Research On The Robot Technology Of Waste Ammunition Handling

In the aspect of waste ammunition disposal,special robot is an important tool to assist workers to work in dangerous environment.At present,the research and development of special robot technology is very active in the world.Special robot technology is widely used in special work areas with the integration of other industry technologies.Based on the special robot technology,this paper studies the crawler type special operation robot with explosion-proof and leakage proof tank,aiming at the disposal of waste chemical ammunition left by the Anti Japanese war.The robot can be put into the explosion-proof and leakage proof tank by the front-line operators,and transported to the designated destruction place by the robot,so as to avoid the impact of the Front line operators and surrounding environment cause harm.In this paper,the modular research concept is adopted for the robot,and the robot control system and the robot carrier tank are mainly studied.The main contents of this paper are as follows:(1)According to the task of the robot in the complex environment,compared with the chassis structure characteristics of the robot walking system,combined with the requirements of the working environment for the robot's motion performance and stability performance,the design scheme of the robot walking system is studied.(2)In view of the computing and communication ability that the robot needs to have when dealing with complex tasks,stm32f105rbt6 chip is used as the main controller of the robot in the control system;according to the specific environmental conditions of the robot,various environmental data acquisition modules are loaded on the robot platform,so that the robot can obtain the complete information of the working environment.(3)According to the task requirements,the characteristics of ammunition grabbing structure are studied,and the design scheme of robot grabbing mechanism is determined.(4)Based on the functional requirements of each module of the control system,the chip and electronic components are selected,the hardware control circuit of each module is designed and the program is compiled for each functional module.The robot desktop client application is developed based on PC,which makes it more convenient for the operator to control the robot to perform the target task.(5)In this paper,the structure of the robot carrying tank is studied,the explosion-proof performance of the tank is simulated and analyzed by LS-DYNA,and the air pressure detection circuit and the sealing circuit of the tank are designed to verify the feasibility.