Double-arm intelligent robot

Abstract

The utility model discloses a double-arm intelligent robot which comprises a mobile machine body, a double-arm base, a multi-degree-of-freedom anthropomorphic arm, a dexterous hand, a holder, a binocular vision device, a control system module and a walking camera module, and the double-arm base is fixed on the mobile machine body; the multi-degree-of-freedom anthropomorphic arm is connected to the double-arm base; the dexterous hand is connected to the multi-degree-of-freedom humanoid arm; the holder is fixed on the double-arm base; the binocular vision device is fixed on the holder; the control system module is arranged in the mobile machine body; the walking camera module is arranged in the mobile machine body, and the binocular vision device is electrically connected to the walking camera module. According to the technical scheme, the strength and precision of the robot are combined with judgment and originality of human beings, and incomparable productivity and safety are achieved in the dangerous, complex and unstructured environment. The double-arm intelligent robot provides a safer and more effective way to simulate the flexible operation capability of human beings under challenging and dangerous conditions.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a dual-arm intelligent robot. Background Art

[0002] Current robotic systems used in explosive ordnance disposal (EOD) operations typically include just one robotic arm to perform critical tasks such as inspection, detection and disposal of explosive devices. These arms often have limited dexterity, reach and lifting capabilities, which not only fails to preserve evidence, but also makes explosives more likely to detonate.

[0003] Therefore, it is necessary to develop a human-like dual-arm intelligent robot that can be used in dangerous environments and can simulate humans to handle explosives, preserve evidence, and reduce risks and threats to military personnel. Utility Model Content

[0004] The main purpose of the embodiment of the utility model is to propose a dual-arm intelligent robot, aiming to design a dual-arm intelligent robot for use in dangerous environments.

[0005] The utility model solves the above-mentioned technical problem by providing a dual-arm intelligent robot, comprising: a mobile machine body, a dual-arm base, a multi-degree-of-freedom anthropomorphic arm, a dexterous hand, a pan-tilt platform, a binocular vision device, a control system module, an energy module, a communication module, a walking camera module and a sensor module, wherein the dual-arm base is fixed on the mobile machine body; the multi-degree-of-freedom anthropomorphic arm is connected to the dual-arm base; the dexterous hand is connected to the multi-degree-of-freedom anthropomorphic arm; the pan-tilt platform is fixed on the dual-arm base; the binocular vision device is fixed on the pan-tilt platform; the control system module is arranged in the mobile machine body; the energy module is arranged in the mobile machine body and is electrically connected to the control system module; the communication module is arranged in the mobile machine body and is electrically connected to the control system module; the walking camera module is arranged in the mobile machine body and is electrically connected to the control system module, and the binocular vision device is electrically connected to the walking camera module; the sensor module is arranged in the mobile machine body and is electrically connected to the control system module.

[0006] Furthermore, the multi-degree-of-freedom anthropomorphic arm includes: a shoulder horizontal swing joint, a shoulder vertical swing joint, an elbow rotation joint, an elbow swing joint, an elbow rotation joint, an elbow swing joint, a wrist rotation joint and a wrist swing joint, the shoulder horizontal swing joint is connected to the double-arm base; the shoulder vertical swing joint is rotatably connected to the shoulder horizontal swing joint; the elbow rotation joint is rotatably connected to the shoulder vertical swing joint; the elbow swing joint is rotatably connected to the elbow rotation joint; the elbow rotation joint is rotatably set on the elbow swing joint; the elbow swing joint is rotatably set on the elbow swing joint; the wrist rotation joint is rotatably set on the elbow swing joint; the wrist swing joint is rotatably set on the wrist rotation joint, and the dexterous hand is connected to the wrist swing joint.

[0007] Furthermore, the dexterous hand includes: a palm frame, finger joints, finger joints and force sensors, the palm frame is connected to the multi-degree-of-freedom anthropomorphic arm; the finger joints are rotatably connected to the palm frame through a motor; the finger joints are rotatably connected to the finger joints through a motor; the force sensors are respectively arranged on the inner palm side of the palm frame and the inner palm side of the finger joints; wherein the force sensor is electrically connected to the sensor module, and the motor is electrically connected to the control system module.

[0008] The technical solution of this utility model combines the power and precision of robots with human judgment and ingenuity to achieve unparalleled productivity and safety in dangerous, complex and unstructured environments. The dual-arm intelligent robot provides a safer and more efficient way to complete dexterous working capabilities in challenging and dangerous conditions. Intelligent robots can perform complex tasks in dangerous environments while keeping operators away from danger, which has important social benefits. The dual-arm intelligent robot can not only be used for explosive disposal in the military, but also for the disposal of suspicious objects in the public safety field of police and counter-terrorism, and can also be used for nuclear detection and the detection and disposal of hazardous chemicals, which can meet the application needs of different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0010] Figure 1 This is a schematic diagram of the structure of the dual-arm intelligent robot of the utility model;

[0011] Figure 2 This is a control system diagram of the dual-arm intelligent robot described in the utility model.

[0012] Description of Figure Numbers:

[0013] Label name Label name 1 Mobile machine body 6 Binocular vision device 2 Double arm base 7 Control system module 3 Multi-degree-of-freedom anthropomorphic arm 8 Walking camera module 4 Dexterous Hands 9 Communication module 5 PTZ 10 Sensor Module 11 Energy Module DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0015] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0016] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "several" or "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0017] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0019] The utility model provides a dual-arm intelligent robot, aiming to design a dual-arm intelligent robot for dangerous environments.

[0020] The specific structure of the dual-arm intelligent robot proposed in the utility model will be described in the following specific embodiments:

[0021] In the technical solution of this embodiment, Figure 1 , Figure 2 As shown, a dual-arm intelligent robot includes: a mobile machine body 1, a dual-arm base 2, a multi-degree-of-freedom anthropomorphic arm 3, a dexterous hand 4, a pan-tilt 5, a binocular vision device 6, a control system module 7, an energy module 11, a communication module 9, a walking camera module 8 and a sensor module 10, wherein the dual-arm base 2 is fixed on the mobile machine body 1; the multi-degree-of-freedom anthropomorphic arm 3 is connected to the dual-arm base 2; the dexterous hand 4 is connected to the multi-degree-of-freedom anthropomorphic arm 3; the pan-tilt 5 is fixed on the dual-arm base 2; the binocular vision device 6 is fixed on the pan-tilt 5; the control system module 7 is arranged in the mobile machine body 1; the energy module 11 is arranged in the mobile machine body 1 and is electrically connected to the control system module 7; the communication module 9 is arranged in the mobile machine body 1 and is electrically connected to the control system module 7; the walking camera module 8 is arranged in the mobile machine body 1 and is electrically connected to the control system module 7, and the binocular vision device 6 is electrically connected to the walking camera module 8; the sensor module 10 is arranged in the mobile machine body 1 and is electrically connected to the control system module 7.

[0022] It can be understood that the mobile machine body 1: the crawler mobile robot body that adapts to complex environments. The double-arm base 2: that is, the torso, two degrees of freedom. Used to install multi-degree-of-freedom anthropomorphic double arms. The multi-degree-of-freedom anthropomorphic arm 3: includes left and right anthropomorphic mechanical arms. Each anthropomorphic mechanical arm has 7 degrees of freedom. The dexterous hand 4: includes the left dexterous hand 4 and the right dexterous hand 4, which are respectively connected to the left and right anthropomorphic arms; each dexterous hand 4 has 5 degrees of freedom. The dexterous hand 4 is installed at the end of the anthropomorphic arm. The dexterous hand 4 has a variety of sensors, including: force sensors, high-precision angle sensors, target distance detection sensors, and vision-based spatial target reconstruction sensors, which can sense the working environment. The gimbal 5: has 2 degrees of freedom and can pitch and rotate. Binocular vision: installed on the gimbal 5. Used to construct a three-dimensional scene during operation and operation. Energy module 11: supplies energy to the entire robot system and performs energy management. Communication module 9: used for real-time communication with the remote control device at the back end. Walking camera module 8: Installed in front and behind the mobile robot body, used to monitor the robot movement. Sensor module 10: The robot body is equipped with multiple sensors such as laser, temperature, current, voltage, attitude, orientation, vibration, etc. It is used for autonomous positioning and perception of the robot's status. Control system module 7: Mainly used for the collaborative control of the robot system. The control system module 7 is the control core of the system, and mainly includes the following tasks: a) Motion control: Through motion planning, send control commands to the intelligent servo driver to realize the movement of the platform, including forward, backward, turning, climbing, obstacle crossing, high and low speed operation, etc. b) Remote control command reception: Receive the control command from the remote control terminal through the communication module 9, then parse it, and finally send the control command to the intelligent servo driver to realize remote control. c) Information feedback: Send the status information and operation information of the platform to the remote control terminal through the communication module 9. d) Environmental perception: Collect the data of the platform sensor module 10 through real-time Ethernet or CAN bus, and establish a model of the environment through analysis to realize the environmental perception of the platform. e) Collaborative control: Collaboratively control the dual-arm intelligent robot through real-time Ethernet to realize remote operation. f) Interaction with mission payload: Through real-time Ethernet or CAN bus, the platform and mission payload can be interacted with each other.

[0023] Working principle: A dual-arm intelligent robot has two high-performance anthropomorphic arms and two multi-degree-of-freedom humanoid dexterous hands 4, which are installed at the end of the anthropomorphic arms of the humanoid robot. For operations performed in harsh environments, such as handling explosives in dangerous situations, the dual anthropomorphic arms and dual dexterous hands 4 assist the operator in operations, and can complete difficult tasks such as on-site bomb disposal. When a suspicious explosive is found, the dual-arm intelligent robot autonomously navigates and avoids obstacles, moves to the work site and approaches the suspicious object that needs to be destroyed; after the robot approaches the suspicious object and explodes, it observes the on-site environment for disposal, transmits on-site information and records it; by adjusting the robot's anthropomorphic arms and two multi-degree-of-freedom humanoid dexterous hands 4, the dual arms work together to inspect and detect suspicious explosives and save on-site data. According to the detection results, the tools carried by the robot are used to dismantle the suspicious explosives, and if necessary, the safety of the explosive destroyer is opened to carry out destruction. Through the intelligent fusion of robots and humans, the explosion hazards of suspicious explosives can be remotely eliminated and on-site evidence can be preserved.

[0024] Furthermore, the multi-degree-of-freedom anthropomorphic arm 3 includes: a shoulder horizontal swing joint, a shoulder vertical swing joint, an elbow rotation joint, an elbow swing joint, an elbow rotation joint, an elbow swing joint, a wrist rotation joint and a wrist swing joint. The shoulder horizontal swing joint is connected to the double-arm base 2; the shoulder vertical swing joint is rotatably connected to the shoulder horizontal swing joint; the elbow rotation joint is rotatably connected to the shoulder vertical swing joint; the elbow swing joint is rotatably connected to the elbow rotation joint; the elbow rotation joint is rotatably set on the elbow swing joint; the elbow swing joint is rotatably set on the elbow swing joint; the elbow swing joint is rotatably set on the elbow rotation joint; the wrist rotation joint is rotatably set on the elbow swing joint; the wrist swing joint is rotatably set on the wrist rotation joint, and the dexterous hand 4 is connected to the wrist swing joint.

[0025] Furthermore, the dexterous hand 4 includes: a palm frame, finger joints, finger joints and force sensors, the palm frame is connected to the multi-degree-of-freedom anthropomorphic arm 3; the finger joints are rotatably connected to the palm frame through a motor; the finger joints are rotatably connected to the finger joints through a motor; the force sensors are respectively arranged on the inner palm side of the palm frame and the inner palm side of the finger joints; wherein the force sensor is electrically connected to the sensor module 10, and the motor is electrically connected to the control system module 7.

[0026] The dexterous hand 4 is also provided with a CMOS camera, which is arranged on the inner palm side of the palm frame, and the CMOS camera is electrically connected to the controller. The dexterous hand 4 is also provided with a lighting lamp, which is arranged on the inner palm side of the palm frame and located in the middle of the palm frame, and the CMOS camera is electrically connected to the controller. The dexterous hand 4 is also provided with a laser projector, which is arranged on the inner palm side of the palm frame, and the laser projector is electrically connected to the controller. The dexterous hand 4 is also provided with an angle sensor, which is arranged at the connection between the finger joint and the finger joint, and the angle sensor is electrically connected to the controller. The dexterous hand 4 is also provided with a distance detection sensor, which is arranged on the inner palm side of the palm frame, and the distance detection sensor is electrically connected to the controller. In addition to the force sensor, the palm frame is also equipped with a high-precision angle sensor, a target distance detection sensor, and a target distance detection sensor. The multi-sensor intelligently perceives the working environment, forms a three-dimensional perception through multiple sensors, perceives the grasping object, realizes the grasping at different angles and different forces, and completes the flexible grasping using working tools and on-site operation.

[0027] The above is only a preferred specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A dual-arm intelligent robot, characterized in that: include: Move the machine body, A double-arm base, the double-arm base being fixed on the mobile machine body; A multi-degree-of-freedom anthropomorphic arm, wherein the multi-degree-of-freedom anthropomorphic arm is connected to the double-arm base; A dexterous hand, wherein the dexterous hand is connected to the multi-degree-of-freedom anthropomorphic arm; A pan head, the pan head being fixed on the double-arm base; A binocular vision device, wherein the binocular vision device is fixed on the pan / tilt platform; a control system module, wherein the control system module is disposed in the mobile machine body; and A walking camera module is arranged in the mobile machine body and is electrically connected to the control system module. The binocular vision device is electrically connected to the walking camera module.

2. The dual-arm intelligent robot according to claim 1, characterized in that: Also includes: An energy module, the energy module is disposed in the mobile machine body and is electrically connected to the control system module; a communication module, the communication module being disposed in the mobile machine body and electrically connected to the control system module; and A sensor module is disposed in the mobile machine body and is electrically connected to the control system module.

3. The dual-arm intelligent robot according to claim 1, characterized in that: The multi-degree-of-freedom anthropomorphic arm comprises: A shoulder horizontal swing joint, wherein the shoulder horizontal swing joint is connected to the double-arm base; A shoulder vertical swing joint, the shoulder vertical swing joint being rotatably connected to the shoulder horizontal swing joint; An elbow-rotation joint, the elbow-rotation joint being rotatably connected to the shoulder vertical swing joint; An elbow-swing joint, the elbow-swing joint being rotatably connected to the elbow-rotation joint; The second elbow rotation joint is rotatably arranged on the first elbow swing joint; The second elbow swing joint is rotatably arranged on the second elbow rotation joint; A wrist rotation joint, the wrist rotation joint being rotatably disposed on the second elbow swing joint; and A wrist swing joint is rotatably arranged on the wrist rotation joint, and the dexterous hand is connected to the wrist swing joint.

4. The dual-arm intelligent robot according to claim 2, characterized in that: The dexterous hand comprises: A palm frame connected to the multi-degree-of-freedom anthropomorphic arm; Finger joints, the finger joints are rotatably connected to the palm frame via a motor; a finger joint, the finger joint being rotatably connected to the finger joint via a motor; and Force sensors, the force sensors are respectively arranged on the inner palm side of the palm frame and the inner palm side of the finger joints; Wherein, the force sensor is electrically connected to the sensor module, and the motor is electrically connected to the control system module.

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