CN108406726A - A kind of wheel type movable machine explosive-removal robot - Google Patents

Abstract

A wheeled mobile mechanical explosion-proof robot, including a walking device and a mechanical arm device. The walking device includes an upper and lower frame, and the upper and lower frames are connected and fixed by blocks. Mecanum wheels are arranged on both sides of the walking device. The wheel is connected to the motor through a coupling, and a No. 1 camera and a main control device are installed on the top of the upper frame; the mechanical arm device includes a pan-tilt installed at the center of the upper frame, and the pan-tilt is connected with a mechanical arm, a small mechanical The arm and the mechanical claw; the force sensor and the No. 2 camera are arranged on the mechanical forearm; the force sensor, the No. 1 camera and the No. The mechanical claws are connected, and the invention has the characteristics of reliable movement, high transmission efficiency, less pollution, and can meet the needs of most occasions.

Description

A wheeled mobile mechanical detonation robot

technical field

The invention relates to the technical field of robots, in particular to a wheeled mobile mechanical explosion-discharge robot.

Background technique

Some of the existing patents simply have a mechanical arm mechanism, without a walking mechanism, and cannot be remotely controlled to ensure personal safety. Others with a walking mechanism mostly adopt a crawler-type walking method, which has a complicated mechanism, and the mechanical arm has few degrees of freedom, and the flexibility of moving is relatively poor.

Contents of the invention

In order to overcome the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a wheeled mobile mechanical explosion-discharge robot, which is reliable in movement, high in transmission efficiency, less in pollution, and can meet the characteristics of most occasions.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A wheeled mobile mechanical explosion-proof robot, including a walking device 1 and a mechanical arm device 2. The walking device 1 includes an upper and lower frame, and the upper and lower frames are connected and fixed by blocks 3. The two sides of the walking device 1 Mecanum wheels 5 are arranged front and back, and the mecanum wheels 5 are connected with the motor 4 through a coupling, and a No. 1 camera 7 and a main control device 8 are installed on the top of the upper frame;

Described mechanical arm device 2 comprises the cloud platform 9 that is installed in the center position of upper frame, and cloud platform 9 is connected with mechanical big arm 10, mechanical small arm 12 and mechanical claw 16 successively, and mechanical claw 16 is installed with mechanical claw Opening and closing mechanism 17;

A steering gear is arranged between the walking device 1, the mechanical arm device 2, the large mechanical arm 10, the small mechanical arm 12 and the mechanical claw 16;

Described mechanical forearm 12 is provided with force sensor 15 and No. 2 camera 13; Described force sensor 15, No. 1 camera 7 and No. 2 camera 13 link to each other with master control device 8, and master control device 8 is connected with motor respectively 4. The mechanical arm 10 , the mechanical forearm 12 and the mechanical claw 16 are connected.

Each of the mecanum wheels 5 is driven by a separate motor 4 .

The mechanical arm 10 and the mechanical forearm 12 are cylindrical.

Between the mechanical arm 10 and the mechanical forearm 12 , between the mechanical forearm 12 and the mechanical gripper 16 are provided a mechanical arm elbow 3 and a mechanical wrist 7 .

The clamping part of the mechanical claw 8 has a rubber envelope.

The mechanical arm 12 and the mechanical claw 16 are connected by a shaft, and the steering gear between the mechanical arm 12 and the mechanical claw 16 can rotate 360°.

The mechanical claw opening and closing mechanism 13 is located inside the mechanical claw 12 .

The beneficial effects of the present invention are:

A miniature camera is installed at the joint between the robotic arm and the mechanical claw, which can remotely observe and zoom in on the object to be manipulated in detail, and clearly see the details of the manipulated object; the operation is simple, and only simple operation learning and training can be fully mastered Manipulation technology, the car body can be controlled by a handle, or by a mobile phone or a computer.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a structural schematic diagram of the walking device of the present invention.

Fig. 3 is a schematic diagram of the mechanical arm device of the present invention.

Detailed ways

The structural principle and working principle of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1 and Figure 2: it is mainly composed of two parts, namely the walking device 1 and the mechanical arm device 2. A mechanical claw opening and closing mechanism 17 is installed on the mechanical claw 16;

Mecanum wheel omnidirectional chassis. The mecanum wheel 5 is connected with the motor 4 by a shaft coupling, the motor 4 is fixed with the lower frame through two supports, and the support and the frame are threaded. This chassis adopts two vehicle frames up and down, adopts box 3 to connect and fix between the vehicle frames, and box 3 adopts threaded connection with upper and lower vehicle frames. The battery 6, the main control device 2, wires and the like can be effectively protected inside. The four wheat wheels are driven by four separate motors. Through the cooperation of the rotation speed of the four wheat wheels and the installation method, the entire chassis can move forward, backward, and at an angle of 45°, and move clockwise and counterclockwise on the spot. The direction of movement is very flexible, and it can respond to various emergencies in a changeable manner. A steering gear is arranged between the walking device 1, the mechanical arm device 2, the large mechanical arm 10, the small mechanical arm 12 and the mechanical claw 16;

The mechanical arm 12 and the mechanical claw 16 are connected by a shaft, and the steering gear between the mechanical arm 12 and the mechanical claw 16 can rotate 360°.

The mechanical claw opening and closing mechanism 13 is located inside the mechanical claw 12 .

The mecanum wheel omnidirectional chassis is adopted. Compared with the omnidirectional wheel, the mecanum wheel can synthesize the resultant force in any direction through its rotation speed and installation method. So it can make the car move in all directions, the car with mecanum wheels needs four motors to drive each wheel individually.

The control system and communication technology system are mainly built between the upper and lower frames, which mainly realize the remote control of the robot. The operator makes decisions through video observation and feedback from various sensors.

The robot is equipped with two tiny cameras, as shown in Figure 2 and Figure 3. The No. 1 camera 7 is installed on the upper frame, has a certain height with the frame, can control the left and right rotation of the camera and adjust the shooting pitch angle, and is mainly used for observing around when the robot moves. The No. 2 camera 13 is installed at the position of the mechanical forearm 12 close to the mechanical gripper 16, and is mainly used for observing the operation object, and can adjust the shooting pitch angle to determine the operation of the manipulator and the clamping position of the object. It is small in size, light in weight, and has a large shooting range.

The mechanical arm device is shown in Fig. 3, and it is mainly made up of cloud platform 9, mechanical big arm 10, mechanical small arm 12, mechanical claw 16 etc., and mechanical arm adopts cylindrical shape, and mechanical big arm 10 is installed on the cloud platform 9 and can carry out Horizontal 360° azimuth rotation, the elbow 3 of the mechanical arm can be rotated, and the mechanical wrist 7 can be rotated in two vertical directions, with high flexibility. The clamping part of the mechanical claw 16 has a rubber envelope to increase the frictional force and prevent the clamping from falling off. There is a force sensor on the mechanical arm, and its main function is to detect the overall working strength of the mechanical arm.

working principle:

Mainly, the robot operator controls the entire robot through the control system. The robot is powered by a 24-volt smart battery and is electrically driven. The joints of the manipulator are driven by cost-effective steering gear, and the multi-channel PWM pulse mode is used in the driving mode of the multi-channel steering gear. The control system of the whole robot adopts a servo control system to control the walking of the whole robot, calculate (joint rotation angle), and generate PWM pulses. At the same time, it has interactive functions, including the interaction between ARM and PC, and the interaction between ARM and people. The former uses serial communication, and the latter uses LCD for interaction.

The sensor system includes force sensor, speed measurement sensor, ranging sensor and other micro-sized sensors, which are installed in the frame and the mechanical arm, and carry out related operations by detecting the state of the robot itself and the surrounding environment parameters. .

The workflow of this product:

1. Debugging: When it is determined that the robot is required to perform tasks or operations, debug and install the robot, check the performance and other devices without any problems, and then manipulate the robot to move to the target.

2. Traveling to the target: the surrounding environment is detected by the No. 1 camera 7 installed on the vehicle frame, and the No. 2 camera 13 installed on the mechanical forearm 12 observes the forward direction. At this time, the operator uses the road conditions fed back to the screen by the two cameras and the data fed back by various sensors to make decisions and formulate the travel route.

3. Observation and operation: When coming to the front of the target, manipulate the mechanical arm, carefully observe the target with the second camera 13, and then manipulate the mechanical arm to clamp the target after determining the clamping method. Because the clamping force of the mechanical arm is the largest when it is folded, try to make the mechanical arm clamp the target as much as possible when it is folded as much as possible. At this time, check the load status reflected by the force sensor on the screen to judge whether it is overloaded. If not , then start to transfer the target to the designated location to complete the job. If it is overloaded, the robot cannot perform the operation and make a new decision.

Claims (7)

1. A wheeled mobile mechanical explosion-discharge robot is characterized in that it comprises a walking device (1) and a mechanical arm device (2), and the walking device (1) includes an upper and lower vehicle frame, and a block is passed between the upper and lower vehicle frames. (3) connected and fixed, the two sides of the walking device (1) are provided with mecanum wheels (5) front and rear, and the mecanum wheels (5) are connected with the motor (4) through a coupling, and the above-mentioned upper car A No. 1 camera (7) and master control device (8) are installed on the top of the frame; Described mechanical arm device (2) comprises the cloud platform (9) that is installed in the center position of upper frame, is connected with mechanical big arm (10), mechanical forearm (12) and mechanical claw successively on the cloud platform (9) (16), a mechanical claw opening and closing mechanism (17) is installed on the mechanical claw (16); A steering gear is arranged between the walking device (1), the mechanical arm device (2), the large mechanical arm (10), the small mechanical arm (12) and the mechanical claw (16); Described mechanical forearm (12) is provided with force sensor (15) and No. 2 camera (13); Described force sensor (15), No. 1 camera (7) and No. 2 camera (13) and main body The control device (8) is connected, and the main control device (8) is connected with the motor (4), the mechanical arm (10), the mechanical forearm (12) and the mechanical claw (16) respectively. 2. A wheeled mobile mechanical explosion-proof robot according to claim 1, characterized in that each of the mecanum wheels (5) is driven by a separate motor (4). 3. A wheeled mobile mechanical explosion-proof robot according to claim 1, characterized in that, said mechanical arm (10) and mechanical arm (12) are cylindrical. 4. A wheeled mobile mechanical explosion-proof robot according to claim 1, characterized in that, between the mechanical arm (10) and the mechanical arm (12), the mechanical arm (12) and the mechanical A mechanical arm elbow (3) and a mechanical wrist (7) are arranged between the claws (16). 5. A wheeled mobile mechanical explosion-proof robot according to claim 1, characterized in that, the clamping part of the mechanical claw (8) has a rubber envelope. 6. A wheeled mobile mechanical explosion-proof robot according to claim 1, characterized in that, the mechanical arm (12) and the mechanical claw (16) are connected by a shaft, and the mechanical arm (12) The steering gear between the mechanical claw (16) can rotate 360°. 7. A wheeled mobile mechanical explosion-proof robot according to claim 1, characterized in that the opening and closing mechanism (13) of the mechanical claw is located inside the mechanical claw (12).