CN113334344A

CN113334344A - Special operation robot and special operation robot system

Info

Publication number: CN113334344A
Application number: CN202110499311.7A
Authority: CN
Inventors: 钱钟锋; 王琳; 全锋; 陈大亮
Original assignee: Wanxun Technology Shenzhen Co ltd
Current assignee: Wanxun Technology Shenzhen Co ltd
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2021-09-03

Abstract

The invention relates to the technical field of robots and provides a special operation robot and a special operation robot system. The movable chassis can drive the special operation robot to flexibly move; the body part main body is arranged on the movable chassis in a swinging manner and can perform pitching motion; the two mechanical arms are respectively positioned at two sides of the body part main body, and the mechanical arms are provided with a plurality of joints and can flexibly drive the end effector to operate; the end effector is fixedly arranged at the tail end of the mechanical arm; the camera shooting devices are arranged at the top end of the body part main body, the end effector, the front end and the rear end of the movable chassis and the top end respectively. The invention provides a special operation robot and a special operation robot system, and solves the problems of limited operation space, poor operation flexibility and low operation efficiency of the special operation robot. The special operation robot can realize double-arm cooperative operation through the portable remote control device and execute inspection and maintenance tasks in complex and high-risk environments.

Description

Special operation robot and special operation robot system

Technical Field

The invention relates to the technical field of robots, in particular to a special operation robot and a special operation robot system.

Background

The special operation robot is a kind of robot which is developed rapidly and widely used in recent years, and is applied to various industries of national economy in China. The application range mainly comprises: agriculture, electric power, building, logistics, medical treatment, nursing, rehabilitation, security and rescue, military, nuclear industry, mining, petrochemical, municipal engineering, and the like.

Traditional special work robot is mainly used to realize patrolling and examining the function more, patrols and examines the robot like electric power patrols and examines, the piping lane is patrolled and examined, the garden is patrolled and examined and the danger chemical plant patrols and examines, and this type of robot does not possess the arm or only carries on a single arm, and the operation kind that can carry out is few. When the special environment faces the requirements of maintenance or operation and maintenance, the traditional inspection robot cannot effectively replace manual work to carry out on-site physical operation, and the special operation robot mainly has a monitoring function but cannot actually solve the problem.

Although in fields such as searching for arranging and exploding robot, pipeline robot, underwater robot and unmanned aerial vehicle, there has been the special type work robot that can remote control, even though search for arranging and exploding robot and underwater work robot, most special type work robot carries on single arm and the degree of freedom is lower, and the workspace is limited, and the job task is also equally limited, and other types of special type work robot carries on the arm less.

In the prior patent known to the inventor, please refer to fig. 1, the chinese patent application No. 201810739677.5, which provides a technical solution for a high-degree-of-freedom explosive-handling robot and a control method thereof. The high-freedom-degree explosive-handling robot comprises a moving chassis 1 and a multi-freedom-degree mechanical arm 2, wherein the moving chassis 1 is provided with traveling wheels 10 and a longitudinal support 31, a global vision sensor 3 is connected to the longitudinal support 31, and the front end of the multi-freedom-degree mechanical arm 2 is connected with an end effector 21 and an end vision sensor 22. The multi-degree-of-freedom mechanical arm 2 comprises a first section arm and a second section arm, the first section arm and the second section arm can be connected in a swinging mode, and a driving motor can be arranged between the first section arm and the second section arm to control the swinging angle between the first section arm and the second section arm. However, the explosion-removing robot is rigid, has limited working space and lacks working flexibility, and is generally used for explosion-removing operation.

Disclosure of Invention

The invention aims to provide a special operation robot and a special operation robot system, and aims to solve the technical problem that the existing special operation robot is poor in operation flexibility.

In order to achieve the purpose, the invention adopts the technical scheme that: a special work robot comprising:

moving the chassis;

the camera device is used for sensing the surrounding environment of the special operation robot;

a body main body which is installed on the movable chassis in a swinging manner;

the two mechanical arms are respectively positioned on two sides of the body part main body, the head ends of the mechanical arms are mounted on the body part main body, and the mechanical arms are provided with a plurality of joints;

and the end effector is fixedly arranged at the tail end of the mechanical arm.

In one embodiment, the joint comprises a swing joint, the swing joint comprises a mounting seat and a swing arm, the mounting seat is provided with a first mounting plate and a second mounting plate, two sides of the end part of the swing arm are respectively and rotatably connected with the first mounting plate and the second mounting plate, and crossed roller bearings are arranged between the swing arm and the first mounting plate and between the swing arm and the second mounting plate.

In one embodiment, the robot arm includes a shoulder, a big arm, an elbow, a small arm, and a wrist connected in this order, and the joints have seven, which are a first rotary joint connecting the body main body and the shoulder, a first swing joint provided in the shoulder, a second rotary joint connecting the big arm and the elbow, a second swing joint provided in the elbow, a third rotary joint connecting the small arm and the wrist, a third swing joint provided in the wrist, and a fourth rotary joint provided in the end of the wrist, respectively.

In one embodiment, the end effector comprises an effector mounting portion and an effector working portion mounted on the effector mounting portion, the effector mounting portion is provided with a mounting piece extending towards the fourth rotary joint, the mounting piece is provided with a first mounting hole penetrating through the mounting piece, and the effector mounting portion is further provided with a limiting piece extending towards the fourth rotary joint;

the fourth rotary joint includes wrist casing and rotatory installation department, rotatory installation department rotationally install in wrist casing, rotatory installation department has the confession the installation piece inserts the first mounting groove of establishing, the lateral wall of rotatory installation department have the position with the corresponding second mounting hole in position of first mounting hole, rotatory installation department still has the confession the spacing groove that the spacing piece was inserted and is established.

In one embodiment, the fourth rotary joint further includes a force sensor and a driving motor, the driving motor is installed inside the wrist housing, the force sensor is respectively connected to an output shaft of the driving motor and the end effector, and the force sensor is configured to detect a connection stress between the driving motor and the end effector.

In one embodiment, the joint includes a drive motor and a brake for mechanically locking the drive motor.

In one embodiment, the imaging device further comprises a first imaging device rotatably mounted to the top of the body portion body about a first vertical axis.

In one embodiment, the camera device further comprises a second camera device and a column, the column is mounted to the moving chassis, and the second camera device is rotatably mounted on the top of the column about a second vertical axis.

In one embodiment, the imaging device further comprises at least one of:

a third camera device mounted to the end effector at an inclination such that the third camera device faces a front portion of the end effector;

the fourth camera device is arranged on the front side of the movable chassis; and

and the fifth camera device is arranged on the rear side of the movable chassis.

In one embodiment, the moving chassis includes a chassis body and a mount to which the body main body is swingably mounted, the mount being detachably mounted to the chassis body.

The invention also provides a special operation robot system which comprises an operation device and any one special operation robot, and further comprises a controller, wherein the operation device comprises an operation system in communication connection with the controller and a multi-dimensional controller electrically connected with the operation system, the multi-dimensional controller is used for inputting multi-dimensional data for controlling the movement of the tail end of the mechanical arm, and the operation system generates a multi-dimensional pose control command according to the multi-dimensional data and sends the multi-dimensional pose control command to the controller.

The special operation robot and the special operation robot system provided by the invention have the beneficial effects that: the mobile chassis can drive the special operation robot to flexibly move, each mechanical arm is provided with a plurality of joints, the two mechanical arms are like human double arms, the body part can swing in a pitching manner, the end effector can flexibly and safely move under the assistance of the camera device, the operation space is greatly expanded, the operation flexibility is improved, the technical problem that the operation flexibility of the special operation robot is insufficient is solved, and diversified field operation tasks can be executed.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a explosive ordnance disposal robot in the prior art;

fig. 2 is a front view of a special work robot provided by an embodiment of the present invention;

FIG. 3 is a left side view of FIG. 2;

fig. 4 is a perspective view of the special work robot of fig. 2;

fig. 5 is a further perspective view of the special work robot of fig. 4;

fig. 6 is a schematic structural view of a robot arm of the special working robot in fig. 4;

fig. 7 is a schematic structural view of an end effector of the special working robot in fig. 4;

FIG. 8 is an exploded view of the end effector of FIG. 7;

FIG. 9 is a schematic view of the upper cover of the end effector of FIG. 8;

fig. 10 is a connection diagram of the actuator mounting part of the end effector and the wrist part of the robot arm in fig. 4;

FIG. 11 is an exploded view of FIG. 10;

FIG. 12 is an exploded view from another perspective of FIG. 10;

FIG. 13 is a view of the first protective cover and the second protective cover of FIG. 4 attached to the body portion;

FIG. 14 is a schematic view of the swing joint of the robot arm of FIG. 1;

FIG. 15 is a schematic view showing a specific structure of a swing joint of the robot arm in FIG. 1;

fig. 16 is a schematic structural diagram of a manipulation device of a special-purpose work robot system according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1-a movable chassis, 10-a running wheel, 2-a multi-degree-of-freedom mechanical arm, 21-an end effector, 22-an end vision sensor, 3-a global vision sensor and 31-a longitudinal support;

100-moving chassis, 101-chassis body, 102-support; x-a first vertical axis, Y-a second vertical axis;

200-body main body;

300-a robot arm, 301-a first rotary joint, 302-a first swing joint, 303-a second rotary joint, 304-a second swing joint, 305-a third rotary joint, 306-a third swing joint, 307-a fourth rotary joint, 310-a shoulder, 320-a big arm, 330-an elbow, 340-a small arm, 350-a wrist, 351-a wrist housing, 3511-a first reset wire, 352-a rotary adapter, 3521-a second reset wire, 353-a rotary mounting part, 3531-a first mounting groove, 3532-a second mounting hole, 354-a rubber sleeve, 360-a swing joint, 361-a mounting seat, 3611-a first mounting plate, 3612-a second mounting plate, 362-a swing arm, 371-a force sensor, 372-a driving motor, 373-a reducer, 374-an encoder, 375-a brake;

410-a first camera device, 411-a first holder, 420-a second camera device, 421-a column, 422-a second holder, 430-a third camera device, 440-a fourth camera device, 450-a fifth camera device;

500-end effector, 501-second mounting groove, 502-light-transmitting through hole, 510-effector mounting part, 511-mounting piece, 512-first mounting hole, 513-limiting piece, 520-effector working part, 521-first clamping finger, 522-second clamping finger, 523-upper cover, 524-mounting main body and 525-lower cover;

610-first protective cover, 620-second protective cover, 630-protective strip;

700-control device, 710-first display screen, 720-second display screen, 730-multi-dimensional controller, 740-first joystick, 750-second joystick.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 2 to 5, a special work robot includes a moving chassis 100, a camera device for sensing the surrounding environment of the special work robot, a body 200, a robot arm 300, and an end effector 500, wherein the body 200 is mounted on the moving chassis 100 in a swinging manner. The number of the robot arms 300 is two, the two robot arms 300 are respectively located at both sides of the body main body 200, the robot arms 300 have a plurality of joints, and the head ends of the robot arms 300 are mounted to the body main body 200. The end effector 500 is fixedly mounted to the end of the robotic arm 300.

In the technical scheme of the special working robot provided by the invention, the mobile chassis 100 can drive the special working robot to flexibly move, each mechanical arm 300 is provided with a plurality of joints, the two mechanical arms 300 are like human arms, the body part main body 200 can swing in a pitching mode, the end effector 500 can flexibly and safely move under the assistance of the camera device, the working space is greatly expanded, the working flexibility is improved, the technical problem that the special working robot is lack of working flexibility is solved, and diversified field work tasks can be executed.

In an embodiment of the present invention, referring to fig. 14, the joint includes a swing joint 360, the swing joint 360 includes a mounting base 361 and a swing arm 362, the mounting base 361 has a first mounting plate 3611 and a second mounting plate 3612, two sides of an end of the swing arm 362 are respectively rotatably connected to the first mounting plate 3611 and the second mounting plate 3612, a cross roller bearing is disposed between the swing arm 362 and the first mounting plate 3611, and a cross roller bearing is disposed between the swing arm 362 and the second mounting plate 3612.

As such, the joints of the robotic arm 300 include a swing joint 360. In the swing joint 360, the swing arm 362 is supported up and down, so that the swing is more stable, and the large overturning moment can be resisted, so that the special work robot can execute diversified field work tasks.

In one embodiment of the present invention, referring to fig. 6, the robot arm 300 includes a shoulder 310, a big arm 320, an elbow 330, a small arm 340 and a wrist 350 connected in sequence, and the joints are seven, which are a first rotary joint 301 connecting the body 200 and the shoulder 310, a first swing joint 302 of the shoulder 310, a second rotary joint 303 of the big arm 320 and the elbow 330, a second swing joint 304 of the elbow 330, a third rotary joint 305 of the small arm 340 and the wrist 350, a third swing joint 306 of the wrist 350 and a fourth rotary joint 307 of the end of the wrist 350. Thus, the mechanical arm 300 has seven joints, can swing and rotate, greatly improves the flexibility of the mechanical arm 300, and enlarges the operation space and the operation range.

Among them, the first swing joint 302, the second swing joint 304, and the third swing joint 306 belong to the swing joint 360. The large arm 320 is fixedly mounted to the shoulder 310. The small arm 340 is fixedly mounted to the elbow 330.

Optionally, the axes of oscillation or rotation of adjacent joints are perpendicular to each other.

In an embodiment of the present invention, referring to fig. 7, 10, 11 and 12, the end effector 500 includes an effector mounting portion 510 and an effector operating portion 520 mounted on the effector mounting portion 510, the effector mounting portion 510 has a mounting piece 511 extending toward the fourth rotating joint 307, the mounting piece 511 has a first mounting hole 512 penetrating through the mounting piece 511, and the effector mounting portion 510 further has a limiting piece 513 extending toward the fourth rotating joint 307.

The fourth rotary joint 307 includes a wrist housing 351 and a rotary mounting portion 353, and the rotary mounting portion 353 is rotatably mounted to the wrist housing 351. Alternatively, the rotation mounting portion 353 is indirectly mounted to the wrist housing 351 via the rotation adaptor 352. The rotation mounting portion 353 has a first mounting groove 3531 into which the mounting piece 511 is inserted, a side wall of the rotation mounting portion 353 has a second mounting hole 3532 corresponding to the first mounting hole 512, and the rotation mounting portion 353 further has a stopper groove (not shown) into which the stopper piece 513 is inserted.

When the end effector 500 needs to be mounted to the robot arm 300, the operator inserts the mounting pieces 512 of the end effector 500 into the first mounting grooves 3531 of the rotation mounting portion 353, and inserts the stopper pieces 513 into the stopper grooves, and then inserts the fasteners from the circumferential outer side of the robot arm 300 into the first mounting holes 513 and the second mounting holes 3532. In this manner, the mounting plate 512 is inserted into the first mounting groove 3531, so that the end effector 500 is limited in the circumferential direction of the rotation mounting portion 353, the limiting plate 513 limits the end effector 500 in the radial direction of the rotation mounting portion 353, and the fastener is inserted into the first mounting hole 513 and the second mounting hole 3532, so that the end effector 500 is limited in the axial direction of the rotation mounting portion 353, the end effector 500 is tightly connected to the rotation mounting portion 353, and the end effector 500 can rotate relative to the axis of the wrist housing 351 along with the rotation mounting portion 353 and the rotation adaptor 352.

Moreover, the actuator mounting part 510 can be detachably connected with the wrist part 350, so that an operator can conveniently replace the end actuator 500 according to the field working condition, such as a clamping jaw, a shearing pliers, a breaking and detaching device, a laser head and the like.

Alternatively, the number of the mounting pieces 512 is plural, and the plural mounting pieces 512 are uniformly distributed along the circumferential direction of the actuator mounting portion 510. Accordingly, the number of the first mounting grooves 3531 is plural, and the plural first mounting grooves 3531 are uniformly distributed along the circumferential direction of the rotation mounting part 353.

Specifically, referring to fig. 11, the fourth rotating joint 307 further includes a rubber sleeve 354, and the rubber sleeve 354 is detachably sleeved on the side wall of the rotating installation portion 353 to cover the second installation hole 3532.

Note that the rubber boot 354 is omitted from the exploded view in fig. 12.

Specifically, referring to fig. 10 and 11, the wrist housing 351 has a first reset wire 3511 on an outer surface thereof, the rotation mounting portion 353 is mounted to the wrist housing 351 through the rotation adaptor 352, and the rotation adaptor 352 has a second reset wire 3521 on an outer surface thereof. When the first reset wire 3511 is aligned with the second reset wire 3521, the rotary transition 352 is in an initial state. The arrangement of the first and

second reset wires

3511, 3521 facilitates accurate resetting of the end effector 500. For a special work robot, when a work is finished or a process at a certain stage of the work is finished, the end effector 500 needs to be reset so that a subsequent work gives a control instruction of the end effector 500 based on the reset state.

In another embodiment of the present invention, referring to fig. 10 and fig. 15, the fourth rotating joint 307 further includes a force sensor 371 and a driving motor 372. Alternatively, the driving motor 372 is mounted inside the wrist housing 351. The force sensor 371 is respectively connected with the output shaft of the driving motor 372 and the end effector 500, the force sensor 371 is used for detecting the connection stress between the driving motor 372 and the end effector 500 so as to feed stress information back to an operator, the operator can know the actual situation of the end load according to the fed-back stress information, and adjust the posture of the mechanical arm 300, the angle of each joint, the mode and the angle of the end effector 500 for grabbing an object so as to ensure the reliability of grabbing, the mechanical arm 300 can run safely, the allowable load is not exceeded, and the special working robot is not damaged.

In yet another embodiment of the present invention, referring to fig. 15, each joint includes a drive motor 372 and a brake 375, the brake 375 for mechanically locking the drive motor 372. When the special operation robot is powered off or gives an alarm by accident, the brake 375 realizes mechanical forced locking of the driving motor 372.

Referring to fig. 15, in the fourth rotary joint 307, an output shaft of a driving motor 372 is connected to a force sensor 371 through a speed reducer 373.

Specifically, the drive motor 372 is mounted with an encoder 374. In fig. 15, the encoder 374 and the stopper 375 are integrated.

In another embodiment of the present invention, referring to fig. 2 and 3, the camera device further includes a first camera device 410, and the first camera device 410 is rotatably mounted on the top of the body 200 around a first vertical axis X1. The operating personnel more accords with the human eye visual angle when operating personnel operates through the operating space of rotatable first camera device 410 perception position in this special type operation robot place ahead directly perceivedly, need not to carry out visual angle conversion thinking to can succinctly carry out the operation high-efficiently.

Alternatively, referring to fig. 3 and 13, the camera device further includes a first cradle head 411, the first cradle head 411 is rotatably mounted on the top of the body 200 around a first vertical axis X1, and the first cradle head 411 can also be used for driving the first camera device 410 to pitch and swing around a first horizontal axis Y1. In this way, the first imaging device 410 can rotate left and right through the first pan-tilt 411, and can tilt around the first horizontal axis Y1, so that the range of viewing angles is wider.

In another embodiment of the present invention, referring to fig. 2 and 3, the camera device further includes a second camera device 420 and a pillar 421, the pillar 421 is mounted on the moving chassis 100, and the second camera device 420 is rotatably mounted on the top of the pillar 421 around a second vertical axis X2. The second camera device 420 which can be rotated by an operator can sense the surrounding environment at two sides or the rear side of the special operation robot, so that the operation safety is improved.

Specifically, referring to fig. 3, 4 and 5, the camera device further includes a second cradle head 422, the second cradle head 422 is rotatably mounted on the top of the upright 421 around a second vertical axis X2, and the second cradle head 422 is further capable of driving the second camera device 420 to pitch and swing around a second horizontal axis Y2. In this way, the second imaging device 420 can rotate left and right through the second pan-tilt 422, and can tilt around the second horizontal axis Y2, so that the range of viewing angles is wider.

In the foregoing embodiment, the first camera 410 and the second camera 420 can rotate 180 degrees from left to right, and can tilt up and down by no less than 45 degrees, so that the viewing angle is wide, and the robot 300 can be guided to perform fine operations and sense the surrounding environment of the special robot.

Optionally, the first camera 410 and the second camera 420 are both high-definition infrared cameras.

In another embodiment of the present invention, referring to fig. 6 to 8, the camera device further includes a third camera device 430, and the third camera device 430 can be used to assist in guiding the fine operation of the robot 300 and the end effector 500 for close-up observation and monitoring. At the same time, the third imaging device 430 also moves along with the robot arm 300, and can observe the object to be worked at a close distance and at a plurality of angles. The third camera 430 is obliquely installed on the end effector 500, so that the third camera 430 faces the front of the end effector 500, and thus the object to be worked is located at the center of the image taken by the third camera 430, rather than at the edge of the image, which is more convenient for the operator to observe in a close-up view and realize fine work of the end effector 500.

Specifically, referring to fig. 7 to 9, the actuator working portion 520 has a second mounting groove 501 for the third camera 430 to be mounted in an inclined manner. The second mounting groove 501 is used for oblique mounting and positioning of the third camera 430 and protects the third camera 430.

Alternatively, in order to facilitate the third image pickup device 430 to pick up an image, the actuator working part 520 further has a light-transmitting through hole 502 communicating with the second mounting groove 501, or the actuator working part 520 has a light-transmitting plate corresponding to the orientation of the third image pickup device 430.

Optionally, referring to fig. 8, the actuator working part 520 includes a first clamping finger 521, a second clamping finger 522, an upper cover 523, a mounting body 524, and a lower cover 525. The rotating shafts of the first clamping finger 521 and the second clamping finger 522 are rotatably inserted into the inner cavity of the mounting body 524, and the connecting shaft 526 extends into the inner cavity to drive the first clamping finger 521 and the second clamping finger 522 to rotate. The upper cover 523 is attached to the upper side of the attachment body 524, and the lower cover 525 is attached to the lower side of the attachment body 524, thereby covering the rotation shafts of the first and

second clamp fingers

521 and 522 exposed from the attachment body 524 and protecting the attachment body 524.

Alternatively, the upper cover 523 forms the second mounting groove 501, so that the third image pickup device 430 can be relatively independently mounted between the upper cover 523 and the mounting body 524.

In another embodiment of the present invention, referring to fig. 4, the camera device further includes a fourth camera device 440, the fourth camera device 440 is installed at the front side of the mobile chassis 100, and the fourth camera device 440 is used for observing the advancing of the special working robot and the auxiliary guidance of the near-ground working task.

Optionally, the fourth camera 440 is an infrared night vision camera.

In another embodiment of the present invention, referring to fig. 5, the camera device further includes a fifth camera device 450, the fifth camera device 450 is installed at the rear side of the mobile chassis 100, and the fifth camera device 450 is used for observing the backward movement of the special working robot and the auxiliary guidance of the near-ground working task.

Optionally, the fifth camera 450 is an infrared night vision camera.

In addition to the foregoing embodiments, the number of the third photographing devices 430 is the same as that of the robot arms 300, and is two. Therefore, the special operation robot is provided with a multi-view visual system at least comprising six camera devices. The multi-view vision system is used for monitoring the joint motion of the mechanical arm 300 of the special operation robot, the state of the end effector 500 and the surrounding environment information, transmitting the information to the control device 700 in a real-time image form, and displaying multiple paths of image information or amplifying and displaying one path of image information on the first display screen 710 of the control device 700 in real time according to requirements.

In another embodiment of the present invention, referring to fig. 3, the mobile chassis includes a chassis body 101 and a support 102, the body 200 is mounted on the support 102 in a swinging manner, and the support 102 is detachably mounted on the chassis body 101. The body part main body 200 can drive the entire robot arm 300 to pitch, so that the pitching operation can be performed conveniently. During pitching scene operation, the camera device keeps horizontal, which is beneficial for the operator to clearly observe the operation space and guide the mechanical arm 300 to perform fine operation. In addition, the support 102 is detachably provided to facilitate the detachment and installation of the body main body 200.

In the special working robot, the robot arm 300 and the mobile chassis 100 are generally made of rigid and wear-resistant materials, and the body 200 is vertically arranged and has a large volume, and is a central part of the special working robot.

In another embodiment of the present invention, referring to fig. 13, the special-purpose robot further includes a first protective cover 610 and a second protective cover 620, and the first protective cover 610 is detachably connected to the second protective cover 620 to form a receiving cavity for receiving the body part main body 200.

The special work robot further comprises a protection strip 630, and the protection strip 630 is arranged at the joint position of the first protection cover 610 and the second protection cover 620.

In yet another particular embodiment, the mobile chassis 100 may be, but is not limited to, a wheeled chassis, a tracked chassis, or the like. Wherein, the mobile chassis 100 is preferably a crawler chassis, which is more favorable for traveling in special environments such as mud, sand, grassland, and the like, and has stronger climbing capability and is less prone to heeling and jamming compared with a wheel chassis.

In yet another embodiment, the mobile chassis 100 has a nacelle and tracks mounted to the nacelle. The controller of the special operation robot is stored in the cabin body. The body part main body 200 is installed at the top of the cabin. The controller may be comprised of any suitable processing system (e.g., a suitably programmed single-chip microcomputer, PC, computer server, etc.).

In a further embodiment, batteries are detachably mounted on the two outer sides of the cabin body, and the batteries are used for supplying electric energy to the special operation robot. The battery is located the outside of the cabin body, and the operating personnel quick replacement battery of being convenient for.

Referring to fig. 16, the present invention further provides a special type of operation robot system, which includes a control device 700 and any one of the special type of operation robots described above, the special type of operation robot further includes a controller, the control device 700 includes a control system in communication connection with the controller and a multidimensional controller 730 electrically connected to the control system, the multidimensional controller 730 is configured to input multidimensional data for controlling the movement of the end of the robot 300, and the control system generates a multidimensional pose control command according to the multidimensional data and sends the command to the controller.

The multidimensional controller 730 outputs multidimensional data to the control system according to the operation action input by the operator, where the multidimensional data may be incremental multidimensional data or absolute multidimensional data. The control instructions sent by the control system to the controller include a multi-dimensional pose control instruction for controlling the mechanical arm 300 of the special robot, a vector instruction for controlling the motion of the mobile chassis 100, and a vector instruction for controlling the pitching motion of the body 200 and controlling the motion of different electric holders. For example, the controller receives the multi-dimensional pose control instruction, performs analysis calculation in combination with the real-time state of the robot 300, transmits the obtained joint motion instruction of the robot 300 to the robot 300, and controls the robot 300 to move according to the expected requirement. In this way, the multidimensional manipulator 730 can control the robot 300 to realize global motion within the effective working space.

The special work robot system includes the special work robot, and accordingly, has the technical effects of the special work robot, which will not be described in detail herein.

Optionally, the multidimensional manipulator 730 is a 3D mouse, and the 3D mouse obtains multidimensional data based on the operation action of the operator.

The number of the multi-dimensional manipulators 730 corresponds to the number of the robot arms 300.

Optionally, referring to fig. 16, the control device 700 further includes a first display 710, a second display 720, a first joystick 740, and a second joystick 750.

The first display screen 710 is used to display an image captured by an image capturing device, such as the first image capturing device 410, the second image capturing device 420, the third image capturing device 430, the fourth image capturing device 440, or the fifth image capturing device 450. Of course, the first display screen 710 may also display images taken by several cameras at the same time. The second display screen 720 is used to display the stress information detected by the force sensor, and the motor status at each joint of the robot arm 300.

The first joystick 740 is used to control the first camera 410 to rotate about a first vertical axis X1 and to rotate about a first horizontal axis Y1. The second joystick 750 is used to control the second camera 420 to rotate about the second vertical axis X2 and to rotate about the second horizontal axis Y2.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A special operation robot which is characterized in that: the method comprises the following steps:

moving the chassis;

and the end effector is fixedly arranged at the tail end of the mechanical arm.

2. A special working robot according to claim 1, characterized in that: the joint includes swing joint, swing joint includes mount pad and swing arm, the mount pad has first mounting panel and second mounting panel, the tip both sides of swing arm respectively with first mounting panel the second mounting panel rotates to be connected, the swing arm with between the first mounting panel and the swing arm with all be provided with crossed roller bearing between the second mounting panel.

3. A special working robot according to claim 1, characterized in that: the robot arm comprises a shoulder, a big arm, an elbow, a small arm and a wrist which are connected in sequence, wherein the joints are seven in total, and the seven joints are respectively a first rotary joint for connecting the body main body and the shoulder, a first swinging joint for the shoulder, a second rotary joint for connecting the big arm and the elbow, a second swinging joint for the elbow, a third rotary joint for connecting the small arm and the wrist, a third swinging joint for the wrist and a fourth rotary joint for the tail end of the wrist.

4. A special working robot according to claim 3, characterized in that: the end effector comprises an effector mounting part and an effector working part mounted on the effector mounting part, the effector mounting part is provided with a mounting piece extending towards the fourth rotary joint, the mounting piece is provided with a first mounting hole penetrating through the mounting piece, and the effector mounting part is also provided with a limiting piece extending towards the fourth rotary joint;

5. A special working robot according to claim 4, characterized in that: the fourth rotary joint further comprises a force sensor and a driving motor, the driving motor is installed inside the wrist shell, the force sensor is respectively connected with an output shaft of the driving motor and the end effector, and the force sensor is used for detecting connection stress between the driving motor and the end effector.

6. A special working robot according to claim 1, characterized in that: the joint includes a drive motor and a brake for mechanically locking the drive motor.

7. A special working robot according to claim 1, characterized in that: the camera device further comprises a first camera device which is rotatably mounted on the top of the body part main body around a first vertical axis;

and/or the camera device further comprises a second camera device and a stand column, wherein the stand column is installed on the moving chassis, and the second camera device is rotatably installed on the top of the stand column around a second vertical axis.

8. A special working robot according to claim 1, characterized in that: the image pickup apparatus further includes at least one of:

9. A special work robot according to any of the claims 1-8, characterized in that: the movable chassis comprises a chassis body and a support, the body main body is arranged on the support in a swinging mode, and the support is detachably arranged on the chassis body.

10. A special operation robot system characterized in that: the special type operation robot comprises a control device and a special type operation robot as claimed in any one of claims 1 to 9, and further comprises a controller, wherein the control device comprises a control system in communication connection with the controller and a multi-dimensional controller electrically connected with the control system, the multi-dimensional controller is used for inputting multi-dimensional data for controlling the movement of the tail end of the mechanical arm, and the control system generates a multi-dimensional pose control command according to the multi-dimensional data and sends the command to the controller.