CN101362330A - Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator - Google Patents
Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator Download PDFInfo
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- CN101362330A CN101362330A CNA2008102007809A CN200810200780A CN101362330A CN 101362330 A CN101362330 A CN 101362330A CN A2008102007809 A CNA2008102007809 A CN A2008102007809A CN 200810200780 A CN200810200780 A CN 200810200780A CN 101362330 A CN101362330 A CN 101362330A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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Abstract
The invention relates to an anti-terrorist explosive-removal robot with a manipulator with multiple degrees of freedom and heavy load, which belongs to the field of anti-terrorist equipment. The anti-terrorist explosive-removal robot consists of a walking chassis, a manipulator, a control system, an electric generator, a camera system, an external housing and the like. The waling chassis is a track structure, the electric generator is positioned at the tail part of the waling chassis, the manipulator is positioned at the front end of the walking chassis, the control system is arranged at the periphery of the manipulator seat, and the waling chassis, the electric generator and the manipulator seat are packed by the external housing. The camera system is provided with four cameras, wherein, a first camera is arranged in front of the robot for observing the front situation, a second camera is arranged on the manipulator for observing the action of a gripper, a third camera and a fourth camera are arranged above the external housing at the tail part of the robot, the operation condition of the mechanical arm is observed by the third camera, and the peripheral condition of the robot is observed by the fourth camera. In the operation environment of open ground, by the far distance control of an operator, questionable objects with large size can be inspected by the robot with an X-ray machine grasped by the mechanical arm, and questionable objects can be treated. The safety of the explosive-removal personnel can be effectively guaranteed during the treatment of the questionable objects.
Description
Technical field
The invention belongs to the anti-terrorism robot technical field, be specifically related to a kind of anti-terror explosive removing robot with multi-degree of freedom and large load manipulator, this anti-terror explosive removing robot can be towards ground more spacious operating environment, but the clamping X-ray machine checks the bigger suspicious item of volume, also the large-scale anti-terrorism robot that can handle suspicious item.Its multi-degree of freedom and large load manipulator utilizes laser positioning flexiblely to deal with the work near target object.
Background technology
Since the reform and opening-up, unprecedented great variety takes place in the Chinese society life, yet because imbalances of social and economic development, the influence of the international anti-China force, the existence of domestic nationality, religious contradiction, public order incident and civil disputation, the current factor leading to social instability that influences social stability still exists in a large number, and China's anti-terrorism situation is very severe.Anti-terror explosive removing robot can replace manually, directly scout in the spot, getting rid of and processing explosive and other dangerous material, also can implement effective attack to some armed terrorists and offender, is requisite important equipment in the anti-terrorism professional contingent.Domestic existing anti-terror explosive removing robot mainly considers that from the demand that adapts to complex-terrain the robot build of design is less at present, and the manipulator load is lighter, and very difficult configuration installation volume, the X-ray examination instrument that weight is bigger also can't be handled bigger explosive; Simultaneously, often also about 4-5, opereating specification is limited for the general free degree.For this reason, the utmost point need a kind of can be towards ground more spacious operating environment, but the clamping X-ray machine is checked the also large-scale anti-terrorism robot that can handle suspicious item to the bigger suspicious item of volume.
Summary of the invention
Purpose of the present invention provide a kind of simple in structure, effect extensively, low price, can can be towards ground more spacious operating environment, the anti-terror explosive removing robot that can check and handle the bigger unknown object of volume simultaneously with multi-degree of freedom and large load manipulator.
The anti-terror explosive removing robot that the present invention proposes with multi-degree of freedom and large load manipulator, by walking chassis 1, manipulator 2, control system 3, generator 4, camera system 5, outer cover 6 is formed, walking chassis 1 is a caterpillar belt structure, generator 4 is positioned at walking chassis 1 afterbody, manipulator 2 one ends are fixed in walking chassis 1 front end, control system 3 is positioned at around manipulator 2 bases, outer cover 6 chassis 1 of will walking, generator 4 and manipulator 2 bases wrap up, camera system 5 is made up of 4 cameras, first camera 501 is positioned at the outer cover front end, be used to observe the place ahead situation, second camera 502 is positioned at manipulator 2 other ends top, be used to observe the paw action, the 3rd camera 503 and the 4th camera 504 lay respectively at outer cover 6 tops of robot afterbody, the 3rd camera 503 is observed the operational circumstances of mechanical arm 2, the situation around the 4th camera 504 observer robots.
Among the present invention, manipulator 2 has 7 frees degree, by rotary disk base 201, rotary disk 202, first mechanical arm 203, second mechanical arm 204, three-mechanical arm 205, mechanical paw 206, the first mechanical arm pitching push rod 207, the second mechanical arm pitching push rod 208, three-mechanical arm pitching push rod 209, mechanical paw pitching push rod 210 and mechanical paw opening and closing motor 211 are formed, rotary disk base 201 is fixed in 1 front end top, walking domain, rotary disk 202 is positioned at rotary disk base 201 tops, first mechanical arm, 203 1 ends are fixed on the rotary disk 202, the other end connects second mechanical arm 204, second mechanical arm, 204 other ends connect three-mechanical arm 205, three-mechanical arm 205 other ends connect mechanical paw 206, the first mechanical arm pitching push rod, 207 1 ends are fixed on the rotary disk 202, the other end is fixed on first mechanical arm 201, realize the pitching function of first mechanical arm 201, the second mechanical arm pitching push rod, 208 1 ends are fixed on first mechanical arm 201, the other end is fixed on second mechanical arm 204, realize the pitching function of second mechanical arm 204, three-mechanical arm pitching push rod 209 1 ends are fixed on second mechanical arm 204, the other end is fixed on the three-mechanical arm 205, realize the pitching function of three-mechanical arm 205, mechanical paw pitching push rod 210 1 ends are fixed on the three-mechanical arm 205, the other end is fixed on the mechanical paw 206, realize the pitching function of mechanical paw 206, mechanical paw opening and closing motor 211 is fixed on mechanical paw 206, is used to control the paw of mechanical paw 206.
Among the present invention, walking chassis 1 is made up of engine 101, underframe 102, driving wheel 103, guide wheel 104, thrust wheel 105, crawler belt 106, hub reduction motor 107, hydraulic oil container 108, diesel fuel tanks 109 and hydraulic oil pump 110, engine 101 is positioned at underframe 102 afterbodys, and hydraulic oil container 108 and diesel fuel tanks 109 lay respectively at underframe 102 front end both sides; The underframe both sides are separately installed with driving wheel 103, guide wheel 104 and thrust wheel 105, driving wheel 103 is positioned at afterbody, guide wheel 104 is positioned at front end, and thrust wheel 105 is positioned in the middle of driving wheel 103 and the guide wheel 104, and crawler belt 106 is wrapped on driving wheel 103, guide wheel 104 and the thrust wheel 105; Hydraulic oil pump 110 is connected on the engine 101, and hub reduction motor 107 is connecting on the driving wheel 103; Engine 101 directly drives hydraulic oil pump 110, and hydraulic drive driving wheel limit gear motor 107 rotates, thereby drives driving wheel 103, by crawler belt 106 transmission guide wheels 104 and thrust wheel 105, realizes the walking on walking chassis 1.
Among the present invention, the data division of control system 3 is by mobile vehicle executing agency 301, SPM2024 type control module 302, mechanical arm executing agency 303, multi-axis motion controller 304, first wireless digital broadcasting station 315, second wireless digital broadcasting station 319, serial server 312, HUB313, the one 900M wireless communication module 314, the 2nd 900M wireless communication module 323, gas detection instrument 316, gas detection instrument data reception module 325, PC 324 is formed, mechanical arm executing agency 303 connects multi-axis motion controller 304, SPM2024 type control module 302 is leaded up to the RS485 bus and is connected serial server 312 successively, HUB313, HUB313 is connected by netting twine with a 900M wireless communication module 314, the one 900M wireless communication module 314 is connected with the 2nd 900M wireless communication module 323 by radio communication, and the 2nd 900M wireless communication module 323 is connected with PC 324; SPM2024 type control module 302 another roads connect first wireless digital broadcasting station 315 by RS485, first wireless digital broadcasting station 315 connects second wireless digital broadcasting station 319 by wireless telecommunications, second wireless digital broadcasting station 319 is given ARM control module 320 with digital data transmission, and ARM control module 320 carries out connecting into guidance panel 322 after the signal conversion; SPM2024 type control module 302, multi-axis motion controller 304 and first wireless digital broadcasting station 315 are connected on the same RS485 bus; Gas detection instrument 316 connects gas detection instrument data reception module 325 by wireless telecommunications, and gas detection instrument data reception module 325 connects into PC 324 by the RS232 mode.
Among the present invention, the video section of control system 3 is by DVR 305, image splitter 308, the one 1.2G wireless communication module 309, video server 311, HUB313, the one 900M wireless communication module 314, the 2nd 900M wireless communication module 323 is formed, first camera 501, second camera 502, the 3rd camera 503, the 4th camera 504 connects into vision signal DVR 305 and image splitter 308 respectively, image splitter 308 is divided into 2 the tunnel with vision signal, image splitter 308 one tunnel connects a 1.2G wireless communication module 309, the one 1.2G wireless communication module 309 connects the 2nd 1.2G wireless communication module 318 by wireless signal, the 2nd 1.2G wireless communication module 318 connects LCD display 321 by video line with vision signal, another road image splitter 308 connects video server 311 and HUB313 successively, after video server 311 carries out digitalization compressed with analog video signal, through HUB313 digital video signal is connected a 900M wireless communication module 314, the one 900M wireless communication module 314 is connected by wireless mode with the 2nd 900M wireless communication module 323, and the 2nd 900M wireless communication module 323 connects into PC 324 by netting twine with digital video signal.
Among the present invention, the audio-frequency unit of control system 3 is made up of a 1.2G wireless communication module 309, electronics audiphone 306, microphone 310, video server 311, HUB313, earphone 317, a 900M wireless communication module 314, the 2nd 900M wireless communication module 323, and the voice signal of electronics audiphone 306 is transferred to earphone 317 by a 1.2G wireless communication link 309, the 2nd 1.2G wireless communication link 318; The on-the-spot sound that microphone 310 is gathered carries out signal conversion back by a 900M wireless communication module 314, the 2nd 900M wireless communication module 323 through video server 311 and HUB313,900M wireless communication module 323 connection PCs 324 successively.
The course of work of the present invention is as follows: robot arrives the scene of the accident by carrier loader, operating personnel's remote-controlled robot is near suspicious item, the manipulator of robot has 7 frees degree, can make up the pose that is fit to site environment flexibly, the clamping X-ray machine is checked the bigger suspicious item of volume, also can also can accurately suspicious item be carried out clamping and handle by the camera on the paw to the suspicious item close-ups by laser positioning.
Beneficial effect of the present invention is:
(1) explosive-removal robot of comparing other of the anti-terror explosive removing robot with multi-degree of freedom and large load manipulator has following characteristics:
(2) job area is wide, and the manipulator of 7 frees degree can make up the pose that is fit to site environment flexibly;
(3) load is bigger, can the bigger X-ray machine of clamping weight be checked by suspicious item, also can handle the bigger suspicious item of weight;
(4) holding action is accurate flexibly, can realize the fast processing of suspicious item by laser positioning;
(5) the landform adaptive capacity is strong, and caterpillar chassis is applicable to the several work environment.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a vertical view of the present invention.
Fig. 3 is walking of the present invention chassis 1 front view.
Fig. 4 is walking of the present invention chassis 1 vertical view.
Fig. 5 is manipulator 2 schematic diagrames of the present invention.
Fig. 6 is a control system structured flowchart of the present invention.
Number in the figure: 1 is the walking chassis, 2 is manipulator, 3 is control system, 4 is generator, 5 is camera system, 6 is outer cover, 101 is engine, and 102 is underframe, and 103 is driving wheel, 104 is guide wheel, 105 is thrust wheel, and 106 is crawler belt, and 107 is the hub reduction motor, 108 is hydraulic oil container, 109 is diesel fuel tanks, and 110 is hydraulic oil pump, and 201 is the rotary disk base, 202 is rotary disk, 203 is first mechanical arm, and 204 is second mechanical arm, and 205 is three-mechanical arm, 206 is mechanical paw, 207 is the first mechanical arm pitching push rod, and 208 is the second mechanical arm pitching push rod, and 209 is three-mechanical arm pitching push rod, 210 is mechanical paw pitching push rod, 211 is mechanical paw opening and closing motors, and 301 is mobile vehicle executing agency, and 302 is SPM2024 type control module, 303 is mechanical arm executing agency, 304 is multi-axis motion controller, and 305 is DVR, and 306 is the electronics audiphone, 308 is image splitter, 309 is a 1.2G wireless communication module, and 310 is microphone, and 311 is video server, 312 is serial server, 313 is HUB, and 314 is a 900M wireless communication module, and 315 is first wireless digital broadcasting station, 316 is gas detection instrument, 317 is earphone, and 318 is the 2nd 1.2G wireless communication module, and 319 is second wireless digital broadcasting station, 320 is the ARM control module, 321 is LCD display, and 324 is guidance panel, and 323 is the 2nd 900M wireless communication module, 324 is PC, 325 is gas detection instrument data reception module, and 501 is second camera, and 502 is second camera, 503 is the 3rd camera, and 504 is the 4th camera.
The specific embodiment
The invention is further illustrated by the following examples, but be not limited to present embodiment.
Embodiment 1: following each parts are connected by mode shown in Figure 1, and these those skilled in the art all can smooth implementation.
Caterpillar belt structure is adopted on walking chassis 1, crawler belt 106 is the abrasive rubber material, engine 101 adopts the BF3L Diesel engine as power source, directly drive hydraulic oil pump 110, hydraulic oil pump 110 adopts LRR-025C-LS-26-20-NN-N-3-C2NG-A6N-KNB-NNN-NNN, hydraulic oil pump 110 driving wheel limit gear motors 107 rotate, hub reduction motor 107 adopts the PHV-10-37-1-8502A hub reduction gear, hub reduction motor 107 drives driving wheel 103 walkings, driving wheel 103 is a foundry goods, and material is Q235, drives guide wheel 104 and thrust wheel 105 rotations by crawler belt 106, realize walking, guide wheel 104 and thrust wheel 105 also are the Q235 material.
The manipulator material is Q235, the whole box frame structure that adopts, and rigidity is better, and weight is lighter, has 7 frees degree, utilizes electric pushrod to realize the actions such as pitching, revolution and opening and closing of each parts of mechanical arm.Manipulator 2 is by rotary disk base 201, rotary disk 202, first mechanical arm 203, second mechanical arm 204, three-mechanical arm 205, mechanical paw 206, the first mechanical arm pitching push rod 207, the second mechanical arm pitching push rod 208, three-mechanical arm pitching push rod 209, mechanical paw pitching push rod 210 and mechanical paw opening and closing motor 211 are formed, rotary disk base 201 is positioned at walking domain 1 front end, rotary disk 202 is positioned at rotary disk base 201 tops, first mechanical arm, 203 1 ends are fixed on the rotary disk 202, the other end connects second mechanical arm 204, second mechanical arm, 204 other ends connect three-mechanical arm 205, three-mechanical arm 205 other ends connect mechanical paw 206, the first mechanical arm pitching push rod, 207 1 ends are fixed on the rotary disk 202, the other end is fixed on first mechanical arm 201, realize the pitching function of first mechanical arm 201, the second mechanical arm pitching push rod, 208 1 ends are fixed on first mechanical arm 201, the other end is fixed on second mechanical arm 204, realize the pitching function of second mechanical arm 204, three-mechanical arm pitching push rod 209 1 ends are fixed on second mechanical arm 204, the other end is fixed on the three-mechanical arm 205, realize the pitching function of three-mechanical arm 205, mechanical paw pitching push rod 210 1 ends are fixed on the three-mechanical arm 205, the other end is fixed on the mechanical paw 206, realize the pitching function of mechanical paw 206, mechanical paw opening and closing motor 211 is fixed on mechanical paw 206, is used to control the paw of mechanical paw 206.
Following each parts are connected by mode shown in Figure 6, promptly get required control system.SPM2024 type control module 302 is a SPM2024 type embedded controller, multi-axis motion controller 304 adopts solid high GU400-ESV-101/128-A, DVR 305 adopts KL-J20, electronics audiphone 306 adopts HY, image splitter 308 adopts ADT401-CH, the one 1.2G wireless communication module 309 and the 2nd 1.2G wireless communication module 318 adopt CYT101 respectively, video server 311 adopts ET1001, serial server 312 adopts MOXA NPort DE-311, HUB313 adopts WD-H8004, the one 900M wireless communication module 314 and the 2nd 900M wireless communication module 323 adopt AirSpan WipLL900 respectively, first wireless digital broadcasting station 315 and second wireless digital broadcasting station 319 adopt prompt wheat F49DL respectively, gas detection instrument 316 adopts PGM-5020, ARM control module 320 adopts LPC2131, LCD display 321 adopts PHILIPS 150S8, PC 324 adopts and grinds magnificent industrial computer, first camera 501, second camera 502, the 3rd camera 503 and the 4th camera 504 adopt ADT399 respectively.
Claims (6)
1, a kind of anti-terror explosive removing robot with multi-degree of freedom and large load manipulator, it is characterized in that by walking chassis (1), manipulator (2), control system (3), generator (4), camera system (5), outer cover (6) is formed, walking chassis (1) is a caterpillar belt structure, generator (4) is positioned at walking chassis (1) afterbody, manipulator (2) one ends are fixed in front end top, walking chassis (1), control system (3) is positioned at around manipulator (2) base, outer cover (6) chassis (1) of will walking, the base of generator (4) and manipulator (2) wraps up, camera system (5) is made up of 4 cameras, first camera (501) is positioned at outer cover (6) front end, second camera (502) is positioned at manipulator (2) other end top, and the 3rd camera (503) and the 4th camera (504) lay respectively at outer cover (6) top.
2, anti-terror explosive removing robot with multi-degree of freedom and large load manipulator according to claim 1, it is characterized in that manipulator (2) has 7 frees degree, by rotary disk base (201), rotary disk (202), first mechanical arm (203), second mechanical arm (204), three-mechanical arm (205), mechanical paw (206), the first mechanical arm pitching push rod (207), the second mechanical arm pitching push rod (208), three-mechanical arm pitching push rod (209), mechanical paw pitching push rod (210) and mechanical paw opening and closing motor (211) are formed, rotary disk base (201) is fixed in front end top, walking domain (1), rotary disk (202) is positioned at rotary disk base (201) top, first mechanical arm (203) one ends are fixed on the rotary disk (202), the other end connects second mechanical arm (204), second mechanical arm (204) other end connects three-mechanical arm (205), three-mechanical arm (205) other end connects mechanical paw (206), the first mechanical arm pitching push rod (207) one ends are fixed on the rotary disk (202), the other end is fixed on first mechanical arm (203), the second mechanical arm pitching push rod (208) one ends are fixed on first mechanical arm (201), the other end is fixed on second mechanical arm (204), three-mechanical arm pitching push rod (209) one ends are fixed on second mechanical arm (204), the other end is fixed on the three-mechanical arm (205), mechanical paw pitching push rod (210) one ends are fixed on the three-mechanical arm (205), the other end is fixed on the mechanical paw (206), and mechanical paw opening and closing motor (211) is fixed in mechanical paw (206) top.
3, the anti-terror explosive removing robot with multi-degree of freedom and large load manipulator according to claim 1, the chassis (1) that it is characterized in that walking is made up of engine (101), underframe (102), driving wheel (103), guide wheel (104), thrust wheel (105), crawler belt (106), hub reduction motor (107), hydraulic oil container (108), diesel fuel tanks (109) and hydraulic oil pump (110), engine (101) is positioned at underframe (102) afterbody, and hydraulic oil container (108) and diesel fuel tanks (109) lay respectively at underframe (102) front end both sides; The underframe both sides are separately installed with driving wheel (103), guide wheel (104) and thrust wheel (105), driving wheel (103) is positioned at afterbody, guide wheel (104) is positioned at front end, thrust wheel (105) is positioned in the middle of driving wheel (103) and the guide wheel (104), and crawler belt (106) is wrapped on driving wheel (103), guide wheel (104) and the thrust wheel (105); Hydraulic oil pump (110) is fixed on the engine (101), and hub reduction motor (107) connects driving wheel (103).
4, anti-terror explosive removing robot with multi-degree of freedom and large load manipulator according to claim 1, the data division that it is characterized in that control system (3) is by mobile vehicle executing agency (301), SPM2024 type control module (302), mechanical arm executing agency (303), multi-axis motion controller (304), first wireless digital broadcasting station (315), second wireless digital broadcasting station (319), serial server (312), HUB (313), the one 900M wireless communication module (314), gas detection instrument (316), the 2nd 900M wireless communication module (323), gas detection instrument data reception module (325), PC (324) is formed, mechanical arm executing agency (303) connects multi-axis motion controller (304), SPM2024 type control module (302) is leaded up to the RS485 bus and is connected serial server (312) successively, HUB (313), HUB (313) is connected by netting twine with a 900M wireless communication module (314), the one 900M wireless communication module (314) is connected with the 2nd 900M wireless communication module (323) by radio communication, and the 2nd 900M wireless communication module (323) is connected with PC (324); Another road of SPM2024 type control module (302) connects first wireless digital broadcasting station (315) by RS485, first wireless digital broadcasting station (315) connects second wireless digital broadcasting station (319) by wireless telecommunications, second wireless digital broadcasting station (319) is given ARM control module (320) with digital data transmission, and ARM control module (320) carries out connecting into guidance panel (322) after the signal conversion; SPM2024 type control module (302), multi-axis motion controller (304) are connected on the same RS485 bus with first wireless digital broadcasting station (315); Gas detection instrument (316) connects gas detection instrument data reception module (325) by wireless telecommunications, and gas detection instrument data reception module (325) connects PC (324) by the RS232 mode.
5, anti-terror explosive removing robot with multi-degree of freedom and large load manipulator according to claim 1, the video section that it is characterized in that control system (3) is by DVR (305), image splitter (308), the one 1.2G wireless communication module (309), video server (311), HUB (313), the one 900M wireless communication module (314), the 2nd 900M wireless communication module (323) is formed, first camera (501), second camera (502), the 3rd camera (503), the 4th camera (504) connects DVR (305) and image splitter (308) by vision signal respectively, image splitter (308) is divided into 2 the tunnel with vision signal, image splitter (308) one tunnel connects a 1.2G wireless communication module (309), the one 1.2G wireless communication module (309) connects the 2nd 1.2G wireless communication module (318) by wireless signal, the 2nd 1.2G wireless communication module (318) is connected to LCD display (321) by video line with vision signal, another road image splitter (308) connects video server (311) and HUB (313) successively, after video server (311) is compressed into digital video signal with analog video signal, by HUB (313) digital video signal is connected a 900M wireless communication module (314), the one 900M wireless communication module (314) and the 2nd 900M wireless communication module (323) are by wireless connections, and the 2nd 900M wireless communication module (323) connects into PC (324) by netting twine with digital video signal.
6, anti-terror explosive removing robot with multi-degree of freedom and large load manipulator according to claim 1, the audio-frequency unit that it is characterized in that control system (3) is by a 1.2G wireless communication module (309), electronics audiphone (306), microphone (310), video server (311), HUB (313), the one 900M wireless communication module (314), the 2nd 900M wireless communication module (323) is formed, and the voice signal of electronics audiphone (306) is successively by a 1.2G wireless communication link (309), the 2nd 1.2G wireless communication link (318) is transferred to earphone (317); The on-the-spot sound that microphone (310) is gathered, carry out data signal conversion back by a 900M wireless communication module (314), the 2nd 900M wireless communication module (323) through video server (311) and HUB (313) successively, 900M wireless communication module (323) connection PC (324).
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| CNA2008102007809A CN101362330A (en) | 2008-09-27 | 2008-09-27 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
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| CNA2008102007809A CN101362330A (en) | 2008-09-27 | 2008-09-27 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
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2008
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