CN109333499A - Dangerous ammunition transfer robot - Google Patents
Dangerous ammunition transfer robot Download PDFInfo
- Publication number
- CN109333499A CN109333499A CN201811239151.7A CN201811239151A CN109333499A CN 109333499 A CN109333499 A CN 109333499A CN 201811239151 A CN201811239151 A CN 201811239151A CN 109333499 A CN109333499 A CN 109333499A
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- China
- Prior art keywords
- mechanical arm
- wrist
- hydraulic cylinder
- gripper
- joint
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The disclosure provides a kind of dangerous ammunition transfer robot, comprising: driving chassis, driving robot spatially moves；Mechanical arm, configuration is on driving chassis, for completing ammunition grasping manipulation；And remote operating control mechanism, the movement on control driving chassis and mechanical arm；Wherein, driving chassis includes walking mechanism, and walking mechanism is for realizing the movement for driving chassis；Walking mechanism includes hub motor, In-wheel motor driving device, band steering suspension, directional drive, disc brake and brake control mechanism；Hub motor drives hub rotation by In-wheel motor driving device, realizes the steering of wheel hub by directional drive with steering suspension, and disc brake makes wheel hub stop operating by brake control mechanism.
Description
Technical field
This disclosure relates to a kind of robot field more particularly to a kind of dangerous ammunition transfer robot.
Background technique
To the processing method that dangerous ammunition is usually taken be on the spot ignite destroy, but practice in usually due to place, environment,
All many condition limitations such as security protection requirement, directly igniting to destroy can not achieve, can only be by its safe transfer to suitable place
Otherwise processed.And in the handling process of ammunition, such as the detection of ammunition, positioning, clamping carry etc. cargo handling operations exist compared with
Therefore how big risk guarantees the personal safety of operating personnel, avoid and reduce loss to greatest extent, is ammunition processing
A technology problem urgently to be resolved.Nowadays, with the development of robot and industrial automation technology, for the peace of dangerous ammunition
Full processing provides new thinking.Currently, technical staff turns safely for robot technology is applied to dangerous ammunition both at home and abroad
Shifting correlative study work have been achieved for certain progress, still, same machines people there are still complete machine structure complexity, volume compared with
Greatly, the technical problems such as weight capacity is less than normal, and operation amplitude and range are limited, and the cost of high performance robot is all relatively more high
The defects of expensive, and there are dismounting maintenance difficults.
Summary of the invention
In order to solve at least one above-mentioned technical problem, the disclosure provides a kind of dangerous ammunition transfer robot.
According to one aspect of the disclosure, dangerous ammunition transfer robot includes:
Chassis is driven, driving robot spatially moves；
Mechanical arm, configuration is on driving chassis, for completing ammunition grasping manipulation；And
Remote operating control mechanism, the movement on control driving chassis and mechanical arm；
Wherein, driving chassis includes walking mechanism, and walking mechanism is for realizing the movement for driving chassis；
Walking mechanism include hub motor, In-wheel motor driving device, band steering suspension, directional drive, disc brake and
Brake control mechanism；Hub motor drives hub rotation by In-wheel motor driving device, and band steering suspension is driven by turning to
Dynamic device realizes the steering of wheel hub, and disc brake makes wheel hub stop operating by brake control mechanism.
According at least one embodiment of the disclosure, chassis is driven further include:
Chassis sensing system, including roof camera head, rangefinder and obliquity sensor；
Roof camera head is for shooting image；
Rangefinder is used to measure the gripper of mechanical arm at a distance from ground；
Obliquity sensor for robot measurement climbing when and ground angle, operating range and course data.
According at least one embodiment of the disclosure, chassis is driven further include:
Chassis communication system, image and data for acquiring chassis sensing system are transmitted to remote operating control machine
The control instruction of remote operating control mechanism is sent to driving chassis by structure.
According at least one embodiment of the disclosure, chassis is driven further include:
Master controller receives remote operating control for receiving and parsing through the image and data of the acquisition of chassis sensing system
The control instruction of mechanism, motion control calculate, and transmit control instruction to In-wheel motor driving device and directional drive.
According at least one embodiment of the disclosure, mechanical arm includes:
Mechanical arm actuator system, including gripper subsystem, wrist subsystem, elbow joint subsystem and shoulder joint subsystem
System；
Gripper subsystem includes gripper equidistance line marking device, gripper angular transducer and pressure sensor, and gripper equidistance line marking device is used
In measurement gripper subsystem at a distance from ammunition, gripper angular transducer is used to measure the crawl angle of gripper subsystem, pressure
Sensor is used to measure pressure when gripper subsystem crawl ammunition；
Wrist subsystem includes wrist pitch angle sensor, wrist angular sensor and wrist four-bar mechanism,
Wrist pitch angle sensor and wrist angular sensor are respectively used to detection wrist subsystem in pitching and rotary motion
When angle, for wrist four-bar mechanism for realizing the pitching movement of wrist subsystem, wrist four-bar mechanism can expand wrist
Joint pitch movement range is to -75 °~+75 °；
Elbow joint subsystem includes Angle of Elbow Joint sensor, warning lamp and PTZ camera, Angle of Elbow Joint sensor
For detecting the movement angle of elbow joint subsystem, when the movement angle of elbow joint subsystem exceeds preset value, warning lamp will
Warning note is issued, PTZ camera is used to shoot the image in robot moving process；
Shoulder joint sub-system includes shoulder joint angular transducer, and shoulder joint angular transducer is for detecting shoulder joint sub-system
Movement angle.
According at least one embodiment of the disclosure, mechanical arm is configured by joint rotating shaft support plate on driving chassis
On.
According at least one embodiment of the disclosure, mechanical arm further include:
One end of shoulder joint hydraulic cylinder, the large arm of the piston rod and mechanical arm of shoulder joint hydraulic cylinder is connect altogether by hinge in machine
On the forearm of tool arm, the other end of shoulder joint hydraulic cylinder and the other end of large arm are respectively hinged on the rotating shaft support plate of joint；
The piston rod of elbow joint hydraulic cylinder, elbow joint hydraulic cylinder is hinged on forearm, the other end hinge of elbow joint hydraulic cylinder
It connects in large arm；
Wrist joint pitching hydraulic cylinder is installed in the middle part of forearm, is attached by wrist four-bar mechanism with wrist joint；
Wrist joint rotating hydraulic cylinder is rotary joint, and rotation is driven using hydraulic screw pair oscillating cylinder, such oscillating cylinder tool
There is the characteristics of big output torque, volume compact, is very suitable to the operating condition of hydraulic manipulator；
Gripper hydraulic cylinder is linear hydraulic cylinder, and tail portion is installed on rotary joint front end, passes through the stretching of linear hydraulic cylinder
Gripper folding is realized in movement.
According at least one embodiment of the disclosure,
The pitching movement of shoulder joint Driven by Hydraulic Cylinder large arm；
The pitching movement of elbow joint Driven by Hydraulic Cylinder forearm；
The carpal pitching movement of wrist joint pitching Driven by Hydraulic Cylinder mechanical arm；
The carpal rotary motion of wrist joint rotating hydraulic cylinder driving mechanical arm；
The open and close movement of the gripper of gripper Driven by Hydraulic Cylinder mechanical arm.
According at least one embodiment of the disclosure, mechanical arm further includes mechanical arm dynamical system, mechanical arm dynamical system
The control instruction united for receiving remote operating control mechanism, and according to control instruction drive mechanical arm actuator system movement,
And the exercise data of mechanical arm actuator system is transmitted to remote operating control mechanism.
According at least one embodiment of the disclosure, remote operating control mechanism includes:
Monitor, for showing the image of roof camera head shooting；
Computer sends control instruction to driving chassis and mechanical arm, receives and parsing is from driving chassis and mechanical arm
Data；
Operation panel, computer send control instruction to driving chassis and mechanical arm by operation panel, and computer passes through
Operation panel shows the data from driving chassis and mechanical arm.
Detailed description of the invention
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principles of this disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and constitutes this
Part of specification.
Fig. 1 is the dangerous ammunition transfer robot decomposition chart according at least one embodiment of the disclosure.
Fig. 2 is the car body composition block diagram according at least one embodiment of the disclosure.
Fig. 3 is the walking mechanism composition block diagram according at least one embodiment of the disclosure.
Fig. 4 is the mechanical arm organisational chart according at least one embodiment of the disclosure.
Fig. 5 is the mechanical arm actuator system overall construction drawing according at least one embodiment of the disclosure.
Fig. 6 is the hardware composition block diagram according to the remote operating control mechanism of at least one embodiment of the disclosure.
Specific embodiment
The disclosure is described in further detail with embodiment with reference to the accompanying drawing.It is understood that this place
The specific embodiment of description is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that being
Convenient for description, part relevant to the disclosure is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can
To be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
The dangerous ammunition transfer robot of the disclosure can be executed in dangerous ammunition disposal task prospecting, crawl, carrying,
Place the tasks such as dangerous ammunition.
In an optional embodiment of the disclosure, dangerous ammunition transfer robot is mainly (such as complete by driving chassis
Electric drive chassis), mechanical arm and remote operating control mechanism (hereinafter referred to as OCU) composition.Dangerous ammunition transfer robot decomposes knot
Composition is as shown in Figure 1.
Full electric drive chassis mainly passes through the long-range control of OCU, realizes the locomotivity of dangerous ammunition transfer robot, example
Such as spatially one way or round-trip maneuverability and handling capacity between A point and B point.Full electric drive chassis can cooperative mechanical arm
Complete ammunition grasping manipulation.Full electric drive chassis is mainly by car body, chassis sensing system, master controller, chassis communication system
And power-supply system composition.
Specifically, car body is the bearing structure of dangerous ammunition transfer robot, there is rain-proof, antistatic, the full electricity of protection to drive
The function of remaining modules in dynamic chassis；It is simultaneously also the component for realizing full electric drive chassis mobility.
As shown in Fig. 2, car body is mainly made of vehicle frame, walking mechanism and vehicle head clamper.Vehicle frame, including front panel, after
Panel, covering, rear door, left electrical box, right electrical box and bumper.Vehicle head clamper includes heavy switch and clamper branch
Frame.Robot can carry ancillary equipment by vehicle head clamper according to actual needs.Walking mechanism includes suspension system, turns to
Mechanism, tire, driving circuit and brake gear.In the present embodiment, 6 × 6 full landform wheel undercarriages can be used, are conducive to increase
The passability and mobility of extra bus body.Specifically, walking mechanism mainly includes hub motor, In-wheel motor driving device, band turn
To suspension mechanism (such as double A arm sling suspension mechanisms with electric powered steering), directional drive (such as electric cylinder driver), breast wheel
Suspension mechanism (such as double A arm breast wheel suspension mechanisms), disc brake (such as being pumped under disc brake) and brake control mechanism (such as brake electricity
Pumped in machine and brake), as shown in Figure 3.Hub motor drives hub rotation, band steering suspension by In-wheel motor driving device
The steering of wheel hub is realized by directional drive, disc brake makes wheel hub stop operating by brake control mechanism.
Chassis sensing system includes roof camera head, rangefinder and obliquity sensor.Roof camera head is used in machine
People finds ammunition and grabs the image in placement process for operator's shooting clear, and roof camera head can be arranged respectively at car body
Front, rear, left and right, cradle head camera can also be configured on the car body.Rangefinder (such as infrared range-measurement system) may be mounted at machine
The paw section of tool arm or other suitable positions, for measuring gripper at a distance from ground, the mistake for preventing robot from advancing
Gripper contacts to earth in journey.Inertance element built in obliquity sensor and GPS, for measure the robot climbing when and ground angle
The data such as degree, operating range and course.
Master controller mainly by chassis embedded computer, capture card, video selector, data-link module, switching switch,
Air plug, debugging serial interface, indicator lamp groups at.By these components, master controller can be used for receiving and parsing the control from OCU
Instruction, motion control calculate, and the driver into walking mechanism transmits the control instruction.Master controller can be also used for entirely
The acquisition of the status data of main component (such as car body) in electric drive chassis, and collected information package is sent out to OCU
It send.Master controller can also be according to different control instructions or the state of status data control instructions lamp.
Chassis communication system is passed mainly by figure, digital transmission module is realized, including mobile terminal.Chassis communication system can be the bottom of by
The image and data of disk sensing system acquisition are transmitted to OCU and are parsed, and the control instruction of OCU can also be sent to full electricity
Drive chassis.
Full electric drive chassis can also include folding and unfolding cable mechanism, and folding and unfolding cable mechanism can be made of six subsystems, including
Folding and unfolding cable control system, folding and unfolding cable drive system, winding mechanism, take-up mechanism, folding and unfolding cableless communication system and rack.Folding and unfolding cable control
System processed is used to control all parts of folding and unfolding cable mechanism；Folding and unfolding cable drive system provides driving force for folding and unfolding cable mechanism；Spiral
Mechanism be used for by cable it is orderly be wrapped in spool；Take-up mechanism is used for the arrangement of cable, while internal card line detection
Device is by real-time monitoring cable during folding and unfolding, if the failures such as card line occurs；Folding and unfolding cableless communication system is for passing cable
Defeated signal sends OCU to, while being responsible for entire folding and unfolding cable mechanism and the communication of OCU；Shell of the rack as folding and unfolding cable mechanism
And mechanism for installing, it is mainly used for protecting the entire in-house device of folding and unfolding cable not by external condition interference and entire mechanism
Installation and fixation.
The power-supply system on full electric drive chassis includes battery, DC-DC power module, power switch, charging air plug, battery boat
Slotting and deconcentrator.Power-supply system is for realizing on/off electricity, to the power supply of each component, charging, realizes and feeds back to the information of power supply,
And realize the output of multi-channel dc power supply level.
Mechanical arm is the job execution component of dangerous ammunition transfer robot, functional requirement are as follows: can remote control crawl,
Carry the ammunition of different quality, different-diameter.The joints such as shoulder, elbow, wrist can be realized linkage, can also be moved with simple joint, and can
Realize joint fine motion.
In an optional embodiment of the disclosure, mechanical arm is mounted on full electric drive bottom by joint rotating shaft support plate
On disk.Certainly, mechanical arm can also be configured on driving chassis by revolving platform, the lower section configuration revolution oil of revolving platform
Cylinder drives the rotation of mechanical arm by the rotation of control revolving platform.
In an optional embodiment of the disclosure, mechanical arm includes mechanical arm actuator system and mechanical arm dynamical system
System.As shown in Figures 4 and 5, mechanical arm actuator system includes gripper subsystem, wrist subsystem, elbow joint subsystem and shoulder joint
Sub-system.Gripper subsystem includes gripper camera, gripper equidistance line marking device (such as headlamp or optics gauge length equipment), gripper
Angular transducer, pressure sensor, gripper hydraulic cylinder and gripper basic machine.Wherein, gripper camera is for shooting gripper fortune
The image of dynamic process, gripper equidistance line marking device is for measuring gripper subsystem at a distance from ammunition, and gripper angular transducer is for surveying
Crawl angle when gripper subsystem crawl ammunition is measured, pressure sensor is used to measure pressure when gripper subsystem crawl ammunition
Power, gripper hydraulic cylinder provide power for gripper movement.Wrist subsystem includes that (wrist joint pitching is hydraulic for wrist pitching hydraulic cylinder
Cylinder) and pitch angle sensor, wrist rotating hydraulic cylinder (wrist joint rotating hydraulic cylinder) and angular sensor and wrist four
Link mechanism.Wrist pitch angle sensor and wrist angular sensor be respectively used to detection wrist subsystem in pitching and
Angle when rotary motion.Wrist pitching hydraulic cylinder configures in the middle part of forearm, is carried out by wrist four-bar mechanism and wrist joint
Connection, wrist four-bar mechanism can effectively expand wrist joint pitch movement range to -75 °~+75 °.Wrist rotates liquid
Cylinder pressure is rotary joint, and rotation is driven using hydraulic screw pair oscillating cylinder, such oscillating cylinder big, volume compact with output torque
The characteristics of, it is very suitable to the operating condition of hydraulic manipulator.The tail portion of gripper hydraulic cylinder is installed on the front end of rotary joint.Gripper is hydraulic
Cylinder is linear hydraulic cylinder, realizes gripper folding by the extensional motion of linear hydraulic cylinder.
In an optional embodiment of the disclosure, one can also be configured between gripper subsystem and wrist subsystem
Telescopic arm (not shown).Telescopic arm, which can be worn, to be connect in the forearm of mechanical arm, is realized by extension and contraction control motor flexible
The stretching motion of arm, to adjust distance of the gripper away from ammunition.Elbow joint subsystem includes elbow joint hydraulic cylinder, Angle of Elbow Joint
Sensor, warning lamp, PTZ camera and fixator.The piston rod of elbow joint hydraulic cylinder is hinged on forearm, and elbow joint is hydraulic
The other end of cylinder is hinged in the large arm of mechanical arm；Elbow joint hydraulic cylinder provides power for the pitching movement of mechanical arm elbow joint.
Angle of Elbow Joint sensor is used to detect the pitch angle of elbow joint subsystem, when the pitch angle of elbow joint exceeds preset value
When, warning lamp will issue warning note, and PTZ camera is used to shoot the image in robot moving process.Shoulder joint sub-system
Go rancid mechanism including shoulder joint hydraulic cylinder, shoulder joint angular transducer, foundation ring pedestal and cabling.The piston rod of shoulder joint hydraulic cylinder
It is connect on the forearm of mechanical arm altogether with one end of the large arm of mechanical arm by hinge, the other end of shoulder joint hydraulic cylinder and large arm
The other end is respectively hinged on the rotating shaft support plate of joint；Shoulder joint hydraulic cylinder provides dynamic for the pitching movement of mechanical arm shoulder joint
Power.Shoulder joint angular transducer is used to detect the pitch angle of shoulder joint.Joint rotating shaft support plate is mounted on by foundation ring pedestal
Above car body.Cabling goes rancid mechanism configuration in shoulder joint, elbow joint and wrist joint.
Mechanical arm dynamical system includes hydraulic power unit, hydraulic control subsystem, cooling subsystem and electrical control subsystem.
Hydraulic power unit configures promising mechanical arm and provides motor, hydraulic pump, hydraulic oil container and the pumping plant valve block of power.Hydraulic control subsystem
Main control valve group, balanced valve valve group, hydraulic filter and hydraulic controller configured with control dynamical system.Cooling subsystem is matched
It is equipped with the hydraulic cooler and pumping plant fan of the cooling for dynamical system, and the oil temperature sensor and motor temperature of detection temperature
Sensor.Electrical control subsystem includes electric machine controller, DC-DC power module, temperature relay and air plug head.Mechanical arm is dynamic
Force system is used to receive the control instruction of OCU, and the movement of mechanical arm actuator system is driven according to control instruction, be also used to by
The exercise data of mechanical arm actuator system is transmitted to OCU, and exercise data includes image and the relevant data of angle.
The hardware system of OCU is mainly made of cabinet, display, embedded controller and power supply.More specifically, such as Fig. 6
Shown, OCU hardware composition includes cabinet, monitor, operation panel, OCU embedded computer (including liquid crystal display), power supply
(can be battery) and OCU communication device.Wherein, cabinet is the main carrying of OCU and structure member.Monitor is image or view
The window of frequency monitoring display, is located at cabinet flip position.Operation panel is located at box cover plate position, including holds on operation panel
Key, control stick, indicator light, antennal interface, charge port of load etc. and relative part processing circuit.OCU is embedded
Operation has OCU to control software, main realization and the communication of driving chassis on computer, and shows that user hands on a liquid crystal display
Mutual interface.Content with the communication of driving chassis includes that the telecommand on driving chassis is transmitted to from OCU, further includes from driving chassis
It is transmitted to the state data on the driving chassis of OCU and the image of shooting.Power supply is powered to all electricity consumption devices in the inside OCU.Built in OCU
Communication device (such as single-ended wireless communication apparatus), for the communication device with driving chassis, i.e. chassis communication system realizes figure
The transmission of picture and data.
In an optional embodiment of the disclosure, at work, the communication of OCU first fills dangerous ammunition transfer robot
It sets and realizes communication with chassis communication system, assignment instructions are sent to the master controller on driving chassis, master controller refers to task
The driver for being transmitted to car body is enabled, car body is driven to move to reach designated place according to assignment instructions.In car body moving process, pass
Sensor system is by the image shot on the way or video, mechanical arm gripper at a distance from ground, the data such as course data, operating range
Real-time transmission is parsed to OCU, to be adjusted in time to instruction.After robot reaches designated place, OCU will be to machinery
The assignment instructions of arm are sent to mechanical arm dynamical system, and the movement of mechanical arm actuator system is controlled by mechanical arm dynamical system,
It is respectively closed by the Driven by Hydraulic Cylinder of mechanical arm shoulder joint sub-system, elbow joint subsystem, wrist joint subsystem and gripper subsystem
The pitching or rotary motion of section and the grasping movement of gripper, until successfully grabbing ammunition.Process of the mechanical arm in the task of execution
In, the angular transducer in gripper and each joint compares and analyzes movement angle data real-time transmission to OCU and preset value.Together
When gripper camera, and positioned at elbow joint PTZ camera will respectively shoot gripper and this mechanical arm job state figure
Picture or video real-time transmission are analyzed to OCU, are adjusted assignment instructions for operator and are provided reference frame, it is ensured that homework precision.
In conclusion the dangerous ammunition transfer robot of the disclosure can be remote using digital signal processor and optimization algorithm
Journey remote control operation machinery arm and driving chassis can accurately realize the crawl of ammunition and carry task, and mechanical arm gripper can grab
Take the ammunitions such as the ammunition of multiple diameter and different quality, such as mortar projectile, anisotropic bullet, band empennage.Photographic device and multiple angle
The configuration for spending sensor and pressure sensor, is conducive to be accurately placed at ammunition on Cutting platform and carries out subsequent operation.Using
The passability of car body may be implemented either in flat medium hardness soil or thick grass landform in full landform wheel undercarriage
With mobility, and increase car body anti-top vibration ability.Disclosed technique scheme is in unmanned explosive, dangerous ammunition disposal, big
A variety of occasions such as type dangerous material disposition can be applied, and easy to operate, cost is relatively low.
It will be understood by those of skill in the art that above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- be defined to the scope of the present disclosure.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (10)
1. a kind of danger ammunition transfer robot characterized by comprising
Chassis is driven, the robot is driven spatially to move；
Mechanical arm configures on the driving chassis, for completing ammunition grasping manipulation；And
Remote operating control mechanism controls the movement on the driving chassis and the mechanical arm；
Wherein, the driving chassis includes walking mechanism, and the walking mechanism is for realizing the movement for driving chassis；
The walking mechanism include hub motor, In-wheel motor driving device, band steering suspension, directional drive, disc brake and
Brake control mechanism；The hub motor drives hub rotation, the band steering suspension machine by the In-wheel motor driving device
Structure realizes the steering of wheel hub by the directional drive, and the disc brake makes wheel hub stop turning by the brake control mechanism
It is dynamic.
2. robot according to claim 1, which is characterized in that the driving chassis further include:
Chassis sensing system, including roof camera head, rangefinder and obliquity sensor；
The roof camera head is for shooting image；
The rangefinder is used to measure the gripper of the mechanical arm at a distance from ground；
The obliquity sensor be used for measure the robot climbing when and ground angle, operating range and course data.
3. robot according to claim 2, which is characterized in that the driving chassis further include:
Chassis communication system, image and data for acquiring the chassis sensing system are transmitted to the remote operating control
The control instruction of the remote operating control mechanism is sent to the driving chassis by mechanism.
4. robot according to claim 3, which is characterized in that the driving chassis further include:
Master controller receives the remote operating for receiving and parsing through the image and data of the chassis sensing system acquisition
The control instruction of control mechanism, motion control calculate, and to described in the In-wheel motor driving device and directional drive transmission
Control instruction.
5. robot according to claim 1 or 4, which is characterized in that the mechanical arm includes:
Mechanical arm actuator system, including gripper subsystem, wrist subsystem, elbow joint subsystem and shoulder joint sub-system；
The gripper subsystem includes gripper equidistance line marking device, gripper angular transducer and pressure sensor, the gripper gauge length dress
It sets for measuring the gripper subsystem at a distance from ammunition, the gripper angular transducer is for measuring the gripper subsystem
Crawl angle, the pressure sensor is used to measure pressure when gripper subsystem crawl ammunition；
The wrist subsystem includes wrist pitch angle sensor, wrist angular sensor and wrist four-bar mechanism,
The wrist pitch angle sensor and wrist angular sensor be respectively used to detect the wrist subsystem in pitching and
Angle when rotary motion, pitching movement of the wrist four-bar mechanism for realizing the wrist subsystem, the wrist
Four-bar mechanism can expand wrist joint pitch movement range to -75 °~+75 °；
The elbow joint subsystem includes Angle of Elbow Joint sensor, warning lamp and PTZ camera, and the Angle of Elbow Joint passes
Sensor is used to detect the movement angle of the elbow joint subsystem, when the movement angle of the elbow joint subsystem exceeds preset value
When, the warning lamp will issue warning note, and the PTZ camera is used to shoot the image in the robot moving process；
The shoulder joint sub-system includes shoulder joint angular transducer, and the shoulder joint angular transducer is for detecting the shoulder joint
The movement angle of sub-system.
6. robot according to claim 5, which is characterized in that the mechanical arm is configured by joint rotating shaft support plate
On the driving chassis.
7. robot according to claim 6, which is characterized in that the mechanical arm further include:
One end of shoulder joint hydraulic cylinder, the large arm of the piston rod and mechanical arm of the shoulder joint hydraulic cylinder is connect altogether by hinge
On the forearm of the mechanical arm, the other end of the shoulder joint hydraulic cylinder and the other end of the large arm are respectively hinged at described
On the rotating shaft support plate of joint；
The piston rod of elbow joint hydraulic cylinder, the elbow joint hydraulic cylinder is hinged on the forearm, the elbow joint hydraulic cylinder
The other end is hinged in the large arm；
Wrist joint pitching hydraulic cylinder, is installed on the middle part of the forearm, is carried out by the wrist four-bar mechanism and wrist joint
Connection；
Wrist joint rotating hydraulic cylinder is driven using hydraulic screw pair oscillating cylinder；
Gripper hydraulic cylinder is linear hydraulic cylinder, and gripper hydraulic cylinder tail portion is installed on wrist joint rotating hydraulic cylinder front end,
Gripper folding is realized by the extensional motion of the linear hydraulic cylinder.
8. robot according to claim 7, which is characterized in that
The pitching movement of large arm described in the shoulder joint Driven by Hydraulic Cylinder；
The pitching movement of forearm described in the elbow joint Driven by Hydraulic Cylinder；
The carpal pitching movement of mechanical arm described in the wrist joint pitching Driven by Hydraulic Cylinder；
The wrist joint rotating hydraulic cylinder drives the carpal rotary motion；
The open and close movement of the gripper of mechanical arm described in the gripper Driven by Hydraulic Cylinder.
9. robot according to claim 7 or 8, which is characterized in that the mechanical arm further include:
Mechanical arm dynamical system receives the control instruction of the remote operating control mechanism, and drives institute according to the control instruction
The movement of mechanical arm actuator system is stated, and the exercise data of the mechanical arm actuator system is transmitted to the remote operating
Control mechanism.
10. robot according to any one of claim 1 to 9, which is characterized in that the remote operating control mechanism packet
It includes:
Monitor, for showing the image of the roof camera head shooting；
Computer sends control instruction to the driving chassis and the mechanical arm, receives and parsing comes from the driving chassis
With the data of the mechanical arm；And
Operation panel, the computer send control to the driving chassis and the mechanical arm by the operation panel and refer to
It enables, the computer shows the data from the driving chassis and the mechanical arm by the operation panel.
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| CN201811239151.7A CN109333499A (en) | 2018-10-23 | 2018-10-23 | Dangerous ammunition transfer robot |
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| CN111604936A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Hydraulic mechanical arm wrist |
| CN112350616A (en) * | 2020-10-29 | 2021-02-09 | 德鲁动力科技(海南)有限公司 | Control circuit of foot type robot |
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Application publication date: 20190215 |