CN111015731A - Mechanical arm of mine sweeping vehicle and automatic return control method thereof - Google Patents
Mechanical arm of mine sweeping vehicle and automatic return control method thereof Download PDFInfo
- Publication number
- CN111015731A CN111015731A CN201911137097.XA CN201911137097A CN111015731A CN 111015731 A CN111015731 A CN 111015731A CN 201911137097 A CN201911137097 A CN 201911137097A CN 111015731 A CN111015731 A CN 111015731A
- Authority
- CN
- China
- Prior art keywords
- mechanical
- arm
- mechanical arm
- clamp
- small
- 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
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
- F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
Abstract
The invention discloses a mechanical arm of a mine sweeper and an automatic return method thereof. The arm is installed at the automobile body afterbody, and the rear does not have the shelter to cut the mounting point low, can be with the quick downward operation of visiting ground of clamp. After the mechanical arm of the mine sweeper finishes the removal operation, the mechanical arm can return to the control system of the initial marching folding posture independently, so that the mine sweeper can rapidly drive away from a battlefield to leave a channel, the operation efficiency is effectively improved, and the workload of an operator is reduced.
Description
Technical Field
The invention relates to the field of automatic control of special vehicles.
Background
In the present world, because of various wars and conflicts, a large number of land mines and unexploded shells are left around the world, various mine sweeping devices are vigorously developed in various countries for solving the potential safety hazards of personnel life brought by numerous mine fields, and in order to avoid secondary personnel injury brought by the mine sweeping process, the wireless remote control mine sweeping vehicle becomes a competitive development pet, has the advantages of remote control, high-speed maneuvering, high mine sweeping efficiency, certain degree of intellectualization and the capacity of clearing residual mines and unexploded shells, and is an important index for measuring the advancement of the wireless remote control mine sweeping vehicle.
The mine sweeping vehicle mainly carries out mine clearing operation through a mine sweeping device arranged at the front end of a vehicle body, but residual mines and unexploded bombs which cannot be cleared or are inconvenient to clear by the front end mine sweeping device usually appear, and a mechanical arm needs to be arranged to complete certain operations. For example, CN 109373822 a discloses a mine sweeper, which has a gripping device mounted on the top of the vehicle, but this structure has the problem of too high center of gravity, and the gripping device is too high during operation, so that it needs to be extended for a long distance, and the front-end mine sweeper needs to be bypassed, so that the control difficulty is high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problems of unreasonable design and high control difficulty of the mechanical arm of the existing mine discharging vehicle, the mechanical arm arranged at the tail part and the automatic return method thereof are provided.
The technical scheme of the invention is as follows:
a mechanical arm of a mine sweeping vehicle comprises a support, wherein the support is arranged on a swing mechanism, a mechanical large arm and a mechanical large arm motor are arranged at the upper end of the support, a mechanical small arm and a mechanical small arm motor are arranged at the upper end of the mechanical large arm, and a clamp rotating mechanism and a clamp are arranged at the end part of the mechanical small arm.
And a camera is arranged on the mechanical small arm.
The clamp is connected with the clamp rotating mechanism through the clamp opening and closing mechanism.
The rotary mechanism is arranged at the tail part of the mine sweeping vehicle and connected with the rotary motor, and the mine sweeping vehicle is provided with a vehicle-mounted control and transmission system and a remote control platform.
The vehicle-mounted control and transmission system receives a control signal sent by the remote control platform, and controls the action of the mechanical arm through a CAN bus protocol, wherein the mechanical arm has five actions: the clamp opening and closing mechanism makes reciprocating telescopic motion to make the clamp grasp the bullet, the clamp rotating mechanism makes the clamp rotate for 360 degrees, the small mechanical arm motor rotates to make the small mechanical arm swing up and down, the large mechanical arm motor rotates to make the large mechanical arm swing up and down, and the rotary mechanical arm motor rotates to make the rotary mechanical arm rotate for 90 degrees left and right respectively.
The clamping force of the clamp is adjustable, and the current device angles and the clamping force of the clamp of the mechanical arm are transmitted to the remote control platform virtual instrument for display; and sending the image signal collected by the camera to a display screen of the remote control platform for real-time display.
A mechanical arm automatic return control method of a mine sweeper is used for recovering the mechanical arm of the mine sweeper, a mechanical large arm and a mechanical small arm are bent like a scorpion tail at an initial position, the mechanical small arm is arranged at the top of the mine sweeper, the mechanical large arm and the mechanical small arm are firstly moved to a horizontal position when the mechanical large arm and the mechanical small arm are returned to the initial position by a rotary motor, then the mechanical large arm is moved upwards to the initial position, and finally the mechanical small arm is rotated to the initial position.
The vehicle-mounted control and transmission system prestores the initial position of the mechanical arm of the upper mine sweeping vehicle; after the residual thunder and unexploded bomb clearing operation is completed, a 'driving state recovery' button of the remote control platform is pressed, the vehicle-mounted control and transmission system receives a control signal, and an instruction for controlling each device of the mechanical arm to recover the initial position step by step is sent out according to logic through the CAN bus.
The control action sequence is as follows:
after receiving the 'driving state recovery' signal, controlling the mechanical big arm to rotate towards the horizontal plane; b, after the mechanical big arm rotates for a certain time, controlling the mechanical small arm to rotate in the direction parallel to the mechanical big arm, and simultaneously controlling the swing mechanism to rotate in the direction of the middle shaft to control the clamp to start to reset;
c, when the swing mechanism rotates back to the initial position and the small mechanical arm and the large mechanical arm are both in horizontal positions, controlling the large mechanical arm to rotate upwards;
and D, controlling the small mechanical arm to rotate towards the initial position after the large mechanical arm rotates upwards to the initial position.
In the step B, after the mechanical large arm starts to rotate for 2s, controlling the mechanical small arm, the swing mechanism and the clamp to start to move; after the return operation is finished, whether the original position is returned or not can be confirmed through an image signal collected by the camera.
The invention has the beneficial effects that:
the invention discloses a novel automatic returning system for a mechanical arm of a wireless remote control mine sweeping vehicle. The mechanical arm is folded on the tail and the upper part of the mine sweeper in a bearing mode, just like the tail of a scorpion, and is used for removing residual mines and unexploded bombs which cannot be cleared or are inconvenient to clear by some front-end mine sweeping devices. The arm is installed at the automobile body afterbody, and the rear does not have the shelter to cut the mounting point low, can be with the quick downward operation of visiting ground of clamp.
After the mechanical arm of the mine sweeper finishes the removal operation, the mechanical arm can return to the control system of the initial marching folding posture independently, so that the mine sweeper can rapidly drive away from a battlefield to leave a channel, the operation efficiency is effectively improved, and the workload of an operator is reduced.
Description of the drawings:
fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the structure of the robot arm.
Fig. 3 is a first return flow chart.
Fig. 4 is a second return flow chart.
Fig. 5 is a third return flow chart.
Detailed Description
Example (b):
the invention relates to an automatic returning system of a mechanical arm of a mine sweeping vehicle, which comprises: 1. the device comprises a rotary motor, a rotary mechanism 2, a mechanical large arm motor 3, a mechanical large arm 4, a mechanical small arm motor 5, a mechanical small arm 6, a clamp opening and closing mechanism 7, a clamp 8, a clamp rotating mechanism 9, a camera 10, a vehicle-mounted control and transmission system, a remote control platform and other parts.
The functional principle of the system is as follows:
a. the remote control platform control signal that vehicle-mounted control and transmission system received controls the action of mechanical arm through CAN bus protocol, and the mechanical arm has five actions: the clamp opening and closing mechanism 7 makes reciprocating telescopic motion to make the clamp 8 grab the bomb (horizontally and vertically), the clamp rotating mechanism 9 makes the clamp 8 rotate (can rotate 360 degrees continuously), the mechanical small arm motor 5 rotates to make the mechanical small arm 6 swing up and down, the mechanical large arm motor 3 rotates to make the mechanical large arm 4 swing up and down, and the mechanical arm rotating motor 1 rotates to make the mechanical arm rotating mechanism 2 rotate at 90 degrees left and right integrally.
b. The clamping force of the clamp 8 is adjustable, and the current device angles and the clamp clamping force of the mechanical arm can be transmitted to a remote control platform virtual instrument for display; and sending the image signals collected by the 250-degree rotary camera 10 to a display screen of the remote control platform for real-time display.
c. The vehicle-mounted control and transmission system prestores the original position of the mechanical arm of the mine sweeper (figure 5) when the power is on; after the residual thunder and unexplosive bomb clearing operation is finished, a 'driving state recovery' button of a remote control platform is pressed, a vehicle-mounted control and transmission system receives a control signal and sends out an instruction for controlling each device of the mechanical arm to recover the original position step by step according to logic through a CAN bus, and the action sequence is as follows:
after receiving the 'driving state recovery' signal, the vehicle-mounted control system commands the mechanical big arm 4 to move in the horizontal plane direction for 2s through the CAN bus;
b, triggering the mechanical small arm 6 to move in a direction parallel to the mechanical large arm 4, synchronously rotating the mechanical arm rotating mechanism 2 to the axial position of the mine sweeping vehicle, continuously moving the mechanical large arm 4 to the horizontal plane direction, starting the clamp opening and closing mechanism 7 and the clamp rotating mechanism 9 to act at the moment, and synchronously returning until the original memory position is completely recovered (not used as next action trigger);
c, when the mechanical arm slewing mechanism 2 is rotated to the middle axis position, and the mechanical big arm 4, the mechanical small arm 6 and the ground are both in horizontal positions (shown in figure 3), triggering the mechanical big arm 4 to move upwards to an extreme limit position, namely an original memory position (shown in figure 4) of the mechanical big arm 4;
after the mechanical big arm 4 reaches the position, the mechanical small arm 6 moves upwards again until the original memory position is restored (shown in figure 5). At this time, the operator can confirm that the whole mechanical arm device automatically restores to the marching state through the image signal acquired by the camera 10.
Claims (10)
1. The utility model provides a mechanical arm of mine sweeping vehicle, includes the support, its characterized in that: the support is arranged on the slewing mechanism, the upper end of the support is provided with a mechanical large arm and a mechanical large arm motor, the upper end of the mechanical large arm is provided with a mechanical small arm and a mechanical small arm motor, and the end part of the mechanical small arm is provided with a clamp rotating mechanism and a clamp.
2. The mechanical arm of the mine sweeping vehicle of claim 1, wherein: and a camera is arranged on the mechanical small arm.
3. The mechanical arm of the mine sweeping vehicle of claim 2, wherein: the clamp is connected with the clamp rotating mechanism through the clamp opening and closing mechanism.
4. A minesweeping vehicle robotic arm according to any one of claims 1 to 3, wherein: the rotary mechanism is arranged at the tail part of the mine sweeping vehicle and connected with the rotary motor, and the mine sweeping vehicle is provided with a vehicle-mounted control and transmission system and a remote control platform.
5. The mechanical arm of the mine sweeping vehicle of claim 4, wherein: the vehicle-mounted control and transmission system receives a control signal sent by the remote control platform, and controls the action of the mechanical arm through a CAN bus protocol, wherein the mechanical arm has five actions: the clamp opening and closing mechanism makes reciprocating telescopic motion to make the clamp grasp the bullet, the clamp rotating mechanism makes the clamp rotate for 360 degrees, the small mechanical arm motor rotates to make the small mechanical arm swing up and down, the large mechanical arm motor rotates to make the large mechanical arm swing up and down, and the rotary mechanical arm motor rotates to make the rotary mechanical arm rotate for 90 degrees left and right respectively.
6. The mechanical arm of the mine sweeping vehicle of claim 5, wherein: the clamping force of the clamp is adjustable, and the current device angles and the clamping force of the clamp of the mechanical arm are transmitted to the remote control platform virtual instrument for display; and sending the image signal collected by the camera to a display screen of the remote control platform for real-time display.
7. An automatic return control method for a mechanical arm of a mine sweeping vehicle, which comprises the mechanical arm of the mine sweeping vehicle as claimed in claim 5, and is characterized in that: the mechanical large arm and the mechanical small arm are bent like a scorpion tail at the initial position, the mechanical small arm is put on the top of the mine sweeper, when the mechanical large arm and the mechanical small arm are reset, the mechanical large arm and the mechanical small arm move to the horizontal position at first, the rotary motor returns to the initial position, the mechanical large arm moves upwards to the initial position, and finally the mechanical small arm rotates to the initial position.
8. The automatic return control method for the mechanical arm of the mine sweeping vehicle according to claim 7, characterized in that: the vehicle-mounted control and transmission system prestores the initial position of the mechanical arm of the upper mine sweeping vehicle; after the residual thunder and unexploded bomb clearing operation is completed, a 'driving state recovery' button of the remote control platform is pressed, the vehicle-mounted control and transmission system receives a control signal, and an instruction for controlling each device of the mechanical arm to recover the initial position step by step is sent out according to logic through the CAN bus.
9. The automatic returning control method for the mechanical arm of the mine sweeping vehicle according to claim 8, wherein the control action sequence is as follows:
after receiving the 'driving state recovery' signal, controlling the mechanical big arm to rotate towards the horizontal plane; b, after the mechanical big arm rotates for a certain time, controlling the mechanical small arm to rotate in the direction parallel to the mechanical big arm, and simultaneously controlling the swing mechanism to rotate in the direction of the middle shaft to control the clamp to start to reset;
c, when the swing mechanism rotates back to the initial position and the small mechanical arm and the large mechanical arm are both in horizontal positions, controlling the large mechanical arm to rotate upwards;
and D, controlling the small mechanical arm to rotate towards the initial position after the large mechanical arm rotates upwards to the initial position.
10. The automatic return control method for the mechanical arm of the mine sweeping vehicle according to claim 9, characterized in that: in the step B, after the mechanical large arm starts to rotate for 2s, controlling the mechanical small arm, the swing mechanism and the clamp to start to move; after the return operation is finished, whether the original position is returned or not can be confirmed through an image signal collected by the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911137097.XA CN111015731A (en) | 2020-03-10 | 2020-03-10 | Mechanical arm of mine sweeping vehicle and automatic return control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911137097.XA CN111015731A (en) | 2020-03-10 | 2020-03-10 | Mechanical arm of mine sweeping vehicle and automatic return control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111015731A true CN111015731A (en) | 2020-04-17 |
Family
ID=70205929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911137097.XA Pending CN111015731A (en) | 2020-03-10 | 2020-03-10 | Mechanical arm of mine sweeping vehicle and automatic return control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111015731A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU224729U1 (en) * | 2023-10-16 | 2024-04-02 | Общество с ограниченной ответственностью "ГРИНКОМ" | Robotic mine clearing machine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6325749B1 (en) * | 1996-10-18 | 2001-12-04 | Kabushiki Kaisha Yaskawa Denki | Robot vehicle for hot-line job |
| CN105643595A (en) * | 2014-11-14 | 2016-06-08 | 褚秀清 | Hydraulic carrying manipulator based on PLC |
| CN106170370A (en) * | 2013-11-19 | 2016-11-30 | 普罗特克萨安全有限公司 | The robotic vehicle remotely controlled |
| CN206717887U (en) * | 2017-05-25 | 2017-12-08 | 河南科技学院 | Explosive-removal robot mechanical arm six degree of freedom coordinated control system |
| CN107964994A (en) * | 2017-12-26 | 2018-04-27 | 贵州詹阳动力重工有限公司 | A kind of multifunction wireless obstacles removing car |
| CN108758272A (en) * | 2018-06-08 | 2018-11-06 | 山东鲁能智能技术有限公司 | Insulated lift arm system and method for substation's live-line maintenance operation |
| CN109373822A (en) * | 2018-12-10 | 2019-02-22 | 山河智能装备股份有限公司 | A kind of mine-clearing vehicle |
| CN209197578U (en) * | 2018-12-10 | 2019-08-02 | 山河智能装备股份有限公司 | A kind of mine-clearing vehicle |
-
2020
- 2020-03-10 CN CN201911137097.XA patent/CN111015731A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6325749B1 (en) * | 1996-10-18 | 2001-12-04 | Kabushiki Kaisha Yaskawa Denki | Robot vehicle for hot-line job |
| CN106170370A (en) * | 2013-11-19 | 2016-11-30 | 普罗特克萨安全有限公司 | The robotic vehicle remotely controlled |
| CN105643595A (en) * | 2014-11-14 | 2016-06-08 | 褚秀清 | Hydraulic carrying manipulator based on PLC |
| CN206717887U (en) * | 2017-05-25 | 2017-12-08 | 河南科技学院 | Explosive-removal robot mechanical arm six degree of freedom coordinated control system |
| CN107964994A (en) * | 2017-12-26 | 2018-04-27 | 贵州詹阳动力重工有限公司 | A kind of multifunction wireless obstacles removing car |
| CN108758272A (en) * | 2018-06-08 | 2018-11-06 | 山东鲁能智能技术有限公司 | Insulated lift arm system and method for substation's live-line maintenance operation |
| CN109373822A (en) * | 2018-12-10 | 2019-02-22 | 山河智能装备股份有限公司 | A kind of mine-clearing vehicle |
| CN209197578U (en) * | 2018-12-10 | 2019-08-02 | 山河智能装备股份有限公司 | A kind of mine-clearing vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU224729U1 (en) * | 2023-10-16 | 2024-04-02 | Общество с ограниченной ответственностью "ГРИНКОМ" | Robotic mine clearing machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108382591B (en) | Ground-air inspection detection robot system applied to complex environment and operation method | |
| CN107933925B (en) | Cable buoy hooking type aerial medium-low speed unmanned aerial vehicle nondestructive recovery system and method | |
| CN106428602A (en) | Unmanned aerial vehicle electricity supplementing device | |
| CN104267043A (en) | Mobile detection device for concrete bridge cracks | |
| CN103552084B (en) | Explosive-removal robot | |
| CN108791937A (en) | Vehicle-mounted rotor wing unmanned aerial vehicle retracting device and method based on machinery crawl | |
| JP2018130065A (en) | Divot repair system | |
| CN113335531B (en) | Telescopic cantilever type unmanned aerial vehicle air-based recovery device and safe butt-joint envelope modeling method | |
| CN113247216B (en) | Grabbing and releasing device for unmanned underwater vehicle | |
| CN111015731A (en) | Mechanical arm of mine sweeping vehicle and automatic return control method thereof | |
| CN115057003A (en) | Robot satellite | |
| CN106555381A (en) | Bore extension and retraction system in a kind of automatization road | |
| CN103587726B (en) | A kind of umbrella rod-type non-cooperative target docking capture mechanism | |
| CN208325664U (en) | Vehicle-mounted rotor wing unmanned aerial vehicle recyclable device based on machinery crawl | |
| CN113772061B (en) | Underwater unmanned vehicle recovery device and operation method | |
| CN115027705A (en) | Repeatable modular space flexible net rapid self-assembly mechanism | |
| CN210322838U (en) | Multifunctional detection vehicle for airport pavement | |
| CN110249791B (en) | Tea bud head unmanned aerial vehicle picking device and method | |
| CN111516864A (en) | Six-rotor unmanned aerial vehicle system for taking and placing Beidou navigation monitor on high-voltage line | |
| CN207727464U (en) | A kind of road cone retracting device of cone automatic deploying and retracting vehicle | |
| CN112394738B (en) | Unmanned aerial vehicle control method and unmanned aerial vehicle remote controller | |
| CN210352224U (en) | Unmanned tea bud picking device | |
| CN110194051B (en) | Vehicle cover installation device and method | |
| JPH09311000A (en) | Mine disposing device | |
| CN210526814U (en) | Underwater cruising and sampling robot |
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 |