CN111390938A - Pneumatic explosive-handling robot system - Google Patents

Abstract

The invention relates to a pneumatic explosion-removing robot system which drives an obstacle-crossing mechanism, arms and a palm to move by pneumatic muscles and cylinders and has the functions of obstacle-crossing and explosion-removing. The pneumatic explosive-handling robot mainly comprises pneumatic muscles, a swing cylinder, a worm gear, a worm, a spherical hinge, a palm fixing plate and the like. The obstacle crossing mechanism is mainly a planetary wheel system driven by a cylinder and a worm gear, the first section of the arm is mainly a muscle group hybrid driving joint, the second end of the arm is mainly a multi-degree-of-freedom joint formed by combining pneumatic muscles and the cylinder, the hand can swing and grab under the driving of the worm gear, and the first section of the arm, the second section of the arm and the hand have 4, 3 and 11 degrees of freedom respectively. The invention is driven by pneumatic power, has the characteristics of compact structure, good explosion-proof performance, multiple degrees of freedom and rigid-flexible combination, and can be used for occasions such as teaching demonstration, anti-terrorism, obstacle crossing and explosion elimination.

Description

Pneumatic explosive-handling robot system

Technical Field

The invention relates to the technical field of robots, in particular to a pneumatic explosion-removing robot system with compact structure, good explosion resistance and multiple degrees of freedom.

Background

The mechanical arm relieves the heavy work of human beings, and the products of companies such as ABB, KUKA, FANUC are mainly on the market at present, and the enterprise has widely used the mechanical arm of various motor drive, realizes work such as welding, packing, transport.

The explosion-proof robot is used as special robot equipment for dealing with emergencies, is mainly focused on products of companies such as ABB, KUKA, FANUC and the like which are installed with a barrier crossing mechanism and driven by a motor at present, is poor in explosion-proof type, cannot adapt to complex environment and avoid unnecessary collision damage, is low in degree of freedom, and is limited in output force.

A pneumatic explosion-removing robot system with compact structure, good explosion resistance and multiple degrees of freedom is needed.

Disclosure of Invention

The invention aims to provide a pneumatic explosion-removing robot system which is compact in structure, good in explosion resistance and multiple in degree of freedom.

A pneumatic explosion venting robot system comprising:

the obstacle crossing mechanism is connected with the first arm section, the second arm section and the paw in sequence above the obstacle crossing mechanism;

the obstacle crossing mechanism is characterized in that a first swing cylinder is arranged at each of two ends of the middle of a trolley bottom plate of the obstacle crossing mechanism, a cylinder body of the first swing cylinder is fixed on the trolley bottom plate, a first worm is fixedly connected to a rotating shaft of the first swing cylinder, the first worm is meshed with a first worm wheel, the first worm wheel is fixedly connected with a connecting shaft, the connecting shaft is fixed on the trolley bottom plate through a bearing, two ends of the connecting shaft respectively penetrate through a planet wheel fixing plate and then are fixedly connected with a driving planet wheel, the planet wheel fixing plate is respectively and rotatably connected with a first driven planet wheel, a second driven planet wheel and a third driven planet wheel, and the first driven planet;

the lower part of a first arm section tail end fixing piece of a first arm section is rotatably connected with a first arm section middle fixing piece through a rod, the first arm section middle fixing piece is rotatably connected with a trolley bottom plate through a rod, a long muscle group I, a long muscle group II and a long muscle group III are respectively and rotatably connected between the first arm section tail end fixing piece and the trolley bottom plate, and a short muscle group I, a short muscle group II and a short muscle group III are respectively and rotatably connected between the trolley bottom plate and the first arm section middle fixing piece;

the tail end fixing part of the first section of the arm is respectively and rotatably connected with a pneumatic muscle five, a pneumatic muscle six, a pneumatic muscle seven, a pneumatic muscle eight, a thin-wall cylinder two and a thin-wall cylinder four, cylinder bodies of the thin-wall cylinder two and the thin-wall cylinder four are fixed below the middle fixing part, cylinder bodies of the thin-wall cylinder one and the thin-wall cylinder three are fixed above the middle fixing part, rods of the thin-wall cylinder one and the thin-wall cylinder three are rotatably connected with the tail end fixing part of the second section of the arm, the pneumatic muscle six and the pneumatic muscle seven are rotatably connected with the middle fixing part, and the pneumatic muscle five and the pneumatic muscle eight are rotatably connected with the tail end fixing;

and the computer is respectively connected with the obstacle crossing mechanism control system, the arm first section control system, the arm second section control system and the paw control system.

The middle part of the planet wheel fixing plate is circular, and three extending long rods are uniformly distributed on the periphery of the planet wheel fixing plate.

The first driven planet wheel, the second driven planet wheel and the third driven planet wheel are the same in size.

The structure of long muscle group one, long muscle group two and long muscle group three is the same, short muscle group one, short muscle group two and short muscle group three is the same, long muscle group one is longer than short muscle group one, long muscle group two, long muscle group three, short muscle group one, short muscle group two and short muscle group three upper end set up muscle group upper end connecting plate respectively, and the lower extreme sets up muscle group lower extreme connecting plate respectively, the top of muscle group upper end connecting plate sets up the ball hinge, pneumatic muscle in the middle of setting up between muscle group upper end connecting plate and the muscle group lower extreme connecting plate, pneumatic muscle in the middle sets up four pneumatic muscle all around at least, pneumatic muscle one, pneumatic muscle two, pneumatic muscle three and pneumatic muscle four.

The middle part of the first section middle fixing piece of the arm is arranged in the middle of a first long muscle group, a second long muscle group and a third long muscle group, three long rods stretch out of the periphery of the first long muscle group, the second long muscle group and the third long muscle group, and the three long rods are respectively in rotatable connection with a first short muscle group, a second short muscle group and a third short muscle group.

The middle fixing piece is vertically arranged, a fixing block is arranged in the diagonal direction of one side, and a fixing block is arranged in the diagonal direction opposite to the other side.

Five cylinder bodies of swing cylinder and the terminal mounting fixed connection of arm second section of hand claw, axis of rotation and hand connecting piece fixed connection of swing cylinder five, hand connecting piece and palm fixed plate fixed connection, the cylinder body of fixed swing cylinder two, swing cylinder three and swing cylinder four on the palm fixed plate respectively, swing cylinder two is connected worm wheel three and worm wheel four respectively through the worm three, worm wheel three and worm wheel four rotatable coupling are on the palm fixed plate, swing cylinder three is connected to worm wheel five through worm four, worm wheel five rotatable coupling is on the palm fixed plate, swing cylinder four is connected to worm wheel two and worm wheel six respectively through worm two, worm wheel two and worm wheel six rotatable coupling are on the palm fixed plate, worm wheel four, worm wheel three, worm wheel six, worm wheel two correspond through finger end-to-end connection piece and connect finger one, worm wheel six respectively, The finger II, the finger III and the finger IV are connected with the big finger through a big finger tail end connecting piece.

The first finger, the second finger, the third finger, the fourth finger and the fourth finger have the same structure, the first finger second section plate, the second finger second section plate, the third finger second section plate and the fourth finger second section plate of the large finger are connected to form a closed space, the first finger first section plate, the third finger first section plate, the fourth finger first section plate and the second finger first section plate are connected to form a closed space, the finger end connecting piece or the large finger end connecting piece is arranged on the first finger first section plate, the first finger middle connecting piece is fixed on the first finger second section plate, the second finger middle connecting piece is fixed on the fourth finger second section plate, the cylinder body of the swing cylinder is fixed on the third finger first section plate, the rotating shaft of the swing cylinder is connected with the seventh worm wheel through the fifth connecting shaft, the first finger middle connecting piece, the second finger middle connecting piece and the seventh worm wheel are fixed in the middle of the finger, and two ends of the finger connecting shaft are respectively and rotatably connected to the first finger section plate I and the fourth finger section plate IV.

The finger tail end connecting piece and the big finger tail end connecting piece are respectively L-shaped, the finger tail end connecting pieces respectively extend out along the longitudinal direction of the first finger, the second finger, the third finger and the fourth finger, the bending positions face to the radial inner side, the big finger tail end connecting pieces extend out along the radial direction of the big finger, and the bending positions face to the longitudinal direction.

The obstacle crossing mechanism control system comprises a first swing cylinder, the first arm section control system comprises a first long muscle group, a second long muscle group, a third long muscle group, a first short muscle group, a second short muscle group and a third short muscle group, the second arm section control system comprises a first thin wall cylinder, a third thin wall cylinder, a second thin wall cylinder, a fourth thin wall cylinder, a fifth pneumatic muscle, a sixth pneumatic muscle, a seventh pneumatic muscle and an eighth pneumatic muscle, and the paw control system comprises a second swing cylinder, a third swing cylinder, a fourth swing cylinder, a fifth swing cylinder and a sixth swing cylinder.

The invention uses pneumatic muscle and cylinder to drive the obstacle crossing mechanism, arm and palm to move, and has the functions of obstacle crossing and explosion elimination. The pneumatic explosive-handling robot mainly comprises pneumatic muscles, a swing cylinder, a worm gear, a worm, a spherical hinge, a palm fixing plate and the like. The obstacle crossing mechanism is mainly a planetary wheel system driven by a cylinder and a worm gear, the first section of the arm is mainly a muscle group hybrid driving joint, the second end of the arm is mainly a multi-degree-of-freedom joint formed by combining pneumatic muscles and the cylinder, the hand can swing and grab under the driving of the worm gear, and the first section of the arm, the second section of the arm and the hand have 4, 3 and 11 degrees of freedom respectively. The invention is driven by pneumatic power, has the characteristics of compact structure, good explosion-proof performance, multiple degrees of freedom and rigid-flexible combination, and can be used for occasions such as teaching demonstration, anti-terrorism, obstacle crossing and explosion elimination.

The invention has the beneficial effects that:

1. the invention utilizes a plurality of pneumatic muscles to form a muscle group, adopts the muscle group to drive the joint, can simultaneously realize the movement of the joint in a plurality of directions, and has the advantages of larger output force, better flexibility, compact structure and the like;

2. the invention utilizes pneumatic drive to better solve the explosion-proof problem;

3. the gripper has two actions of swinging and grabbing, and the combination of the two actions can better realize the grabbing of objects with various complex shapes;

4. the arm joint adopts the combination of pneumatic muscles and a thin-wall air cylinder, thereby not only ensuring the rigidity required by grabbing an object, but also ensuring the flexibility and avoiding the damage of collision to the object, and having the rotational freedom and the moving freedom;

5. the first arm section, the second arm section and the hand have 4 degrees of freedom, 3 degrees of freedom and 11 degrees of freedom respectively, and various actions which can be realized by the arms and the hands of a person can be vividly simulated.

Drawings

FIG. 1 is a general mechanical block diagram of the present invention;

FIG. 2 is a mechanical structure view of the obstacle crossing mechanism of the present invention;

FIG. 3 is a mechanical structure diagram of the obstacle crossing mechanism and the first arm segment of the arm according to the present invention;

FIG. 4 is a mechanical structural diagram of a first segment of a muscle group of an arm according to the present invention;

FIG. 5 is a mechanical structural diagram of a second segment of the arm of the present invention;

FIG. 6 is a general mechanical block diagram of the gripper of the present invention;

FIG. 7 is a view of the finger mechanism of the present invention;

FIG. 8 is a mechanical structure of the big finger according to the present invention;

fig. 9 is a block diagram of the control system of the present invention.

In the figure: 1. obstacle crossing mechanism, 2, first arm section, 3, second arm section, 4, paw, 5, trolley bottom plate, 6, first swing cylinder, 7, first worm, 8, first worm wheel, 9, first driven planet wheel, 10, driving planet wheel, 11, planet wheel fixing plate, 12, second driven planet wheel, 13, third driven planet wheel, 14, connecting shaft, 15, first arm section end fixing part, 16, first arm section middle fixing part, 17, first short muscle group, 18, first long muscle group, 19, second short muscle group, 20, second long muscle group, 21, third short muscle group, 22, third long muscle group, 23, ball hinge, 24, muscle group upper end connecting plate, 25, first pneumatic muscle, 26, second pneumatic muscle, 27, middle pneumatic muscle, 28, muscle group lower end connecting plate, 29, third pneumatic muscle, 30, fourth pneumatic muscle, 31, fifth pneumatic muscle, 32, first thin-wall cylinder, 33, first pneumatic muscle, Six pneumatic muscles, 34, two thin-wall cylinders, 35, a middle fixing piece, 36, an end fixing piece at the second section of an arm, 37, three thin-wall cylinders, 38, seven pneumatic muscles, 39, eight pneumatic muscles, 40, four thin-wall cylinders, 41, one finger, 42, two fingers, 43, three fingers, 44, four fingers, 45, two worms, 46, two worm wheels, 47, three worms, 48, three worm wheels, 49, a big finger, 50, four worm wheels, 51, two swing cylinders, 52, three swing cylinders, 53, four worms, 54, four swing cylinders, 55, five swing cylinders, 56, a hand connecting piece, 57, five worm wheels, 58, six worm wheels, 59, one finger second section plate, 60, two finger second section plates, 61, one finger middle connecting piece, 62, one finger first section plate, 63, seven, 64, six swing cylinders, 65, three finger second section plates, 66 and four finger second section plates, 67. the hand-held robot comprises a finger middle connecting piece II, a finger middle connecting piece 68, a worm fifth, a finger 69, a finger first section plate III, a finger first section plate IV, a finger first section plate 71, a finger first section plate II, a finger first section plate 72, a finger tail end connecting piece 73, a big finger tail end connecting piece 74, a palm fixing plate 75, a finger connecting shaft 76, a computer 77, an obstacle crossing mechanism control system 78, an arm first section control system 79, an arm second section control system 80 and a paw control system.

Detailed Description

The invention is further described below with reference to the following figures and specific examples.

A pneumatic explosion venting robot system comprising: the obstacle crossing mechanism 1 is characterized in that a first arm section 2, a second arm section 3 and a paw 4 are sequentially connected above the obstacle crossing mechanism 1; the middle two ends of a trolley bottom plate 5 of the obstacle crossing mechanism 1 are respectively provided with a first swing cylinder 6, a cylinder body of the first swing cylinder 6 is fixed on the trolley bottom plate 5, a first worm 7 is fixedly connected to a rotating shaft of the first swing cylinder 6, the first worm 7 is meshed with a first worm wheel 8, the first worm wheel 8 is fixedly connected with a connecting shaft 14, the connecting shaft 14 is fixed on the trolley bottom plate 5 through a bearing, two ends of the connecting shaft 14 are respectively penetrated through a first planet wheel fixing plate 11 and then fixedly connected with a driving planet wheel 10, the first planet wheel fixing plate 11 is respectively and rotatably connected with a first driven planet wheel 9, a second driven planet wheel 12 and a third driven planet wheel 13, and the first driven planet wheel 9, the; the lower part of the first arm section end fixing piece 15 of the first arm section 2 is rotatably connected with a first arm section middle fixing piece 16 through a rod, the first arm section middle fixing piece 16 is rotatably connected with a trolley bottom plate 5 through a rod, a long muscle group I18, a long muscle group II 20 and a long muscle group III 22 are respectively and rotatably connected between the first arm section end fixing piece 15 and the trolley bottom plate 5, and a short muscle group I17, a short muscle group II 19 and a short muscle group III 21 are respectively and rotatably connected between the trolley bottom plate 5 and the first arm section middle fixing piece 16; the fixed part 15 at the tail end of the first section of the arm is respectively and rotatably connected with a pneumatic muscle five 31, a pneumatic muscle six 33, a pneumatic muscle seven 38, a pneumatic muscle eight 39, a thin-wall cylinder two 34 and a thin-wall cylinder four 40, the cylinder bodies of the thin-wall cylinder two 34 and the thin-wall cylinder four 40 are fixed below the middle fixed part 35, the cylinder bodies of the thin-wall cylinder one 32 and the thin-wall cylinder three 37 are fixed above the middle fixed part 35, the rods of the thin-wall cylinder one 32 and the thin-wall cylinder three 37 are rotatably connected with the fixed part 36 at the tail end of the second section of the arm, the pneumatic muscle six 33 and the pneumatic muscle seven 38 are rotatably connected with the middle fixed part 35, and the pneumatic muscle five; the computer 76 is connected with the obstacle crossing mechanism control system 77, the arm first section control system 78, the arm second section control system 79 and the paw control system 80 respectively, and the computer 76 is connected with the obstacle crossing mechanism control system 80.

The middle part of planet wheel fixed plate 11 is circular, evenly distributed three extension stock all around. The sizes of the first driven planet wheel 9, the second driven planet wheel 12 and the third driven planet wheel 13 are the same. The structure of the first long muscle group 18, the second long muscle group 20 and the third long muscle group 22 is the same, the structure of the first short muscle group 17, the second short muscle group 19 and the third short muscle group 21 is the same, the first long muscle group 18 is longer than the first short muscle group 17, the first long muscle group 18, the second long muscle group 20, the third long muscle group 22, the first short muscle group 17, the second short muscle group 19 and the third short muscle group 21 are respectively provided with a muscle group upper end connecting plate 24 at the upper end, a muscle group lower end connecting plate 28 at the lower end, a spherical hinge 23 is arranged above the muscle group upper end connecting plate 24, a middle pneumatic muscle 27 is arranged between the muscle group upper end connecting plate 24 and the muscle group lower end connecting plate 28, and at least four pneumatic muscles, namely the first pneumatic muscle 25, the second pneumatic muscle 26, the third pneumatic muscle 29 and the fourth pneumatic muscle 30 are arranged around the middle pneumatic muscle. The middle part of the first section of the middle fixing piece 16 of the arm is arranged among the first long muscle group 18, the second long muscle group 20 and the third long muscle group 22, three long rods extend out of the periphery of the first long muscle group, and the three long rods are respectively and rotatably connected with the first short muscle group 17, the second short muscle group 19 and the third short muscle group 21. The middle fixing member 35 is vertically arranged, a fixing block is arranged in the diagonal direction of one side, and a fixing block is arranged in the diagonal direction opposite to the other side.

The cylinder body of a swing cylinder fifth 55 of the hand claw 4 is fixedly connected with a fixed 36 at the second section of the arm, the rotating shaft of the swing cylinder fifth 55 is fixedly connected with a hand connecting piece 56, the hand connecting piece 56 is fixedly connected with a palm fixing plate 74, the cylinder bodies of a swing cylinder second 51, a swing cylinder third 52 and a swing cylinder fourth 54 are respectively fixed on the palm fixing plate 74, the swing cylinder second 51 is respectively connected with a worm wheel third 48 and a worm wheel fourth 50 through a worm third 47, the worm wheel third 48 and the worm wheel fourth 50 are rotatably connected to the palm fixing plate 74, the swing cylinder third 52 is connected to a worm wheel fifth 57 through a worm fourth 53, the worm wheel fifth 57 is rotatably connected to the palm fixing plate 74, the swing cylinder fourth 54 is respectively connected to a worm wheel second 46 and a worm wheel sixth 58 through a worm wheel second 45, the worm wheel second 46 and the worm wheel sixth 58 are rotatably connected to the palm fixing plate 74, the worm wheel fourth 50, the worm wheel third 48, the worm wheel sixth 58 and the worm wheel second 46 are respectively connected to the first finger 41, the second finger 42, the third finger 43 and the fourth finger 44 through a finger joint plate 72 through a finger joint 72, the finger joint plate is respectively connected to the finger joint plate 66, the finger joint plate 65 is connected to the finger joint plate 70, the finger joint plate 70 is connected to the finger joint plate, the finger joint plate 70 is connected to the finger joint plate, the finger joint plate 70, the finger joint plate 70 is connected to the finger joint plate, the finger joint plate is connected to the finger joint plate, the finger.

The obstacle crossing mechanism control system 77 comprises a first swing cylinder 6, the arm first section control system 78 comprises a first long muscle group 18, a second long muscle group 20, a third long muscle group 22, a first short muscle group 17, a second short muscle group 19 and a third short muscle group 21, the arm second section control system 79 comprises a first thin-wall cylinder 32, a third thin-wall cylinder 37, a second thin-wall cylinder 34, a fourth thin-wall cylinder 40, a fifth pneumatic muscle 31, a sixth pneumatic muscle 33, a seventh pneumatic muscle 38 and a eighth pneumatic muscle 39, and the paw control system 80 comprises a second swing cylinder 51, a third swing cylinder 52, a fourth swing cylinder 54, a fifth swing cylinder 55 and a sixth swing cylinder 64.

A pneumatic explosion-removing robot system mainly comprises an obstacle-crossing mechanism 1, a first arm section 2, a second arm section 3 and a paw 4, wherein the obstacle-crossing mechanism 1 is mainly used for walking and obstacle crossing, the first arm section 2 and the second arm section 3 are mainly used for adjusting and controlling the posture and the position of the arm, and the paw 4 is mainly used for realizing actions such as grabbing.

The cylinder body of the first swing cylinder 6 is fixedly connected with the trolley bottom plate 5, the rotating shaft of the first swing cylinder 6 is fixedly connected with the first worm 7, the connecting shaft 14 is fixedly connected with the first worm wheel 8 and the first driving planet wheel 10, the connecting shaft 14 is rotatably connected with the planet wheel fixing plate 11, and the first driven planet wheel 9, the second driven planet wheel 12 and the third driven planet wheel 13 are rotatably connected with the planet wheel fixing plate 11; the first worm 7 is meshed with the first worm wheel 8, and the first driven planet wheel 9, the second driven planet wheel 12 and the third driven planet wheel 13 are meshed with the driving planet wheel 10. The first swing cylinder 6 finally drives the first driven planet wheel 9, the second driven planet wheel 12 and the third driven planet wheel 13 to rotate around the first driving planet wheel 10 through the first worm 7, the first worm wheel 8, the connecting shaft 14 and the first driving planet wheel 10, the first driven planet wheel 9, the second driven planet wheel 12 and the third driven planet wheel 13 rotate around the connecting shaft 14, so that obstacle crossing and walking are finally achieved.

The middle fixing piece 16 of the first arm section is rotatably connected with the bottom plate 5 of the trolley through a rod, and the fixing piece 15 at the tail end of the first arm section is rotatably connected with the middle fixing piece 16 of the first arm section through a rod; one ends of the short muscle group I17, the long muscle group I18, the short muscle group II 19, the long muscle group II 20, the short muscle group III 21 and the long muscle group III 22 are fixedly connected with the trolley bottom plate 5; the other ends of the first short muscle group 17, the second short muscle group 19 and the third short muscle group 21 are rotatably connected with the middle fixing piece 16 of the first arm section, and the other ends of the first long muscle group 18, the second long muscle group 20 and the third long muscle group 22 are rotatably connected with the tail end fixing piece 15 of the first arm section. The first short muscle group 17, the second short muscle group 19 and the third short muscle group 21 drive the first section of the middle fixing piece 16 of the arm to adjust the posture relative to the bottom plate 5 of the trolley. The first long muscle group 18, the second long muscle group 20 and the third long muscle group 22 drive the first end fixing piece 15 of the arm to adjust the posture relative to the bottom plate 5 of the trolley.

The structures of the short muscle group I17, the long muscle group I18, the short muscle group II 19, the long muscle group II 20, the short muscle group III 21 and the long muscle group III 22 are consistent; the pneumatic muscles in the short muscle group one 17, the short muscle group two 19, and the short muscle group three 21 are shorter, and the pneumatic muscles in the long muscle group one 18, the long muscle group two 20, and the long muscle group three 22 are longer. The short muscle group one 17, the long muscle group one 18, the short muscle group two 19, the long muscle group two 20, the short muscle group three 21, and the long muscle group three 22 include a peripheral pneumatic muscle one 25, a pneumatic muscle two 26, a pneumatic muscle three 29, a pneumatic muscle four 30, and a middle pneumatic muscle 27. The pneumatic muscle I25, the pneumatic muscle II 26, the pneumatic muscle III 29, the pneumatic muscle IV 30 and the middle pneumatic muscle 27 are fixedly connected with a connecting plate 28 at the lower end of the muscle group at one end and a connecting plate 24 at the upper end of the muscle group at the other end, and the spherical hinge 23 is fixedly connected with the connecting plate 24 at the upper end of the muscle group. The number of peripheral pneumatic muscles is not limited to 4.

The cylinder bodies of the thin-wall cylinder II 34 and the thin-wall cylinder IV 40 are fixedly connected with the lower end of the middle fixing piece 35 on the side surface, and the rods of the thin-wall cylinder II 34 and the thin-wall cylinder IV 40 are rotatably connected with the fixing piece 15 at the tail end of the first section of the arm; the cylinder bodies of the thin-wall cylinder I32 and the thin-wall cylinder III 37 are fixedly connected with the upper end of the middle fixing piece 35 on the side surface, and the rods of the thin-wall cylinder I32 and the thin-wall cylinder III 37 are rotatably connected with the tail end fixing piece 36 of the second section of the arm. One end of a pneumatic muscle six 33 and one end of a pneumatic muscle seven 38 are rotatably connected with the upper end of the fixing piece 15 at the tail end of the first section of the arm, and the other end of the pneumatic muscle seven is rotatably connected with the upper end of the middle fixing piece 35; one end of the pneumatic muscle five 31 and one end of the pneumatic muscle eight 39 are rotatably connected with the lower end of the arm first section tail end fixing piece 15, and the other end of the pneumatic muscle eight 39 are rotatably connected with the upper end of the arm second section tail end fixing piece 36. The thin-wall cylinder II 34, the thin-wall cylinder IV 40, the thin-wall cylinder I32 and the thin-wall cylinder III 37 can not only adjust the heights of the middle fixing piece 35 and the arm second section tail end fixing piece 36, but also adjust the postures of the middle fixing piece 35 and the arm second section tail end fixing piece 36 together with the pneumatic muscle VI 33, the pneumatic muscle VII 38, the pneumatic muscle V31 and the pneumatic muscle VIII 39.

The paw 4 comprises a first finger 41, a second finger 42, a third finger 43, a fourth finger 44 and a big finger 49. The cylinder body of the second swing cylinder 51 is fixedly connected with the palm fixing plate 74, and the rotating shaft of the second swing cylinder 51 is fixedly connected with the third worm 47; the third worm wheel 48 and the fourth worm wheel 50 are rotatably connected with the palm fixing plate 74, and the third worm wheel 48 and the fourth worm wheel 50 are simultaneously meshed with the third worm 47. The cylinder body of the swing cylinder IV 54 is fixedly connected with the palm fixing plate 74, and the rotating shaft of the swing cylinder IV 54 is fixedly connected with the worm II 45; the second worm wheel 46 and the sixth worm wheel 58 are rotatably connected with the palm fixing plate 74, and the second worm 45 is meshed with the second worm wheel 46 and the sixth worm wheel 58. The cylinder body of the swing cylinder III 52 is fixedly connected with the palm fixing plate 74, and the rotating shaft of the swing cylinder III 52 is fixedly connected with the worm IV 53; the five worm wheel 57 is rotatably connected with the palm fixing plate 74, and the five worm wheel 57 is meshed with the four worm 53. The cylinder body of the swing cylinder five 55 is fixedly connected with the arm second section end fixing part 36, the rotating shaft of the swing cylinder five 55 is fixedly connected with the hand connecting piece 56, and the hand connecting piece 56 is fixedly connected with the palm fixing plate 74. The second swing cylinder 51 drives the first finger 41 and the second finger 42 to swing through the third worm 47, the third worm wheel 48 and the fourth worm wheel 50, the fourth swing cylinder 54 drives the third finger 43 and the fourth finger 44 to swing through the second worm 45, the second worm wheel 46 and the sixth worm wheel 58, the third swing cylinder 52 drives the finger 49 to swing through the fourth worm 53 and the sixth worm wheel 58, and the fifth swing cylinder 55 drives the whole palm to swing.

The first finger 41, the second finger 42, the third finger 43 and the fourth finger 44 are identical in structure. The finger end connectors 72 of the first finger 41 and the second finger 42 are fixedly connected with the fourth worm wheel 50 and the third worm wheel 48 respectively, and the finger end connectors 72 of the third finger 43 and the fourth finger 44 are fixedly connected with the sixth worm wheel 58 and the second worm wheel 46 respectively. The first finger second section plate 59, the second finger second section plate 60, the third finger second section plate 65 and the fourth finger second section plate 66 are fixedly connected to form a second finger section. The first finger section plate 62, the third finger section plate 69, the fourth finger section plate 70 and the second finger section plate 71 are fixedly connected to form a first finger section. The device comprises a first finger middle connecting piece 61, a seventh worm wheel 63, a sixth swing cylinder 64, a second finger middle connecting piece 67, a fifth worm 68, a finger tail end connecting piece 72, a large finger tail end connecting piece 73 and a palm fixing plate 74. The cylinder body of the swing cylinder six 64 is fixedly connected with the finger first section plate three 69, and the rotating shaft of the swing cylinder six 64 is fixedly connected with the worm five 68. The finger connecting shaft 75 is rotatably connected with the first finger section plate 62 and the fourth finger section plate 70, and the finger connecting shaft 75 is fixedly connected with the first finger middle connecting piece 61, the seventh worm gear 63 and the second finger middle connecting piece 67; the first finger middle connecting piece 61 is fixedly connected with the first finger second section plate 59, and the second finger middle connecting piece 67 is fixedly connected with the fourth finger second section plate 66; the worm wheel seven 63 meshes with the worm five 68. The swing cylinder six 64 drives the second finger section to swing through the worm five 68, the worm wheel seven 63, the finger connecting shaft 75, the first finger middle connecting piece 61 and the second finger middle connecting piece 67 to realize grabbing action.

The structure of the big finger is the same as that of the finger, the difference is that the shapes of the finger end connecting piece 72 and the big finger end connecting piece 73 are different, and the big finger end connecting piece 73 is fixedly connected with the worm wheel five 57. The large finger grabbing action is similar to the finger grabbing action, and the posture of the large finger grabbing action can be adjusted through a swing cylinder three 52, a worm four 53 and a worm wheel five 57.

The computer 76 is communicated with an obstacle crossing mechanism control system 77, an arm first section control system 78, an arm second section control system 79 and a paw control system 80, and cluster cooperative control of the obstacle crossing mechanism 1, the arm first section 2, the arm second section 3 and the paw 4 is achieved.

The invention realizes the control of the motion and the posture of the pneumatic explosion-removing robot system by controlling each simulated pneumatic muscle and the swing cylinder, can realize accurate track control, and has the advantages which cannot be compared with other pneumatic explosion-removing robot systems.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A pneumatic explosion-removing robot system is characterized by comprising:

the obstacle crossing mechanism (1), wherein a first arm section (2), a second arm section (3) and a paw (4) are sequentially connected above the obstacle crossing mechanism (1);

two ends of the middle part of a trolley bottom plate (5) of the obstacle crossing mechanism (1) are respectively provided with a first swing cylinder (6), the cylinder body of the first swing cylinder (6) is fixed on the bottom plate (5) of the trolley, the rotating shaft of the first swing cylinder (6) is fixedly connected with the first worm (7), the first worm (7) is meshed with the first worm wheel (8), the first worm wheel (8) is fixedly connected with a connecting shaft (14), the connecting shaft (14) is fixed on the trolley bottom plate (5) through a bearing, two ends of the connecting shaft (14) are fixedly connected with the driving planet wheel (10) after respectively penetrating through the planet wheel fixing plate (11), the planet wheel fixing plate (11) is respectively connected with a driven planet wheel I (9), a driven planet wheel II (12) and a driven planet wheel III (13) in a rotatable way, the driven planet wheel I (9), the driven planet wheel II (12) and the driven planet wheel III (13) are respectively meshed with the driving planet wheel (10);

the lower part of a first arm section tail end fixing piece (15) of a first arm section (2) is rotatably connected with a first arm section middle fixing piece (16) through a rod, the first arm section middle fixing piece (16) is rotatably connected with a trolley bottom plate (5) through a rod, a long muscle group I (18), a long muscle group II (20) and a long muscle group III (22) are respectively and rotatably connected between the first arm section tail end fixing piece (15) and the trolley bottom plate (5), and a short muscle group I (17), a short muscle group II (19) and a short muscle group III (21) are respectively and rotatably connected between the trolley bottom plate (5) and the first arm section middle fixing piece (16);

the fixed part (15) at the tail end of the first section of the arm is respectively and rotatably connected with a pneumatic muscle five (31), a pneumatic muscle six (33), a pneumatic muscle seven (38), a pneumatic muscle eight (39), a thin-wall cylinder two (34) and a thin-wall cylinder four (40), the cylinder bodies of the thin-wall cylinder II (34) and the thin-wall cylinder IV (40) are fixed below the middle fixing piece (35), a cylinder body of a thin-wall cylinder I (32) and a thin-wall cylinder III (37) is fixed above the middle fixing piece (35), the rods of the thin-wall cylinder I (32) and the thin-wall cylinder III (37) are rotatably connected with a fixing piece (36) at the tail end of the second section of the arm, the pneumatic muscle six (33) and the pneumatic muscle seven (38) are rotatably connected with the middle fixing piece (35), the pneumatic muscle five (31) and the pneumatic muscle eight (39) are rotatably connected with a fixing piece (36) at the tail end of the second section of the arm;

and the computer (76), the computer (76) is respectively connected with the obstacle crossing mechanism control system (77), the arm first section control system (78), the arm second section control system (79) and the paw control system (80).

2. The pneumatic explosion-removing robot system as claimed in claim 1, wherein the planet wheel fixing plate (11) is circular in the middle and is evenly provided with three extending long rods around the periphery.

3. A pneumatic explosion-removing robot system as claimed in claim 1, wherein the sizes of the first driven planet wheel (9), the second driven planet wheel (12) and the third driven planet wheel (13) are the same.

4. A pneumatic explosive ordnance disposal robot system according to claim 1, wherein the first long muscle group (18), the second long muscle group (20) and the third long muscle group (22) have the same structure, the first short muscle group (17), the second short muscle group (19) and the third short muscle group (21) have the same structure, the first long muscle group (18) is longer than the first short muscle group (17), the first long muscle group (18), the second long muscle group (20), the third long muscle group (22), the first short muscle group (17), the second short muscle group (19) and the third short muscle group (21) have upper end connecting plates (24) and lower end connecting plates (28) respectively, a spherical hinge (23) is arranged above the upper end connecting plates (24), a middle pneumatic muscle (27) is arranged between the upper end connecting plates (24) and the lower end connecting plates (28), and at least four pneumatic muscles are arranged around the middle pneumatic muscle (27), pneumatic muscle one (25), pneumatic muscle two (26), pneumatic muscle three (29) and pneumatic muscle four (30).

5. A pneumatic explosion-suppressing robot system as claimed in claim 1, wherein the middle part of the first-stage middle fixing part (16) of the arm is arranged among the first long muscle group (18), the second long muscle group (20) and the third long muscle group (22), and three long rods are extended from the periphery of the first-stage middle fixing part and can be respectively and rotatably connected with the first short muscle group (17), the second short muscle group (19) and the third short muscle group (21).

6. A pneumatic explosion venting robot system according to claim 1, wherein the intermediate fixing member (35) is vertically disposed, a fixing block is disposed in a diagonal direction at one side, and a fixing block is disposed in an opposite diagonal direction at the other side.

7. The pneumatic explosive-handling robot system according to claim 1, wherein the swing cylinder five (55) of the paw (4) and the end fixing part (36) of the second section of the arm are fixedly connected, the rotating shaft of the swing cylinder five (55) and the hand connecting part (56) are fixedly connected, the hand connecting part (56) and the palm fixing plate (74) are fixedly connected, the cylinder bodies of the swing cylinder two (51), the swing cylinder three (52) and the swing cylinder four (54) are respectively fixed on the palm fixing plate (74), the swing cylinder two (51) is respectively connected with the worm gear three (48) and the worm gear four (50) through the worm three (47), the worm gear three (48) and the worm gear four (50) are rotatably connected to the palm fixing plate (74), the swing cylinder three (52) is connected to the worm wheel five (57) through the worm four (53), the five worm gears (57) are rotatably connected to the palm fixing plate (74), the four swing cylinders (54) are respectively connected to the second worm gears (46) and the sixth worm gears (58) through the second worms (45), the second worm gears (46) and the sixth worm gears (58) are rotatably connected to the palm fixing plate (74), the fourth worm gears (50), the third worm gears (48), the sixth worm gears (58) and the second worm gears (46) are respectively and correspondingly connected with the first fingers (41), the second fingers (42), the third fingers (43) and the fourth fingers (44) through finger end connecting pieces (72), and the five worm gears (57) are connected with the large fingers (49) through the large finger end connecting pieces (73).

8. The pneumatic explosion-venting robot system according to claim 7, wherein the first finger (41), the second finger (42), the third finger (43), the fourth finger (44) and the big finger (49) have the same structure, the first finger second section plate (59), the second finger second section plate (60), the third finger second section plate (65) and the fourth finger second section plate (66) of the big finger (49) are connected to form a closed space, the first finger first section plate (62), the third finger first section plate (69), the fourth finger first section plate (70) and the second finger first section plate (71) are connected to form a closed space, the second finger first section plate (71) is provided with a finger end connecting piece (72) or a big finger end connecting piece (73), the first finger middle connecting piece (61) is fixed on the first finger second section plate (59), the second finger middle connecting piece (67) is fixed on the fourth finger second section plate (66), the cylinder body of fixed swing cylinder six (64) on the first section board three of finger (69), the axis of rotation of swing cylinder six (64) passes through worm five (68) and connects worm wheel seven (63), finger intermediate junction spare one (61), finger intermediate junction spare two (67) and worm wheel seven (63) are fixed in finger connecting axle (75) middle part, the both ends of finger connecting axle (75) are rotatable coupling to first section board one of finger (62) and first section board four of finger (70) respectively.

9. A pneumatic explosion venting robot system according to claim 7, wherein the finger end connectors (72) and the big finger end connectors (73) are respectively L-shaped, the finger end connectors (72) respectively extend along the longitudinal directions of the first finger (41), the second finger (42), the third finger (43) and the fourth finger (44), the bending positions face the radial inner side, the big finger end connectors (73) extend along the radial direction of the big finger (49), and the bending positions face the longitudinal direction.

10. A pneumatic explosion venting robot system according to claim 1, the obstacle crossing mechanism control system (77) comprises a first swing cylinder (6), the arm first section control system (78) comprises a first long muscle group (18), a second long muscle group (20), a third long muscle group (22), a first short muscle group (17), a second short muscle group (19) and a third short muscle group (21), the arm second section control system (79) comprises a thin-wall cylinder I (32), a thin-wall cylinder III (37), a thin-wall cylinder II (34), a thin-wall cylinder IV (40), a pneumatic muscle V (31), a pneumatic muscle VI (33), a pneumatic muscle VII (38) and a pneumatic muscle VIII (39), the paw control system (80) comprises a second swing cylinder (51), a third swing cylinder (52), a fourth swing cylinder (54), a fifth swing cylinder (55) and a sixth swing cylinder (64).

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