply port are matched with each other to ensure the communication power supply and the driving power supply;
the mechanical arm end interface and the tool end joint are longitudinally locked, so that the mechanical arm end interface and the tool end joint are ensured not to rotate relatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN112276951B (en) * | 2020-10-22 | 2021-10-26 | 中国人民武装警察部队工程大学 | Unmanned search and explosion-removal robot system and working method thereof |
| CN113715047B (en) * | 2021-09-08 | 2023-03-03 | 北京克莱明科技有限公司 | Electric quick-change clamp and method for quickly changing tool |
| CN114083560B (en) * | 2021-11-18 | 2023-03-14 | 国网湖南省电力有限公司 | Quick joint changing device for tail end of robot arm and application method thereof |
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| KR20130054956A (en) * | 2010-04-13 | 2013-05-27 | 에그리테크니크 엔지니어링 엘티디. | An operation platform |
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| CN103406915A (en) * | 2013-07-18 | 2013-11-27 | 北京航空航天大学 | Chuck-type quick independent-replacement device of space mechanical arm tail-end manipulators |
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