CN203510225U - Human-shape-imitated explosive-handling robot - Google Patents

Abstract

The utility model discloses a human-shape-imitated explosive-handling robot, and relates to the field of robots. The human-shape-imitated explosive-handling robot is driven by a motor so that the multiple actions of walking, body rotating and lifting, large arm swinging, small arm swinging and rotating, wrist rotating, head rotating, pitching and the like can be achieved, explosives can be sought, dismantled, carried and shattered, arms can not only be independently used but also can be used in a cooperation mode, and the human-shape-imitated explosive-handling robot can be manually controlled and controlled in a mode that a program is input into a single-chip microcomputer in advance. The human-shape-imitated explosive-handling robot has the advantages of being high in positioning precision, good in self-locking performance and the like. Particularly, when an automation technology production line has become the inevitable trend in the future production, the robot technology will also be the development direction in the future. The human-shape-imitated explosive-handling robot not only can be used for explosive-handling exploration work but also can be developed as a robot used in production. The human-shape-imitated explosive-handling robot is multiple in freedom degree, high in flexibility degree and capable of adapting to various occasions and has very good market prospects.

Description

A kind of humanoid explosive-removal robot

[technical field]

The utility model relates to robot field, relates in particular to a kind of explosive-removal robot, is specifically related to a kind of humanoid explosive-removal robot.

[background technology]

Known, explosive work be one complicated, relate to the work of personal safety, this just requires explosive staff not only bold, also careful, but it is reported, there are every year many explosive staff's injures and deaths, if there is platform can help the robot of explosive staff's work, to protecting explosive personnel's personal safety and the explosive personnel's of minimizing life casualty all can play a part useful, creation thought based on such just, each state all produces various explosive-removal robots, such as Britain is the country that develops the earliest explosive-removal robot, due to the long-term national conflict of Britain and Northern Ireland, constantly be subject to the threat of explosive, therefore, early develop Explosive Ordnance Disposal Robot, the crawler type of its production " handcart " and " super handcart " explosive-removal robot, sold the army and police mechanism of more than 50 country, again " handcart " optimized recently, develop " marmot " and " wild ox " two kinds of remote control electric explosive-removal robots, and in nearest the war in Iraq, be used for surveying and processing explosive, also having the more famous explosive-removal robot of France is the RS200 robot of Cy-bernetics company development, the air force of France, ground force, police administration have all bought this robot, in addition the RM35 robot of DM company development is also used to airport, Paris, this robot is equipped with the long-armed 2.8m of reaching of built-in telescopical machinery, payload 30kg, by adopting Full Tracked chassis, makes it have fabulous cross-country power, the instrument of some specific functions is also housed in addition, the Zai You U.S. is to be to attach great importance to the research of explosive-removal robot, important component part using it as fighting capacity of future generation, a large amount of funds and manpower and materials have been dropped into, the Andros series robot of U.S. Romotec company development is subject to the welcome of various countries army and police department, this robot has all been bought in the White House and police office, the Capitol, after the Gulf War, the U.S. once cleared up land mine and unexploded ammunition with this robot in the air base of Saudi Arabia and Kuwait, there is a support that can be elevated to 4.5m in this robot, can fill color video camera in the above, day/night sight, binaural audio detector, chemical probe, miniature navigation system, infrared ray sensor etc., remote control distance reaches 10m, in addition, MR5 and MR7 explosive-removal robot that company of U.S. Wolstenholme robot produces are for indoor and outdoor environment, the explosive-removal robot that adapts to all landform, Israel is subject to the threat of terrorist activity for a long time simultaneously, anti-terrorism is attached great importance to, in order to tackle suicide bombing, attack, develop and bought the explosive-removal robot of Multiple Type, in addition, the state such as Canada, Germany, Australia, Japan, Korea S all in succession drops into suitable manpower and materials and develops explosive-removal robot, and China is aspect the R&D capability of explosive-removal robot, lag significantly behind above-mentioned developed country, but, the scientific and technological researcher of China through great efforts, approached in some respects international advanced level, existing several explosive-removal robots come into operation, such as Shanghai Communications University is one of China unit of being engaged in the earliest robot research, bore the key project tackling key problem of multinomial country, "836" Project, the robot project that National Nature Scientific Fund is relevant, this school successively develops fire-fighting robot, teaching robot, spray robot, arc welding robot etc., since two thousand two also be devoted to the development of explosive-removal robot, produced at present performance prototype, also have South China Science & Engineering University Ye Shi China to be early engaged in one of unit of robot research, also be Guangdong first be engaged in the unit of robot research, there is at present the explosive-removal robot that South China Science & Engineering University and Ji Jingliang Development Co., Ltd of Department of Public Security of Guangdong Province develop jointly in the anti-terrorism explosion prevention robot exhibition of China in 2005, to put on display, this robot has six-freedom degree, maximum travelling speed 0.8m/s, the maximum gradient 35 degree of creeping, maximum weight capacity 30kg, manipulator front end is furnished with explosive substance destroy machine two cover and with one of the running fire shotgun of sniperscope, end is furnished with paw, electric drill, electric saw, one piece, electric scissors and sound pick-up, and can automatically change according to control instruction, walking dolly is furnished with X-ray survey meter and movable imaging plate, loudspeaker and alarm, there is again anti-terrorism explosion prevention robot " clever lizard-A " type and " clever lizard-B " type that Shenyang China automation research is developed voluntarily also successively to succeed, " clever lizard-B " type belongs to remote controlled moving working rig, it is a kind of crawl that has, the novel robot product of the functions such as destroying explosive substance, its body is strong and vigorous, deadweight 180kg, maximum travelling speed is 40m/min, can cross over the obstacle that 0.45m is high, creep and be no more than slope and the stair of 45 degree, can equip as requested explosive substance destroy machine simultaneously, running fire bullet rifle, the weapons such as tear bombnoun, complete corresponding function etc., but because explosive-removal robot is more complicated than general industrial robot, intelligent degree is higher, related technology is more and more wider, difficulty is more and more higher, its core technology mainly comprises the technology that is movably walking, telecontrol engineering, half from advocating peace proprietary technology, multi-sensor information fusion technology, Navigation and localization technology, bionics techniques, many intelligent coordinated technology, microminiaturization technology etc., yet, that the domestic or external all kinds of explosive-removal robots of in the past releasing are all only to have less several frees degree, cannot be comparatively flexibly and make accurately robot pick and place object, having made space that explosive-removal robot arrives like this and completing of task is all very limited, cannot meet the demand of explosive work.

[summary of the invention]

For overcoming the deficiency existing in background technology, the utility model provides a kind of humanoid explosive-removal robot, the utility model drives respectively by motor, can realize walking, waist turns turn with wrist with lifting, large arm swing, little arm swing and rotation, wrist turn, head rotates and a plurality of actions such as pitching, the utlity model has the features such as positioning precision is high, self-locking property is good.

For realizing goal of the invention as above, the utility model adopts technical scheme as described below:

A kind of humanoid explosive-removal robot, comprise head, arm, clamping device, body, crane and walking mechanism, below platform floor in described walking mechanism, the both sides at two ends are respectively equipped with front-wheel and trailing wheel, described front-wheel drives by front-wheel steer drive motors, described trailing wheel drives by travel driving motor, middle part on platform floor is provided with crane, described crane drives by screw mandrel drive motors, on crane, be provided with rotating disk adjustment ring, on described rotating disk adjustment ring, be provided with bottom plate of turntable, on described bottom plate of turntable, be provided with internal spur gear, described internal spur gear drives by body drive motors, on internal spur gear, be provided with body, both sides at described body are respectively equipped with arm, end at two arms is respectively equipped with clamping device, on body, be provided with head, described head is driven and is formed described humanoid explosive-removal robot by head rotation drive motors.

Described humanoid explosive-removal robot, described walking mechanism comprises platform floor, front-wheel, travel driving motor, trailing wheel, driving wheel, rear wheel driving axle, worm screw, worm gear and front-wheel steer drive motors, below described platform floor, the both sides of one end are respectively equipped with a front-wheel, wherein the front-wheel fixed axis of any one front-wheel upper end through platform floor and by nut be fixed on platform floor below on, the front-wheel fixed axis of another front-wheel upper end is successively through locking by locking nut after platform floor and worm gear, a side at described worm gear is provided with worm screw, the end of described worm screw is provided with gear C, described gear C and gear D engagement, described gear D is arranged on one end of front-wheel steer driving shaft, the other end of described front-wheel steer driving shaft connects the end of front-wheel steer drive motors main shaft, the other end below platform floor is provided with rear wheel driving axle, two ends at described rear wheel driving axle 25 are respectively equipped with trailing wheel, middle part at rear wheel driving axle is provided with driven pulley, described driven pulley connects the driving wheel on being arranged on above platform floor by belt or chain, and described driving wheel drives by travel driving motor.

Described humanoid explosive-removal robot, described travel driving motor is fixed on the upper of platform floor above by travel driving motor holder, is provided with hole on platform floor, is provided with chain or belt in described hole.

Described humanoid explosive-removal robot, described belt is synchronous cog belt; Or polywedge bet; Or wherein any one of V-belt.

Described humanoid explosive-removal robot, the lower end of described crane is provided with screw, described nut sleeve is connected on the outer edge surface of screw mandrel, the end of described screw mandrel is provided with gear A, described gear A and gear B engagement, described gear B is arranged on the main shaft of screw mandrel drive motors, described screw mandrel drive motors by screw mandrel drive motors mount pad 34 be fixed on platform floor above on.

Described humanoid explosive-removal robot, the lower end of described body is provided with internal spur gear, the lower surface of described internal spur gear is arranged on bottom plate of turntable, in the lower end of internal spur gear, be provided with outward extending annular boss, between described annular boss and bottom plate of turntable, be provided with a plurality of steel balls, on annular boss, be provided with rotating disk fixed head, between described rotating disk fixed head and annular boss, be provided with a plurality of steel balls, internal spur gear and the engagement of straight-tooth external gear, described straight-tooth external gear drives by body drive motors.

Described humanoid explosive-removal robot, the middle part of described head lower end is provided with head fixed axis, the gear on described head fixed axis and the engagement of the gear on head rotation driving shaft, described head rotation driving shaft drives by head rotation drive motors.

Described humanoid explosive-removal robot, described head is provided with camera.

Described humanoid explosive-removal robot, described arm is arranged on one end of bevel gear installation shaft A, the other end of described bevel gear installation shaft A is provided with bevel gear A through body, described bevel gear A and bevel gear B engagement, described bevel gear B is arranged on one end of bevel gear installation shaft B, and the other end of described bevel gear installation shaft B connects arm drive motors.

Adopt technical scheme as above, the utlity model has superiority as described below:

A kind of humanoid explosive-removal robot described in the utility model, the utility model drives respectively by motor, Neng Shi robot realizes walking, body rotates and lifting, large arm swing, little arm swing and rotation, wrist turns with wrist and turns, a plurality of actions such as head rotation and pitching, can realize search, remove, carry and smash explosive, arm not only can be used separately but also can be used in conjunction with, its control mode can be that manual control also can be inputted program in single-chip microcomputer and control in advance, in brief, its control mode can realize manual and program control, for some simple actions, directly can realize by manual control, so just saved the time of coding, and programme-control can realize some the manually irrealizable compound movement of control and some loaded down with trivial details action etc., the utlity model has positioning precision high, the features such as self-locking property is good, particularly when automatic technology production line has become the inexorable trend of producing from now on, Robotics is also by the direction that is Future Development, the utility model not only can be for explosive exploration work, also can be developed as for the production of central robot, the utlity model has the free degree many, flexibility degree is very high, can be adapted to a lot of occasions, there are good market prospects.

[accompanying drawing explanation]

Fig. 1 is structural representation of the present utility model;

Fig. 2 is the plan structure schematic diagram of Fig. 1;

In the drawings: 1, head; 2, head rotation drive motors; 3, arm; 4, clamping device; 5, rotating disk fixed head; 6, internal spur gear; 7, bottom plate of turntable; 8, platform floor; 9, front-wheel fixed axis; 10, front-wheel; 11, head fixed axis; 12, head rotation driving shaft; 13, body; 14, straight-tooth external gear; 15, steel ball; 16, body drive motors; 17, rotating disk adjustment ring; 18, crane; 19, screw; 20, screw mandrel; 21, travel driving motor; 22, travel driving motor holder; 23, trailing wheel; 24, driving wheel; 25, rear wheel driving axle; 26, hole; 27, bevel gear A; 28, bevel gear installation shaft A; 29, bevel gear B; 30, bevel gear installation shaft B; 31, arm drive motors; 32, gear A; 33, gear B; 34, screw mandrel drive motors mount pad; 35, screw mandrel drive motors; 36, worm screw; 37, locking nut; 38, worm gear; 39, front-wheel steer drive motors; 40, front-wheel steer driving shaft; 41, gear C; 42, gear D.

[specific embodiment]

By the following examples, can explain in more detail the utility model, the utility model is not limited to the following examples;

A kind of humanoid explosive-removal robot described in 1～2 by reference to the accompanying drawings, comprise head 1, arm 3, clamping device 4, body 13, crane 18 and walking mechanism, platform floor 8 in described walking mechanism is respectively equipped with front-wheel 10 and trailing wheel 23 in the both sides at two ends below, described front-wheel 10 drives by front-wheel steer drive motors 39, described front-wheel steer drive motors 39 is stepper motor, model is 24BYJ, described trailing wheel 23 drives by travel driving motor 21, described travel driving motor 21 is direct current generator, the model of described direct current generator is THJB280, wherein walking mechanism comprises platform floor 8, front-wheel 10, travel driving motor 21, trailing wheel 23, driving wheel 24, rear wheel driving axle 25, worm screw 36, worm gear 38 and front-wheel steer drive motors 39, described platform floor 8 is respectively equipped with a front-wheel 10 in the both sides of one end below, wherein the front-wheel fixed axis 9 of any one front-wheel 10 upper end through platform floor 8 and by nut be fixed on platform floor 8 below on, the front-wheel fixed axis 9 of another front-wheel 10 upper ends is successively through locking by locking nut 37 after platform floor 8 and worm gear 38, a side at described worm gear 38 is provided with worm screw 36, the end of described worm screw 36 is provided with gear C 41, described gear C 41 and gear D 42 engagements, described gear D 42 is arranged on one end of front-wheel steer driving shaft 40, the other end of described front-wheel steer driving shaft 40 connects the end of front-wheel steer drive motors 39 main shafts, now front-wheel steer drive motors 39 drives front-wheel 10 to turn to, the other end below platform floor 8 is provided with rear wheel driving axle 25, at the two ends of described rear wheel driving axle 25, be respectively equipped with trailing wheel 23, middle part at rear wheel driving axle 25 is provided with driven pulley, described driven pulley connects the driving wheel 24 on being arranged on above platform floor 8 by belt or chain, described driving wheel 24 drives by travel driving motor 21, now travel driving motor 21 drives trailing wheel 23 advance or retreat, wherein travel driving motor 21 by travel driving motor holder 22 be fixed on platform floor 8 above on, on platform floor 8, be provided with for penetrating the hole 26 of belt or chain, in described hole 26, be provided with chain or belt, described belt is synchronous cog belt, or polywedge bet, or wherein any one of V-belt, in practice process, preferred synchronous cog belt,

Further, middle part on platform floor 8 is provided with crane 18, described crane 18 drives by screw mandrel drive motors 35, described screw mandrel drive motors 35 is direct current generator, model is THJB280, in the lower end of crane 18, be provided with screw 19, described screw 19 is socketed on the outer edge surface of screw mandrel 20, the end of described screw mandrel 20 is provided with gear A 32, described gear A 32 and gear B 33 engagements, described gear B 33 is arranged on the main shaft of screw mandrel drive motors 35, described screw mandrel drive motors 35 by screw mandrel drive motors mount pad 34 be fixed on platform floor 8 above on;

Further, on crane 18, be provided with rotating disk adjustment ring 17, on described rotating disk adjustment ring 17, be provided with bottom plate of turntable 7, on described bottom plate of turntable 7, be provided with internal spur gear 6, described internal spur gear 6 drives by body drive motors 16, on internal spur gear 6, be provided with body 13, in the both sides of described body 13, be respectively equipped with arm 3, in the end of two arms 3, be respectively equipped with clamping device 4, wherein the lower end of body 13 is provided with internal spur gear 6, the lower surface of described internal spur gear 6 is arranged on bottom plate of turntable 7, in the lower end of internal spur gear 6, be provided with outward extending annular boss, between described annular boss and bottom plate of turntable 7, be provided with a plurality of steel balls 15, on annular boss, be provided with rotating disk fixed head 5, between described rotating disk fixed head 5 and annular boss, be provided with a plurality of steel balls 15, internal spur gear 6 and 14 engagements of straight-tooth external gear, described straight-tooth external gear 14 drives by body drive motors 16, wherein two arms 3 are separately positioned on one end of bevel gear installation shaft A28, the other end of described bevel gear installation shaft A28 is provided with bevel gear A27 through body 13, described bevel gear A27 and bevel gear B29 engagement, described bevel gear B29 is arranged on one end of bevel gear installation shaft B30, the other end of described bevel gear installation shaft B30 connects arm drive motors 31,

A step again, on body 13, be provided with head 1, the middle part of described head 1 lower end is provided with head fixed axis 11, gear on described head fixed axis 11 and the engagement of the gear on head rotation driving shaft 12, described head rotation driving shaft 12 drives by head rotation drive motors 2, is provided with for the camera that feeds back robot ambulation information and survey the terrain and forms described humanoid explosive-removal robot on head 1.

The concrete structure that it should be noted that the arm 3 described in the utility model and clamping device 4, the utility model people has done separate case application, therefore will not tire out and state in the utility model.

Humanoid explosive-removal robot described in the utility model, be not only applicable to the explosive work of special dimension, and can also use in the industrial production line that automaticity is higher, by changing end clamping device 4, realize the job requirement of the difform part of clamping, thereby improve workman's labour intensity, raise labour productivity, reduce the production cost of product, increase the economic benefit of enterprise; In addition, if used, human body is had in the work situation of injury, can improve workman's working condition, reduce the injury of environment to workman's health.

The utility model does not describe part in detail for prior art.

The embodiment selecting in this article in order to disclose goal of the invention of the present utility model, currently thinks suitablely, still, will be appreciated that, the utility model is intended to comprise that all belong to all changes and the improvement of the embodiment in this design and invention scope.

Claims (9)

1. a humanoid explosive-removal robot, comprise head (1), arm (3), clamping device (4), body (13), crane (18) and walking mechanism, it is characterized in that: the platform floor in described walking mechanism (8) the below both sides at two ends is respectively equipped with front-wheel (10) and trailing wheel (23), described front-wheel (10) drives by front-wheel steer drive motors (39), described trailing wheel (23) drives by travel driving motor (21), middle part on platform floor (8) is provided with crane (18), described crane (18) drives by screw mandrel drive motors (35), on crane (18), be provided with rotating disk adjustment ring (17), on described rotating disk adjustment ring (17), be provided with bottom plate of turntable (7), on described bottom plate of turntable (7), be provided with internal spur gear (6), described internal spur gear (6) drives by body drive motors (16), on internal spur gear (6), be provided with body (13), in the both sides of described body (13), be respectively equipped with arm (3), in the end of two arms (3), be respectively equipped with clamping device (4), on body (13), be provided with head (1), described head (1) is driven and is formed described humanoid explosive-removal robot by head rotation drive motors (2).

2. humanoid explosive-removal robot according to claim 1, it is characterized in that: described walking mechanism comprises platform floor (8), front-wheel (10), travel driving motor (21), trailing wheel (23), driving wheel (24), rear wheel driving axle (25), worm screw (36), worm gear (38) and front-wheel steer drive motors (39), described platform floor (8) the below both sides of one end is respectively equipped with a front-wheel (10), wherein the front-wheel fixed axis (9) of any one front-wheel (10) upper end through platform floor (8) and by nut be fixed on platform floor (8) below on, the front-wheel fixed axis (9) of another front-wheel (10) upper end is successively through locking by locking nut (37) after platform floor (8) and worm gear (38), a side at described worm gear (38) is provided with worm screw (36), the end of described worm screw (36) is provided with gear C (41), described gear C (41) and gear D (42) engagement, described gear D (42) is arranged on one end of front-wheel steer driving shaft (40), the other end of described front-wheel steer driving shaft (40) connects the end of front-wheel steer drive motors (39) main shaft, the other end below platform floor (8) is provided with rear wheel driving axle (25), at the two ends of described rear wheel driving axle (25), be respectively equipped with trailing wheel (23), middle part at rear wheel driving axle (25) is provided with driven pulley, described driven pulley is connected and is arranged on the driving wheel (24) that platform floor (8) is gone up above by belt or chain, and described driving wheel (24) drives by travel driving motor (21).

3. humanoid explosive-removal robot according to claim 2, it is characterized in that: described travel driving motor (21) by travel driving motor holder (22) be fixed on platform floor (8) above on, on platform floor (8), be provided with hole (26), described hole is provided with chain or belt in (26).

4. humanoid explosive-removal robot according to claim 3, is characterized in that: described belt is synchronous cog belt; Or polywedge bet; Or wherein any one of V-belt.

5. humanoid explosive-removal robot according to claim 1, it is characterized in that: the lower end of described crane (18) is provided with screw (19), described screw (19) is socketed on the outer edge surface of screw mandrel (20), the end of described screw mandrel (20) is provided with gear A (32), described gear A (32) and gear B (33) engagement, described gear B (33) is arranged on the main shaft of screw mandrel drive motors (35), described screw mandrel drive motors (35) by screw mandrel drive motors mount pad (34) be fixed on platform floor (8) above on.

6. humanoid explosive-removal robot according to claim 1, it is characterized in that: the lower end of described body (13) is provided with internal spur gear (6), the lower surface of described internal spur gear (6) is arranged on bottom plate of turntable (7), lower end at internal spur gear (6) is provided with outward extending annular boss, between described annular boss and bottom plate of turntable (7), be provided with a plurality of steel balls (15), on annular boss, be provided with rotating disk fixed head (5), between described rotating disk fixed head (5) and annular boss, be provided with a plurality of steel balls (15), internal spur gear (6) and straight-tooth external gear (14) engagement, described straight-tooth external gear (14) drives by body drive motors (16).

7. humanoid explosive-removal robot according to claim 1, it is characterized in that: the middle part of described head (1) lower end is provided with head fixed axis (11), gear engagement on gear on described head fixed axis (11) and head rotation driving shaft (12), described head rotation driving shaft (12) drives by head rotation drive motors (2).

8. humanoid explosive-removal robot according to claim 1, is characterized in that: described head (1) is provided with camera.

9. humanoid explosive-removal robot according to claim 1, it is characterized in that: described arm (3) is arranged on bevel gear installation shaft A(28) one end, described bevel gear installation shaft A(28) the other end is provided with bevel gear A(27 through body (13)), described bevel gear A(27) with bevel gear B(29) engagement, described bevel gear B(29) be arranged on bevel gear installation shaft B(30) one end, described bevel gear installation shaft B(30) the other end connect arm drive motors (31).