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Tool replacement magazine facing emergency disposal operation of explosive handling robot and working method thereof

A technology of explosive-discharge robot and emergency response, which is applied in the field of robotics and can solve problems such as the selection of robot functional modules

Active Publication Date: 2020-01-14
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] During EOD operations, the target type and dose are usually unknown, which brings troubles to the selection of robot function modules

Method used

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  • Tool replacement magazine facing emergency disposal operation of explosive handling robot and working method thereof
  • Tool replacement magazine facing emergency disposal operation of explosive handling robot and working method thereof
  • Tool replacement magazine facing emergency disposal operation of explosive handling robot and working method thereof

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] figure 1 It is a perspective view of the replacement tool magazine for the emergency disposal operation of the EOD robot provided in Embodiment 1 of the present invention, figure 2 It is a schematic diagram of the tool replacement state of the replacement tool magazine for the emergency disposal operation of the EOD robot provided by Embodiment 1 of the present invention. like Figure 1-2 As shown, the overall device includes an EOD robot body 1, a quick-change joint and a mobile tool magazine group. The quick-change joint is composed of a mechanical arm end joint, a tool end joint, a communication and power supply port, and a snap ring 6. The mobile tool magazine 3 is composed of a vehicle frame, rotary tool frame, rotary motor, spare tools and sensors. In this embodiment, the end effector of the adapted robot body 1 needs to be able to rotate. The present embodiment is equipped with dual mechanical arms, the main gripper remains unchanged, and only the tools on th...

Embodiment 2

[0061] In the current EOD procedure, the replacement of the actuator parts of the robotic arm needs to be done manually. In order to simplify the operation procedure and shorten the response time, the present invention provides a fast loading method for automatically changing the end tool of the mechanical arm. The above method is implemented by means of a quick-change joint between the manipulator and the tool, and the joint provided in this embodiment is divided into a manipulator end and a tool end. With the help of universal connectors, the mechanical, power and communication connections between the robotic arm and the tool are realized.

[0062] Since the mobile tool library itself has no power, it needs to be dragged by the robot body. In order to adapt to changes in the terrain during the operation, universal joints and flexible cables are used to connect the robot and the tool library, allowing a certain amount of offset to maintain a certain degree of passability whi...

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Abstract

The invention discloses a tool replacement magazine facing an emergency disposal operation of an explosive handling robot and a working method thereof. The tool replacement magazine comprises an explosive handling robot main body, a quick change joint and a movable tool magazine; the quick change joint comprises a mechanical arm end joint and a tool end joint; the movable tool magazine comprises aframe, a revolving tool frame, a revolving motor, standby tools and a sensor; and a mechanical arm end comprises a secondary arm, a clamping ring limiting ring, a clamping ring and a mechanical arm end port. The invention provides the quick change joint capable of being matched with mechanical arms and tools; eight tools besides of a main jaw can be carried for operation; the one-key automatic replacement of the tools can be realized under remote operation for different dangerous object types; and multiple types of explosive handling robots can be matched for use. The locking and the releasing of the quick change joint are acted through mechanical structures without depending on an external air source.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a replacement tool library and a working method thereof for emergency disposal operations of an explosion-discharge robot. Background technique [0002] In the face of emergency EOD operations, the rapid response deployment of robots is extremely important. Whether the robot can quickly enter the working state, whether it can accurately select the functional module, and whether the functional module can quickly start and complete the action is particularly important for the entire task. [0003] During EOD operations, the target type and dose are usually unknown, which brings troubles to the selection of robot function modules. The EOD program in the prior art first requires the robot to investigate first, return after identifying the target, and continue to complete the task after manually replacing the functional components. The second is that large robots are equipped with du...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
CPCB25J11/00B25J11/0025
Inventor 陶永邹遇高赫任帆吴琳施福明陈超勇江山
Owner BEIHANG UNIV