CN104816300A - Swing arm type track explosive-handling robot and walking method thereof - Google Patents
Swing arm type track explosive-handling robot and walking method thereof Download PDFInfo
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- CN104816300A CN104816300A CN201510084953.5A CN201510084953A CN104816300A CN 104816300 A CN104816300 A CN 104816300A CN 201510084953 A CN201510084953 A CN 201510084953A CN 104816300 A CN104816300 A CN 104816300A
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- 238000000034 method Methods 0.000 title claims abstract description 7
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 239000002360 explosive Substances 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000003028 elevating effect Effects 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 210000002310 elbow joint Anatomy 0.000 description 18
- 210000000323 shoulder joint Anatomy 0.000 description 13
- 210000000245 forearm Anatomy 0.000 description 11
- 210000003857 wrist joint Anatomy 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000009194 climbing Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
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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 discloses a swing arm type track explosive-handling robot. The swing arm type track explosive-handling robot comprises a car body, a mechanical arm, a mechanical jaw and a visual monitoring system, wherein the car body (4) comprises a box (20), four tires (7), four tire track wheels (19), two tire tracks (16), four small track wheels (5), four swing arm tracks (6) and two sets of swing arms (10); the tires (7), the tire track wheels (19), the tire tracks (16), the small track wheels (5) and the swing arm tracks (6) are symmetrically arranged at the two sides of the box; the two sets of swing arms are respectively positioned at the front side and back side of the box; and a tire motor (23) and a swing arm motor (22) are fixedly connected with the box. The swing arms (10) are driven by the swing arm motor (22) to vertically move. The invention further provides a walking method of the robot. The robot can smoothly walk in a complex terrain.
Description
Technical field
The invention belongs to safety-security area, relate to a kind of explosive-removal robot can getting rid of explosive in complicated landform.
Background technology
Along with the develop rapidly of science and technology, terrorism is also becoming increasingly rampant, law-breaker's home-made explosives, and the ability of self-control remote control and time bomb device is also more and more stronger, causes threat, cause fear to the people of various countries to countries in the world.The destruction that terrorist activity brings and injures and deaths are also increasingly sharpened, and meanwhile in the disposal of dangerous and burst accident, the application of robot is increasingly extensive.
Explosive-removal robot can replace manually entering deathtrap and carry out investigations, and gets rid of explosive.At present, international market mostly is land formula explosive-removal robot, and explosive case in the rugged terrain environment of complexity is increasing, requires more and more higher to bottom car body simultaneously, also more and more ripe to the exploitation of car body, but also there is certain defect, mobility is poor, and layout is unbalance, obstacle climbing ability is poor, comparatively high obstacle can not be crossed, can not speeling stairway, the level land of surface conditions complexity can only be passed through.
Summary of the invention
In view of the defect of above-mentioned prior art, the technical problem that the present invention solves is: based on a kind of swing arm crawler type explosive-removal robot, provide the mode that it advances in various landform.Technical scheme of the present invention is as follows:
A kind of swing arm crawler belt explosive-removal robot, comprises car body (4), mechanical arm (2), is positioned at mechanical arm (2) front end and for the mechanical paw (1-1) that clamps explosive and visual surveillance system, it is characterized in that,
Described car body (4) comprises casing (20), 4 tires (7), 4 both tyre and crawler wheels (19), two both tyre and crawlers (16), 4 little Athey wheels (5), 4 swing arm crawler belts (6) and 2 groups of swing arms (10), described tire (7), both tyre and crawler wheel (19), both tyre and crawler (16) and little Athey wheel (5) and swing arm crawler belt (6) are symmetrically distributed in casing both sides, 2 groups of swing arms lay respectively at front and the rear of casing, and tire motor (23) is fixedly connected with casing with swing arm motor (22);
Each tire (7) is fixed on tire connecting cylinder (18), tire connecting cylinder (18) is fixed on belt wheel terminal pad (17), and belt wheel terminal pad (17) is taken turns (19) and is fixedly connected with both tyre and crawler;
Each both tyre and crawler (16) crosses two both tyre and crawlers wheel (19), both tyre and crawler regulating wheel and both tyre and crawler directive wheels, and the tensioning degree of both tyre and crawler (16) is regulated by the change of T-slot to the position of both tyre and crawler regulating wheel, both tyre and crawler directive wheel makes both tyre and crawler (16) keep tram not depart from;
Tire motor (23) tire on the drive wheels Athey wheel (19), both tyre and crawler wheel (19) drives both tyre and crawler (16) motion;
Often organize swing arm to comprise and to couple together with swing arm connecting rod (21) and to be symmetrically distributed in 2 swing arms (10) of casing both sides, swing arm (10) is connected with casing by bearing (28), take turns (19) by bearing (27) with both tyre and crawler to be connected, drive swing arm (10) knee-action by swing arm motor (22);
4 little Athey wheels (5) are connected to the front end of corresponding swing arm (10) respectively by the little track wheel shaft of swing arm (49); Each swing arm crawler belt (6) is crossed and is positioned at homonymy and adjacent little Athey wheel (5), both tyre and crawler wheel (19), regulating wheel and swing arm track guiding wheel, and the tensioning degree of swing arm crawler belt (6) is regulated by the change of T-slot to the position of swing arm crawler tension wheel, swing arm track guiding wheel makes swing arm crawler belt (6) keep tram not depart from;
Described visual surveillance system, comprise three cameras, the first camera is fixed with in the front end of mechanical arm, for the position of accurate localizing objects thing, second camera (15) is fixed with in car body front end, for monitoring car body front road conditions, car body is also provided with the camera elevating mechanism (3) for fixing the 3rd camera, described camera elevating mechanism (3) comprises lifter plate (43), lifter plate (43) is connected with first steering wheel (42) that can horizontally rotate, first steering wheel (42) is also connected with second steering wheel (41) that can vertically rotate, second steering wheel (41) is fixedly connected with the 3rd shooting as head (38) and light source (37).
The present invention provides the mode of progression of this kind of robot simultaneously:
The traveling method of this robot above-mentioned is as follows:
Swing arm motor is utilized to lift two groups of swing arms, it is made to depart from ground, utilize tire motor (23) tire on the drive wheels Athey wheel (19), taking turns (19) by both tyre and crawler drives both tyre and crawler (16) to move, and makes robot on comparatively smooth road surface only with wheel tyre walking;
Utilize swing arm motor to set level parallel to the ground by two groups of swing arms, make each little Athey wheel (5) be placed on ground; Utilize tire motor (23) tire on the drive wheels Athey wheel (19), take turns (19) by both tyre and crawler and drive both tyre and crawler (16) to move; Take turns (19) by both tyre and crawler drives corresponding little Athey wheel (5) to rotate by each swing arm crawler belt (6) simultaneously, thus makes the pressure of robot to ground effects lower, walks as tank;
Utilize swing arm motor to erect two groups of swing arms, make other disengaging ground, position of its car body, the high whole robot of frame; Utilize tire motor (23) tire on the drive wheels Athey wheel (19), taking turns (19) by both tyre and crawler drives corresponding little Athey wheel (5) to rotate by each swing arm crawler belt (6), thus robot is walked with higher attitude;
According to landform, utilize the adjustment of swing arm motor often to organize the attitude of swing arm, make each little Athey wheel (5) be placed on the road surface of differing heights; Utilize tire motor (23) tire on the drive wheels Athey wheel (19), take turns (19) by both tyre and crawler and drive both tyre and crawler (16) to move; Take turns (19) by both tyre and crawler drives corresponding little Athey wheel (5) to rotate by each swing arm crawler belt (6) simultaneously, thus robot is walked on uneven road surface as tank.
Whole robot ambulation partial design is tank formula crawler travel mode by the present invention, the bottom of whole robot is all walked around by crawler belt, both the transmission means of power had been solved, too increase stability and the obstacle climbing ability of whole robot, longer swing arm can be worked as bridge and be used, running into darker gully can with swing arm when bridge directly rolled, run into barrier can easily to cross under the help of swing arm and can not be stranded simultaneously, the installation question of crawler belt is obtained by regulating wheel and more reasonably solves, more steady in the process of walking, obstacle performance is good, flexible movements, and can speeling stairway, in mechanical arm the design of camera make explosive-removal robot manipulator to arrest action more accurate, tailstock camera elevating mechanism can Omnidirectional rotation, real-time monitoring mechanical arm and paw complete locates the searching of dangerous material, capture, throw in overall process.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of modularization swing arm crawler type anti-terror explosive removing robot
Fig. 2 is the overall structure front view of modularization swing arm crawler type anti-terror explosive removing robot
Fig. 3 is mechanical arm structural representation
Fig. 4 is the modularization swing arm crawler type anti-terror explosive removing robot body construction (body part of this robot, car body outward appearance is axially symmetric structure, two tires in front and two tires at the back side are symmetrical, in order to just two of front tires be unloaded with the displaying of structure, so that see inner syndeton clearly)
Fig. 5 is modularization swing arm crawler type anti-terror explosive removing robot sectional view schematic diagram (be the top view of car body, show the position that sectional view is analysed and observe)
Fig. 6 is modularization swing arm crawler type anti-terror explosive removing robot A-A sectional view
Fig. 7 is Fig. 6 partial enlarged drawing one
Fig. 8 is Fig. 6 partial enlarged drawing two
Fig. 9 is modularization swing arm crawler type anti-terror explosive removing robot B-B sectional view
Figure 10 is modularization swing arm crawler type anti-terror explosive removing robot C-C sectional view
Figure 11 is camera elevating mechanism overall structure
Figure 12 is camera enlarged drawing in camera elevating mechanism
Figure 13 is four kinds of walking states: A of anti-terror explosive removing robot is lift only with wheel tyre walking before and after two groups of swing arms 10 simultaneously; B, for set level parallel to the ground by two groups of swing arms, rotates together with tire and this robot is walked as tank; C captures the form that lower position explosive is explosive-removal robot, and two swing arms erect, the high whole robot of frame; D be the swing arm of two groups, front and back one on the other; E is that two groups of swing arms uprightly erect as people's leg; F is the use swing arm of this robot and tire stair climbing schematic diagram.
In figure: 1-1, mechanical paw, 2, mechanical arm comprises (1-2, mechanical arm linear joint, 1-3, mechanical arm forearm, 1-4, push-rod electric machine, 1-5, mechanical arm elbow joint, 1-10, mechanical arm securing cover plate, 1-11, mechanical arm shoulder joint worm gearing, 1-14 mechanical arm shoulder joint, 1-15 mechanical paw drive motors, 1-16, the worm gearing of mechanical arm elbow joint, 1-17, the motor of mechanical arm elbow joint, the motor of 1-18 mechanical arm shoulder joint, 1-19 mechanical arm wrist joint, 1-20 push-rod electric machine fixed block, 1-21 push rod, 1-22 handspike bearing, 1-23 side plate, 1-24 mechanical arm large arm, 1-25 shoulder mechanical arm part, 1-26 base arm, 1-27 base joint, 1-28 base joint motor, 1-30, L-type slide block, 1-31, large L-type slide block), 3, camera elevating mechanism, 4, car body, 5, little Athey wheel, 6, swing arm crawler belt, 7, tire, 8, directive wheel, 9, regulating wheel, 10, swing arm, 11, T-slot, 12, optoelectronic switch, 13, LED, 14 sensors, 15 cameras, 16, both tyre and crawler, 17, belt wheel terminal pad, 18, tire chain extend neck, 19, both tyre and crawler is taken turns, 20, casing, 21, swing arm connecting rod, 22, swing arm motor, 23, tire motor, 24, reductor one, 25, pinion, 26, gear wheel, 27, bearing one, 28, bearing two, 29, motor terminal pad, 30, reductor two, 31, swing arm transmission cover, 32, motor mount, 33, deep groove ball bearing, 34, connecting key one, 35, large belt shaft, 36, battery, 37, infrared lamp, 38, camera, 39, steering wheel installing plate, 40, camera installing plate, 41,180 degree of steering wheels, 42,300 degree of steering wheels, 43, lifting bent plate, 44, camera elevating lever, 45, slide block type push-rod electric machine, 46, belt wheel end cap, 47, little Athey wheel bearing, 48, bearing (ball) cover, the little track wheel shaft of 49 swing arm
Detailed description of the invention
Below in conjunction with accompanying drawing, this explanation embodiment is further described in detail:
First the name that the present invention mentions is explained, so that understand:
Explanation of nouns:
1. mechanical arm forearm: whole mechanical arm is similar to the arm of people, completely can than the arm of personification, so derived wrist joint, elbow joint and shoulder joint, mechanical arm forearm is quite analogous to the forearm of people, be made up of the part in the middle of wrist joint to elbow joint, be here made up of push-rod electric machine 1-4 paw rotary electric machine 1-15 elbow joint 1-5 elbow joint motor 1-17 elbow joint worm and gear 1-16.
2. mechanical arm large arm: be made up of the part in the middle of elbow joint to shoulder joint, the large arm of mechanical arm is made up of elbow joint motor 1-17 shoulder joint motor 1-18 shoulder joint motor worm and gear 1-11.
From Fig. 1-12, swing arm crawler type anti-terror explosive removing robot comprises mechanical paw 1-1 gripping portion, mechanical arm 2 motion expandable part, camera elevating mechanism 3 part, Multifunctional mobile platform and car body 4 part etc.
This robot is assigned three cameras in monitoring visual aspects, monitor localizing objects thing and assist this robot implementation, be respectively the camera on mechanical arm, the camera 15 of car body front end, camera in camera elevating mechanism 3, camera on mechanical arm can in-plant observation fire thing, and the position of accurate localizing objects thing, makes explosive enforcement more accurate; Car body front end camera 15 can monitor car body front road conditions, observes whether have gully, barrier etc., robot in time for facing road conditions analysis, and can be passed through smoothly;
As Figure 11 and Figure 12 in camera elevating mechanism 3, in camera elevating mechanism 3, camera 38 is fixedly connected with by camera installing plate 40 with infrared lamp 37, 180 ° of steering wheels 41 are fixedly connected with camera installing plate 40 and become entirety, control camera 38 and infrared lamp 37 do elevating movement, steering wheel installing plate 39 is fixed 180 ° of steering wheels 41, 300 ° of steering wheels 42 are connected with steering wheel connecting plate 39, 300 ° of steering wheels and control the phase more than entirety rotate in fixed horizontal plane, promoting lifter plate 43 with slide block type push-rod electric machine 45 makes camera 38 and infrared lamp 37 do rise and fall campaign, two steering wheels and slide block type push-rod electric machine 45 move simultaneously and realize the function of camera elevating mechanism 3 module, this camera makes integrated environment situation around this robot Observable, make the visual angle of whole robot wider, the scope of robot application is larger.
This mechanical arm is 5 free mechanical arms, is made up of 5 joints.First joint is wrist joint 1-19, and this joint is driven by gripper of manipulator drive motors 1-15 and rotates, and gripper of manipulator drive motors 1-15 rotates and can rotate by driving mechanical paw 1-1, realizes the rotation of wrist joint 1-19; Mechanical arm linear joint 1-2, this joint is driven by push-rod electric machine 1-4, linear joint 1-2 can be made to extend and shrink, thus change the length of mechanical arm when push-rod electric machine 1-4 works and extends and shrink; 3rd joint is elbow joint 1-5, drives elbow joint worm and gear 1-16 thus the rotation of driving mechanical arm forearm, realize the pitch attitude of forearm by elbow joint motor 1-17; 4th joint is that shoulder joint 1-14 drives shoulder joint worm and gear 1-11 thus the rotation of driving mechanical arm large arm by shoulder joint motor 1-18, realize the pitch attitude of mechanical arm large arm, 5th joint be base joint 1-27 by base joint motor 1-28 driven rotary, realize the rotation of whole mechanical arm.
Manipulator electric rotating machine 1-15 and telescopic arm 1-2 is fixed, such telescopic arm 1-2 and mechanical paw 1-1, mechanical paw motor 1-15 is integrated, large L slide block 1-31 is equipped with for limiting the stroke of telescopic arm 1-2 in the top of mechanical arm forearm 1-3, the push rod of push-rod electric machine 1-4 is fixed on push-rod electric machine fixed block 1-20, push-rod electric machine fixed block 1-20 is fixed on telescopic arm 1-2, drive telescopic arm 1-2 motion to extend when push-rod electric machine 1-4 extends, driving mechanical paw 1-1 forward simultaneously, when the large L slide block on mechanical arm forearm 1-3 top contacts with the L slide block 1-30 on telescopic arm 1-2, mechanical arm forearm lengths reaches maximum, drive telescopic arm 1-2 toward retraction when push-rod electric machine 1-4 shortens, mechanical arm forearm is shortened, complete the motion of linear joint.
The motor 1-17 of elbow joint is fixed on side plate 1-23 by elbow joint worm and gear 1-16, side plate 1-23 is fixed on mechanical arm large arm 1-24, elbow joint worm and gear 1-16 is driven to rotate by the rotation of elbow joint motor 1-17, the pitch attitude of controller mechanical arm forearm, achieves the motion of elbow joint.Base arm 1-26 is fixed on mechanical arm securing cover plate 1-10, and shoulder joint motor 1-18 is fixed on base arm 1-26 by shoulder joint worm and gear 1-11, and the rotation of motor drives worm and gear to rotate the rotation realizing shoulder joint.
Car body 4 part as shown in figs. 4 through 10, Fig. 4 is the body part of this robot, and car body outward appearance is axially symmetric structure, and two tires in front and two tires at the back side are symmetrical, in order to just two of front tires be unloaded with the displaying of structure, so that see inner syndeton clearly; Fig. 5 is the top view of car body, shows the position that sectional view is analysed and observe; Fig. 6 is A-A sectional view; Fig. 7 is first partial enlarged drawing of Fig. 6; Fig. 8 is second partial enlarged drawing of Fig. 6; Fig. 9 is B-B sectional view; Figure 10 is that C-C sectional view is primarily of swing arm 10 module and tire 7 module composition, in the casing 20 of car body 4, when slope is climbed by robot, consider that the moment of torsion of a motor is inadequate, what tire 7 module adopted is that staggered form Dual-motors Driving is as Fig. 5, not only solve the dynamical problem of device, also solve the Steering of car, turning to of car can utilize the speed discrepancy of staggered form corresponding two motors to realize turning to of robot simultaneously.The also distribution in staggered form of two swing arm motors 22, and intersects each other with tire motor 23, and four motors are independent mutually and save space; Tire 7 module can ensure walking in normal landform of car body, and swing arm 10 module section can help this robot speeling stairway, crosses gully, in rugged environment, steadily walks in uneven road surface.
Tire 7 is arranged on tire connecting cylinder 18, tire connecting cylinder 18 is fixed on belt wheel terminal pad 17, belt wheel terminal pad 17 and both tyre and crawler are taken turns 19 and are used screw to be connected and fixed, between both tyre and crawler wheel 19 and swing arm 10, bearing 1 is installed, both tyre and crawler wheel 19 is provided with both tyre and crawler 16 and swing arm crawler belt 6, both tyre and crawler 6 crosses two both tyre and crawlers wheel 19, and the degree of tightness of crawler belt is by the position adjustments of T-slot 11 pairs of regulating wheels 9, and two directive wheels 8 make both tyre and crawler 16 keep tram not depart from, tire motor 23 is fixed on motor terminal pad 29, motor terminal pad 29 is fixed by casing, when providing the control command of robot ambulation, tire motor 23 rotates, tire motor 23 is connected with reductor 1 and is reduced by tire motor 23 rotating speed, as enlarged drawing 7 passes to belt wheel end cap 46 by reductor 1, belt wheel end cap 46 and both tyre and crawler are taken turns 19 and are connected by screw, both tyre and crawler wheel 19 carries out rotating band and moves both tyre and crawler 16 and move, between both tyre and crawler wheel 19 and swing arm 10, bearing 1 is installed, make the motion of the motion of swing arm 10 and tire 7 mutually can independently meanwhile both tyre and crawler take turns 19 and be also connected with screw with belt wheel terminal pad 17, belt wheel terminal pad 17 is connected by screw with tire connecting cylinder 18, now the Movement transmit of both tyre and crawler wheel 19 is on tire connecting cylinder, tire connecting cylinder 18 is connected with tire 7, thus tire on the drive wheels rotates, make this robot ambulation, this robot tire 7 part has two tire motors 23 to drive, the installation site of tire motor 23 is as Fig. 6, the arrangement mode of tire motor 23 is as Fig. 5.
Between Fig. 8 both tyre and crawler wheel 19 and swing arm 10, bearing 1 is installed, make the motion of the motion of swing arm 10 and tire 7 mutually can be independent, bearing 2 28 is installed between swing arm 10 and casing 20, bearing 2 28 effect is lubricate in swing arm 10 with the connection of casing 20, swing arm is independently moved smoothly, from in Fig. 4, two swing arms 10 form one group of swing arm structure, on front side of car body be two groups of swing arm structures on rear side of car body, and structure is identical, here one group of structure on front side of car body is introduced, two swing arms 10 are connected by swing arm connecting rod 21, when swing arm motor 22 drives side swing arm 21 to move, opposite side swing arm 21 is driven to move by swing arm connecting rod 21, two swinging arms are consistent, swing arm motor 22 is paired linea angulata distribution in car body, front side swing arm motor 22 is arranged on the right of car body, this swing arm motor 22 drives right side swing arm 10 to rotate, left side swing arm is driven together to rotate by swing arm connecting rod 21, thus make front end two swing arm keep same action movement, the motion of rear side swing arm is the same with front end.
Fig. 8 is known when driving swing arm motor 22, swing arm motor 22 drives pinion 25 to rotate, to engage with gear wheel 26 to slow down by pinion 25 and the movement velocity of swing arm motor 22 reduced, large belt shaft 35 is passed to again by gear wheel 26, large belt shaft 35 passes motion to reductor 2 30, motion is passed to swing arm transmission cover 31 by reductor 2 30, and swing arm transmission cover 31 is screwed with swing arm 10 and is connected;
Swing arm 10 be separately installed with bearing 1 bearing 2 28 up and down, bearing 1 effect be make swing arm do not take turns 19 with both tyre and crawler together with move, make two motion non-interference, bearing 2 28 effect is lubricate in swing arm 10 with the connection of casing 20, swing arm is independently moved smoothly, when sending the signal of telecommunication driving swing arm 10, then by as above describing, swing arm 10 is moved;
Swing arm motor 22 is that paired linea angulata formula is at case distribution in vivo, two motors are distributed in casing 20 right front and left back respectively, tire motor 230 is also distributed in casing 20 in diagonal, in order to save space, tire motor 230 and swing arm motor 22 one-tenth staggered forms distribute, and are distributed in the left front of casing 20 and right back.
As Figure 10, swing arm front end is provided with little Athey wheel 5, little Athey wheel 5 is connected by the little track wheel shaft 49 of swing arm with swing arm 10, centre is provided with little Athey wheel bearing 47, such swing arm 10 can drive little Athey wheel 5 to change pose by little track wheel shaft 49, swing arm crawler belt 6 can drive little Athey wheel 5 to rotate, and swing arm 10 and swing arm crawler belt 6 move simultaneously, make this swing arm structure realize the conversion of attitude, thus realize various action.
The walking manner of this robot has five kinds as Figure 13, in Figure 13, A lifts only with wheel tyre walking simultaneously before and after two groups of swing arms 10, walk in comparatively stable ground, in Figure 13, B is for set level parallel to the ground by two groups of swing arms, rotating together with tire makes this robot walk as tank, walk in meadow or muddy road, two swing arms also can help robot to cross gully as bridge, in Figure 13, C captures the form that lower position explosive is explosive-removal robot, two swing arms erect, the high whole robot of frame, mechanical arm is made to have enough space telescopics to capture explosive, walk in riprap freely explosive, in Figure 13 D be the swing arm of two groups, front and back one on the other, this walking manner makes this robot can easily cross gully frustration, clear the jumps, in Figure 13, E is that two groups of swing arms uprightly erect as people's leg, this kind of walking manner can make the height of whole robot raise, meanwhile camera lifting structure 3 raises, mechanical arm 2 extends, the explosive scope of robot can be made to arrive maximum, in Figure 13, F is the use swing arm of this robot and tire stair climbing schematic diagram, can walk arbitrarily on stair.
Claims (3)
1. a swing arm crawler belt explosive-removal robot, comprise car body (4), mechanical arm (2), be positioned at mechanical arm (2) front end and for the mechanical paw (1-1) that clamps explosive and visual surveillance system, it is characterized in that
Described car body (4) comprises casing (20), 4 tires (7), 4 both tyre and crawler wheels (19), two both tyre and crawlers (16), 4 little Athey wheels (5), 4 swing arm crawler belts (6) and 2 groups of swing arms (10), described tire (7), both tyre and crawler wheel (19), both tyre and crawler (16) and little Athey wheel (5) and swing arm crawler belt (6) are symmetrically distributed in casing both sides, 2 groups of swing arms lay respectively at front and the rear of casing, and tire motor (23) is fixedly connected with casing with swing arm motor (22);
Each tire (7) is fixed on tire connecting cylinder (18), tire connecting cylinder (18) is fixed on belt wheel terminal pad (17), and belt wheel terminal pad (17) is taken turns (19) and is fixedly connected with both tyre and crawler;
Each both tyre and crawler (16) crosses two both tyre and crawlers wheel (19), both tyre and crawler regulating wheel and both tyre and crawler directive wheels, and the tensioning degree of both tyre and crawler (16) is regulated by the change of T-slot to the position of both tyre and crawler regulating wheel, both tyre and crawler directive wheel makes both tyre and crawler (16) keep tram not depart from;
Tire motor (23) tire on the drive wheels Athey wheel (19), both tyre and crawler wheel (19) drives both tyre and crawler (16) motion;
Often organize swing arm to comprise and to couple together with swing arm connecting rod (21) and to be symmetrically distributed in 2 swing arms (10) of casing both sides, swing arm (10) is connected with casing by bearing (28), take turns (19) by bearing (27) with both tyre and crawler to be connected, drive swing arm (10) knee-action by swing arm motor (22);
4 little Athey wheels (5) are connected to the front end of corresponding swing arm (10) respectively by the little track wheel shaft of swing arm (49); Each swing arm crawler belt (6) is crossed and is positioned at homonymy and adjacent little Athey wheel (5), both tyre and crawler wheel (19), regulating wheel and swing arm track guiding wheel, and the tensioning degree of swing arm crawler belt (6) is regulated by the change of T-slot to the position of swing arm crawler tension wheel, swing arm track guiding wheel makes swing arm crawler belt (6) keep tram not depart from;
Described visual surveillance system, comprise three cameras, the first camera is fixed with in the front end of mechanical arm, for the position of accurate localizing objects thing, second camera (15) is fixed with in car body front end, for monitoring car body front road conditions, car body is also provided with the camera elevating mechanism (3) for fixing the 3rd camera, described camera elevating mechanism (3) comprises lifter plate (43), lifter plate (43) is connected with first steering wheel (42) that can horizontally rotate, first steering wheel (42) is also connected with second steering wheel (41) that can vertically rotate, second steering wheel (41) is fixedly connected with the 3rd shooting as head (38) and light source (37).
2. robot according to claim 1, it is characterized in that, swing arm motor (22) drives the mechanism of swing arm (10) action to comprise by the pinion of swing arm motor direct-drive (25), the gear wheel (26) be meshed with pinion (25) and greatly belt shaft (35) and two reductors (30), gear wheel (26) passes motion to the second reductor (30) by large belt shaft (35), drives swing arm (10) knee-action by the second reductor (30).
3. robot according to claim 1 traveling method as follows:
Swing arm motor is utilized to lift two groups of swing arms, it is made to depart from ground, utilize tire motor (23) tire on the drive wheels Athey wheel (19), taking turns (19) by both tyre and crawler drives both tyre and crawler (16) to move, and makes robot on comparatively smooth road surface only with wheel tyre walking;
Utilize swing arm motor to set level parallel to the ground by two groups of swing arms, make each little Athey wheel (5) be placed on ground; Utilize tire motor (23) tire on the drive wheels Athey wheel (19), take turns (19) by both tyre and crawler and drive both tyre and crawler (16) to move; Take turns (19) by both tyre and crawler drives corresponding little Athey wheel (5) to rotate by each swing arm crawler belt (6) simultaneously, thus makes the pressure of robot to ground effects lower, walks as tank;
Utilize swing arm motor to erect two groups of swing arms, make other disengaging ground, position of its car body, the high whole robot of frame; Utilize tire motor (23) tire on the drive wheels Athey wheel (19), taking turns (19) by both tyre and crawler drives corresponding little Athey wheel (5) to rotate by each swing arm crawler belt (6), thus robot is walked with higher attitude;
According to landform, utilize the adjustment of swing arm motor often to organize the attitude of swing arm, make each little Athey wheel (5) be placed on the road surface of differing heights; Utilize tire motor (23) tire on the drive wheels Athey wheel (19), take turns (19) by both tyre and crawler and drive both tyre and crawler (16) to move; Take turns (19) by both tyre and crawler drives corresponding little Athey wheel (5) to rotate by each swing arm crawler belt (6) simultaneously, thus robot is walked on uneven road surface as tank.
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| CN113478455B (en) * | 2021-07-15 | 2022-07-12 | 东莞理工学院 | Outdoor environment disinfection robot based on two-degree-of-freedom balance head |
| CN113478455A (en) * | 2021-07-15 | 2021-10-08 | 东莞理工学院 | Outdoor environment disinfection robot based on two-degree-of-freedom balance holder |
| CN113926105B (en) * | 2021-10-18 | 2022-04-26 | 特斯联科技集团有限公司 | Fire fighting robot for forest grassland |
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