CN109434856B

CN109434856B - Bullet removing robot

Info

Publication number: CN109434856B
Application number: CN201811640392.2A
Authority: CN
Inventors: 刘晓; 赵莉; 张丽丽; 丁风海
Original assignee: Yantai Junxing Special Equipment Co ltd
Current assignee: YANTAI JUNXING SPECIAL EQUIPMENT Co.,Ltd.
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2021-10-29
Anticipated expiration: 2038-12-29
Also published as: CN109434856A

Abstract

The utility model provides a tear bullet robot open, includes base portion, bomb fixing part, bomb dismantlement part, bomb part transport part, its characterized in that: the sliding groove of the bomb fixing part is slidably arranged on the supporting plate of the base part, and the third gear is meshed with the rack on the supporting plate; the arc groove of the bomb dismounting part is slidably arranged on the ball above the stepped cylinder, and the first internal gear is meshed with the first gear; the groove below the second circular ring plate of the bomb component carrying part is slidably mounted on the second group of balls, and the second internal gear is meshed with the second gear; the automatic disassembly of the bomb is completed through the cooperative work of the bomb fixing part, the bomb disassembling part and the bomb part carrying part, the working efficiency is improved, the safety is improved, the bomb storage part is placed through the disassembled bomb, the safety in the transportation process is guaranteed, and the personal safety is protected.

Description

Bullet removing robot

Technical Field

The invention relates to the technical field of special robots, in particular to an elastic dismantling robot.

Background

When the bomb is disassembled, a special disassembling person is usually needed to disassemble the bomb, because the disassembling process is full of danger, the bomb explodes due to improper disassembly, the life safety of the person is caused, and therefore a machine capable of automatically disassembling the bomb is urgently needed.

Disclosure of Invention

In order to solve the problems, the invention provides the bomb disposal robot, the automatic bomb disposal is completed through the cooperative work of the bomb fixing part, the bomb disposal part and the bomb part carrying part, the working efficiency is improved, the safety in the transportation process is ensured by placing the disposed bombs in the bomb storage position, and the safety of a human body is protected.

The technical scheme adopted by the invention is as follows: the utility model provides a tear bullet robot open, includes base portion, bomb fixing part, bomb dismantlement part, bomb part transport part, its characterized in that: the sliding groove of the bomb fixing part is slidably arranged on the supporting plate of the base part, and the third gear is meshed with the rack on the supporting plate; the arc groove of the bomb dismounting part is slidably arranged on the ball above the stepped cylinder, and the first internal gear is meshed with the first gear; the groove below the second circular ring plate of the bomb component carrying part is slidably mounted on the second group of balls, and the second internal gear is meshed with the second gear;

the base part comprises a bottom plate, a bomb storage part, a traveling mechanism, a first steering engine, a first hydraulic cylinder, a baffle plate and a support plate, wherein the bomb storage part is arranged on the bottom plate, the bottom of a cylinder body of the first hydraulic cylinder is fixedly arranged on the bomb storage part, the end part of a piston rod of the first hydraulic cylinder is fixedly connected with a connecting plate on the baffle plate, and the baffle plate is slidably arranged in a groove on the bomb storage part; the bottom of the first steering engine is fixedly arranged on the bottom plate, a motor shaft of the first steering engine is fixedly connected with a supporting plate, and a dovetail groove and a rack are arranged on the supporting plate;

the bomb fixing part comprises a step type cylinder, a sliding groove, balls, a first stepping motor, a first gear, a second stepping motor, a second gear, a third stepping motor, a third gear, a first telescopic mechanism top plate, a second hydraulic cylinder, a sliding block, a third hydraulic cylinder top seat, a second telescopic mechanism, a second steering engine top plate, a fourth hydraulic cylinder, a first connecting rod, a second connecting rod and a clamping plate, wherein the step type cylinder is a three-step cylinder, and the balls in a circumferential array are arranged on the step; a sliding groove is formed in the middle of the stepped cylinder, and a sliding block is arranged in the sliding groove; the side surface of the first stepping motor is fixedly arranged in the groove of the stepped cylinder, and a motor shaft of the first stepping motor is fixedly connected with the first gear; the side surface of the second stepping motor is fixedly arranged in the groove on the stepped cylinder, and a motor shaft of the second stepping motor is fixedly connected with a second gear; the side surface of a third step motor is fixedly arranged in a groove below the stepped cylinder, and a motor shaft of the third step motor is fixedly connected with a third gear; the first telescopic mechanism is fixedly arranged on the supporting plate below the stepped cylinder, a first telescopic mechanism top plate is arranged at the outer end of the first telescopic mechanism, and an optical axis is arranged on the outer side of the first telescopic mechanism top plate; the sliding block is slidably arranged on an optical axis outside the top plate of the first telescopic mechanism; the bottom of the second hydraulic cylinder body is fixedly arranged on the inner side of the top plate of the first telescopic mechanism, and the end part of a piston rod of the second hydraulic cylinder body is fixedly connected with a sliding block side plate; the bottom of a cylinder body of the third hydraulic cylinder is fixedly arranged on the sliding block, the end part of a piston rod of the third hydraulic cylinder is fixedly connected with a top seat of the third hydraulic cylinder, a steering engine is arranged on the side surface of the top seat of the third hydraulic cylinder, and a motor shaft of the steering engine is fixedly connected with a rotating shaft on the top seat of the third hydraulic cylinder through a coupler; a round hole below the second telescopic mechanism is fixedly arranged on a rotating shaft above a third hydraulic cylinder top seat, a steering engine is arranged outside the second telescopic mechanism, and a motor shaft of the steering engine is fixedly connected with the rotating shaft above the third hydraulic cylinder top seat; the bottom surface of the top plate of the second steering engine is fixedly arranged on a motor shaft of the second steering engine; the bottom of a cylinder body of a fourth hydraulic cylinder is fixedly arranged on a supporting plate on the outer side of a top plate of the second steering engine, and the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with a first connecting rod; the second connecting rod is rotatably connected with the connecting shaft of the first connecting rod, a steering engine is arranged on the outer side of the first connecting rod, and the steering engine is fixedly connected with the connecting shaft of the first connecting rod; a connecting shaft of the clamping plate is rotatably arranged in a round hole on the second connecting rod, a steering engine is arranged on the outer side of the second connecting rod, and a motor shaft of the steering engine is fixedly connected with the connecting shaft on the clamping plate through a coupler;

the bomb dismounting part comprises a first circular ring plate, a first internal gear, an arc groove, a fifth hydraulic cylinder, a third steering engine, a first connecting seat, a fourth steering engine, a sixth hydraulic cylinder fixing seat, a sixth hydraulic cylinder, a fifth steering engine, a second connecting seat, a rotating plate fixing plate, a fourth stepping motor, a scissor sliding plate, scissors, a fourth gear, an L-shaped plate, a fifth stepping motor, a screwdriver, a protective sleeve and a fifth gear, the arc groove is arranged below the first circular ring plate, and the first internal gear is arranged on the inner side of the first circular ring plate; the bottom of a cylinder body of a fifth hydraulic cylinder is fixedly arranged on the outer side of the first circular ring plate, the end part of a piston rod of the fifth hydraulic cylinder is fixedly connected with a fixed seat of a third steering engine, the side surface of the third steering engine is fixedly arranged in the fixed seat of the third steering engine, a motor shaft of the third steering engine is fixedly connected with a first connecting seat, the side surface of a fourth steering engine is fixedly arranged on the outer side of the first connecting seat, and the motor shaft of the fourth steering engine is fixedly connected with a rotating shaft of the first connecting seat through a coupler; the sixth hydraulic cylinder fixing seat is fixedly arranged on the rotating shaft of the first connecting seat; the bottom of the sixth hydraulic cylinder body is fixedly arranged on the sixth hydraulic cylinder fixing seat, and the end part of a piston rod of the sixth hydraulic cylinder body is fixedly connected with the fixing plate; the bottom of the fifth steering engine is fixedly arranged on a fixing plate of the sixth hydraulic cylinder, and a motor shaft of the fifth steering engine is fixedly connected with the second connecting seat; a rotating shaft is arranged in the second connecting seat, a steering engine is arranged on the outer side of the second connecting seat, and a motor shaft of the steering engine on the outer side of the second connecting seat is fixedly connected with the rotating shaft in the second connecting seat; the round hole below the rotating plate is fixedly arranged on the rotating shaft in the second connecting seat, and the outer end of the round hole is fixedly connected with the rotating plate fixing plate; a rack is arranged on the outer side of the rotating plate fixing plate; a fixing plate of a fourth stepping motor is slidably arranged in a groove on the fixing plate of the rotating plate, a motor shaft of the fourth stepping motor is fixedly connected with a fourth gear, and the fourth gear is meshed with a rack of the fixing plate of the rotating plate; the lower part of the scissors sliding plate is fixedly arranged on a fixed plate of the fourth stepping motor, the upper part of the scissors sliding plate is provided with a hydraulic cylinder, and the hydraulic cylinder on the scissors sliding plate is fixedly connected with scissors; an L-shaped plate is arranged on the outer side of the other rotating plate, the side surface of a fifth stepping motor is fixedly arranged on the outer side of the L-shaped plate, and a motor shaft of the fifth stepping motor penetrates through a round hole in the upper surface of the L-shaped plate and is fixedly connected with a screwdriver; a rack is arranged on the outer side of the L-shaped plate, a motor shaft of a stepping motor on the outer side of the protective sleeve is fixedly connected with a fifth gear, and the fifth gear is meshed with the rack of the L-shaped plate; the protective sleeve is slidably arranged on the screwdriver; the lower panel of the protective sleeve is slidably arranged in the groove on the L-shaped plate;

the bomb part carrying part comprises a second circular ring plate, a second internal gear, a third telescopic mechanism, a sixth steering engine, a third connecting seat, a seventh steering engine connecting shaft, a seventh hydraulic cylinder fixing plate, a seventh hydraulic cylinder top plate and a sucker, wherein a circular ring groove is formed below the second circular ring plate, and the second internal gear is arranged on the inner side of the second circular ring plate; one end of a third telescopic mechanism is fixedly arranged on a supporting plate on the outer side of the second circular ring plate, the other end of the third telescopic mechanism is fixedly connected with a sixth steering engine, and a motor shaft of the sixth steering engine is fixedly connected with a third connecting seat; a seventh steering engine connecting shaft is rotatably arranged in a round hole in the upper surface of the third connecting seat, a seventh steering engine is fixedly arranged on the outer side of the third connecting seat, and a motor shaft of the seventh steering engine connecting shaft is fixedly connected with the seventh steering engine connecting shaft through a coupler; the seventh hydraulic cylinder fixing plate is fixedly arranged on the seventh steering engine connecting shaft and is positioned in the third connecting seat; the bottom of the seventh hydraulic cylinder body is fixedly arranged on the seventh hydraulic cylinder fixing plate, the end part of a piston rod of the seventh hydraulic cylinder body is fixedly connected with a top plate of the seventh hydraulic cylinder, and a sucking disc is arranged on the outer side of the top plate of the seventh hydraulic cylinder.

The invention has the beneficial effects that: the automatic disassembly of the bomb is completed through the cooperative work of the bomb fixing part, the bomb disassembling part and the bomb part carrying part, the working efficiency is improved, the safety is improved, the bomb storage part is placed through the disassembled bomb, the safety in the transportation process is guaranteed, and the personal safety is protected.

Drawings

Fig. 1 and 2 are schematic overall structural diagrams of the present invention.

Fig. 3 and 4 are schematic structural views of the base part of the present invention.

Fig. 5, 6, 7 and 8 are schematic structural views of the bomb fixing part according to the present invention.

Fig. 9, 10, 11 and 12 are schematic structural views of a bomb detaching part according to the present invention.

Fig. 13, 14 and 15 are schematic structural views of a bomb component carrying part according to the present invention.

Reference numerals: 1-a base part, 2-a bomb fixing part, 3-a bomb disassembling part, 4-a bomb part carrying part, 101-a bottom plate, 102-a bomb storage part, 103-a walking mechanism, 104-a first steering engine, 105-a first hydraulic cylinder, 106-a baffle plate, 107-a supporting plate, 201-a stepped cylinder, 202-a sliding groove, 203-a ball, 204-a first stepping motor, 205-a first gear, 206-a second stepping motor, 207-a second gear, 208-a third stepping motor, 209-a third gear, 210-a first telescopic mechanism, 211-a first telescopic mechanism top plate, 212-a second hydraulic cylinder, 213-a third hydraulic cylinder, 214-a third hydraulic cylinder, 215-a third hydraulic cylinder top seat, 216-a second telescopic mechanism, 217-a second steering engine, 218-a second steering engine top plate, 219-a fourth hydraulic cylinder, 220-a first connecting rod, 221-a second connecting rod, 222-a clamping plate, 301-a first circular ring plate, 302-a first internal gear, 303-an arc groove, 304-a fifth hydraulic cylinder, 305-a third steering engine, 306-a first connecting seat, 307-a fourth steering engine, 308-a sixth hydraulic cylinder fixing seat, 309-a sixth hydraulic cylinder, 310-a fifth steering engine, 311-a second connecting seat, 312-a rotating plate, 313-a rotating plate fixing plate, 314-a fourth stepping motor, 315-a scissor sliding plate, 316-scissors, 317-a fourth gear, 318-an L-shaped plate, 319-a fifth stepping motor, 320-a screwdriver, 321-a protective sleeve, 322-a fifth gear, 401-a second circular ring plate, 402-a second inner gear, 403-a third telescopic mechanism, 404-a sixth steering engine, 405-a third connecting seat, 406-a seventh steering engine, 407-a seventh steering engine connecting shaft, 408-a seventh hydraulic cylinder fixing plate, 409-a seventh hydraulic cylinder, 410-a seventh hydraulic cylinder top plate and 411-a sucker.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Embodiments are shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14, and fig. 15, a bomb-detaching robot comprising a base portion 1, a bomb-fixing portion 2, a bomb-detaching portion 3, and a bomb-parts-carrying portion 4, wherein: the sliding groove 202 of the bomb fixing part 2 is slidably arranged on the supporting plate 107 of the base part 1, and the third gear 209 is meshed with the rack on the supporting plate 107; the circular arc groove 303 of the bomb detaching portion 3 is slidably fitted on the ball 203 above the stepped cylinder 201, and the first internal gear 302 and the first gear 205 are engaged with each other; the grooves under the second circular plate 401 of the bomb component carrying section 4 are slidably mounted on the second group of balls 203, and the second internal gear 402 and the second gear 207 are engaged with each other;

the base part 1 comprises a bottom plate 101, a bomb storage place 102, a walking mechanism 103, a first steering engine 104, a first hydraulic cylinder 105, a baffle 106 and a support plate 107, the bomb storage place 102 is arranged on the bottom plate 101, the bottom of a cylinder body of the first hydraulic cylinder 105 is fixedly arranged on the bomb storage place 102, the end part of a piston rod of the first hydraulic cylinder is fixedly connected with a connecting plate on the baffle 106, and the baffle 106 is slidably arranged in a groove on the bomb storage place 102; the bottom of the first steering engine 104 is fixedly arranged on the bottom plate 101, a motor shaft of the first steering engine is fixedly connected with a supporting plate 107, and a dovetail groove and a rack are arranged on the supporting plate 107;

the bomb fixing part 2 comprises a step-shaped cylinder 201, a sliding groove 202, balls 203, a first stepping motor 204, a first gear 205, a second stepping motor 206, a second gear 207, a third stepping motor 208, a third gear 209, a first telescopic mechanism 210, a first telescopic mechanism top plate 211, a second hydraulic cylinder 212, a sliding block 213, a third hydraulic cylinder 214, a third hydraulic cylinder top seat 215, a second telescopic mechanism 216, a second steering engine 217, a second steering engine top plate 218, a fourth hydraulic cylinder 219, a first connecting rod 220, a second connecting rod 221 and a clamping plate 222, wherein the step-shaped cylinder 201 is a three-step cylinder, and the balls 203 in a circumferential array are arranged on the steps; a sliding groove 202 is arranged in the middle of the stepped cylinder 201, and a sliding block is arranged in the sliding groove 202; the side surface of the first stepping motor 204 is fixedly arranged in the groove of the stepped cylinder 201, and the motor shaft of the first stepping motor is fixedly connected with the first gear 205; the side surface of the second stepping motor 206 is fixedly arranged in a groove on the stepped cylinder 201, and a motor shaft of the second stepping motor is fixedly connected with a second gear 207; the side surface of a third step motor 208 is fixedly arranged in a groove below the stepped cylinder 201, and a motor shaft of the third step motor is fixedly connected with a third gear 209; the first telescopic mechanism 210 is fixedly arranged on a supporting plate below the stepped cylinder 201, a first telescopic mechanism top plate 211 is arranged at the outer end of the first telescopic mechanism 210, and an optical axis is arranged at the outer side of the first telescopic mechanism top plate 211; the slide block 213 is slidably mounted on the optical axis outside the first telescopic mechanism top plate 211; the bottom of the second hydraulic cylinder 212 is fixedly arranged inside the top plate 211 of the first telescopic mechanism, and the end part of a piston rod of the second hydraulic cylinder is fixedly connected with a side plate of a sliding block 213; the bottom of the cylinder body of the third hydraulic cylinder 214 is fixedly arranged on the sliding block 213, the end part of a piston rod of the third hydraulic cylinder is fixedly connected with a third hydraulic cylinder top seat 215, a steering engine is arranged on the side surface of the third hydraulic cylinder top seat 215, and a motor shaft of the steering engine is fixedly connected with a rotating shaft on the third hydraulic cylinder top seat 215 through a coupler; a round hole below the second telescopic mechanism 216 is fixedly arranged on a rotating shaft above the third hydraulic cylinder top seat 215, a steering engine is arranged outside the second telescopic mechanism 216, and a motor shaft of the steering engine is fixedly connected with the rotating shaft above the third hydraulic cylinder top seat 215; the bottom surface of the second steering engine top plate 218 is fixedly arranged on a motor shaft of the second steering engine 217; the bottom of the cylinder body of the fourth hydraulic cylinder 219 is fixedly arranged on a supporting plate on the outer side of the second steering engine top plate 218, and the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with a first connecting rod 220; the second connecting rod 221 is rotatably connected with a connecting shaft of the first connecting rod 220, a steering engine is arranged outside the first connecting rod 220, and the steering engine is fixedly connected with the connecting shaft of the first connecting rod 220; a connecting shaft of the clamping plate 222 is rotatably arranged in a round hole on the second connecting rod 221, a steering engine is arranged on the outer side of the second connecting rod 221, and a motor shaft of the steering engine is fixedly connected with the connecting shaft on the clamping plate 222 through a coupler;

the bomb detaching part 3 comprises a first circular ring plate 301, a first internal gear 302, an arc groove 303, a fifth hydraulic cylinder 304, a third steering engine 305, a first connecting seat 306, a fourth steering engine 307, a sixth hydraulic cylinder fixing seat 308, a sixth hydraulic cylinder 309, a fifth steering engine 310, a second connecting seat 311, a rotating plate 312, a rotating plate fixing plate 313, a fourth stepping motor 314, a scissors sliding plate 315, scissors 316, a fourth gear 317, an L-shaped plate 318, a fifth stepping motor 319, a screwdriver 320, a protective sleeve 321 and a fifth gear 322, the arc groove 303 is arranged below the first circular ring plate 301, and the first internal gear 302 is arranged on the inner side of the first circular ring plate 301; the bottom of a cylinder body of a fifth hydraulic cylinder 304 is fixedly arranged on the outer side of the first circular ring plate 301, the end part of a piston rod of the fifth hydraulic cylinder is fixedly connected with a fixed seat of a third steering engine 305, the side surface of the third steering engine 305 is fixedly arranged in the fixed seat of the third steering engine 305, a motor shaft of the third steering engine is fixedly connected with a first connecting seat 306, the side surface of a fourth steering engine 307 is fixedly arranged on the outer side of the first connecting seat 306, and the motor shaft of the fourth steering engine is fixedly connected with a rotating shaft of the first connecting seat 306 through a coupler; the sixth hydraulic cylinder fixing seat 308 is fixedly installed on the rotating shaft of the first connecting seat 306; the bottom of the cylinder body of the sixth hydraulic cylinder 309 is fixedly arranged on the sixth hydraulic cylinder fixing seat 308, and the end part of a piston rod of the sixth hydraulic cylinder is fixedly connected with the fixing plate; the bottom of the fifth steering engine 310 is fixedly arranged on a fixing plate of the sixth hydraulic cylinder 309, and a motor shaft of the fifth steering engine is fixedly connected with a second connecting seat 311; a rotating shaft is arranged in the second connecting seat 311, a steering engine is arranged on the outer side of the second connecting seat 311, and a motor shaft of the steering engine on the outer side of the second connecting seat 311 is fixedly connected with the rotating shaft in the second connecting seat 311; the round hole under the rotating plate 312 is fixedly arranged on the rotating shaft in the second connecting seat 311, and the outer end of the round hole is fixedly connected with the rotating plate fixing plate 313; a rack is arranged on the outer side of the rotating plate fixing plate 313; a fixing plate of a fourth stepping motor 314 is slidably arranged in a groove on the rotating plate fixing plate 313, a motor shaft of the fourth stepping motor 314 is fixedly connected with a fourth gear 317, and the fourth gear 317 is meshed with a rack of the rotating plate fixing plate 313; the lower part of the scissors sliding plate 315 is fixedly arranged on the fixed plate of the fourth stepping motor 314, the upper part of the scissors sliding plate 315 is provided with a hydraulic cylinder, and the hydraulic cylinder on the scissors sliding plate 315 is fixedly connected with scissors 316; an L-shaped plate 318 is arranged on the outer side of the other rotating plate 312, the side surface of the fifth stepping motor 319 is fixedly arranged on the outer side of the L-shaped plate 318, and a motor shaft of the fifth stepping motor passes through a round hole on the L-shaped plate 318 and is fixedly connected with a screwdriver 320; a rack is arranged on the outer side of the L-shaped plate 318, a motor shaft of a stepping motor on the outer side of the protective sleeve 321 is fixedly connected with a fifth gear 322, and the fifth gear 322 is meshed with the rack of the L-shaped plate 318; the protective sleeve 321 is slidably mounted on the screwdriver 320; the lower panel of the protection sleeve 321 is slidably mounted in a groove on the L-shaped panel 318;

the bomb component carrying part 4 comprises a second circular ring plate 401, a second internal gear 402, a third telescopic mechanism 403, a sixth steering engine 404, a third connecting seat 405, a seventh steering engine 406, a seventh steering engine connecting shaft 407, a seventh hydraulic cylinder fixing plate 408, a seventh hydraulic cylinder 409, a seventh hydraulic cylinder top plate 410 and a sucker 411, wherein a circular ring groove is formed below the second circular ring plate 401, and the second internal gear 402 is arranged on the inner side of the second circular ring plate 401; one end of a third telescopic mechanism 403 is fixedly arranged on a supporting plate on the outer side of the second circular plate 401, the other end of the third telescopic mechanism is fixedly connected with a sixth steering engine 404, and a motor shaft of the sixth steering engine 404 is fixedly connected with a third connecting seat 405; a seventh steering engine connecting shaft 407 is rotatably arranged in a round hole on the third connecting seat 405, a seventh steering engine 406 is fixedly arranged on the outer side of the third connecting seat 405, and a motor shaft of the seventh steering engine connecting shaft 407 is fixedly connected with the seventh steering engine connecting shaft 407 through a coupler; a seventh hydraulic cylinder fixing plate 408 is fixedly mounted on the seventh steering engine connecting shaft 407 and is positioned in the third connecting seat 405; the bottom of the cylinder body of the seventh hydraulic cylinder 409 is fixedly arranged on a seventh hydraulic cylinder fixing plate 408, the end part of a piston rod of the seventh hydraulic cylinder 409 is fixedly connected with a seventh hydraulic cylinder top plate 410, and a suction cup 411 is arranged on the outer side of the seventh hydraulic cylinder top plate 410.

The working principle of the invention is as follows: the machine reaches a place for placing a bomb through the traveling mechanism 103, the position of a clamping plate 222 is adjusted through the cooperative work of a third stepping motor 208, a first telescopic mechanism 210, a second hydraulic cylinder 212, a third hydraulic cylinder 214, a steering engine on the side surface of a top seat 215 of the third hydraulic cylinder, a second telescopic mechanism 216 and a second steering engine 217 of the bomb fixing part 2, and the clamping plate 222 is driven to clamp the bomb through the cooperative work of a fourth hydraulic cylinder 219, a first connecting rod 220 steering engine and a second connecting rod 221 steering engine; next, the first gear 205 is driven by the first stepping motor 204 to drive the bomb disassembling part 3 to rotate, the fifth hydraulic cylinder 304, the third steering engine 305, the fourth steering engine 307, the sixth hydraulic cylinder 309, the fifth steering engine 310 of the bomb disassembling part 3 and the steering engines of the second connecting seat 311 are used for driving the rotating plate 312 to drive the scissors 316 and the screwdriver 320 to reach a proper position, the motor of the protective sleeve 321 is used for driving the protective sleeve 321 to cover the screws to be screwed, the fifth stepping motor 319 is used for driving the screwdriver 320 to screw the screws down, and the fourth stepping motor 314 and the hydraulic cylinder on the scissors sliding plate 315 are used for cooperatively working to drive the scissors 316 to cut off the wires; next, the second stepping motor 206 drives the second gear 207 to drive the bomb component carrying part 4 to rotate, the third telescopic mechanism 403, the sixth steering engine 404, the seventh steering engine 406 and the seventh hydraulic cylinder 409 of the bomb component carrying part 4 cooperatively work to drive the sucker 411 to suck some disassembled components, after the disassembly is completed, the first steering engine 104 rotates to drive the support plate 107 to drive the bomb fixing part 2 to rotate 180 degrees to place the bombs in the bomb storage 102, and the first hydraulic cylinder 105 contracts to drive the baffle 106 to seal the inlet.

Claims

1. The utility model provides a tear bullet robot open, includes base portion (1), bomb fixing part (2), bomb dismantlement part (3), bomb part transport part (4), its characterized in that: the sliding groove (202) of the bomb fixing part (2) is slidably arranged on the supporting plate (107) of the base part (1), and the third gear (209) is meshed with the rack on the supporting plate (107); the arc groove (303) of the bomb disassembling part (3) is slidably arranged on the ball (203) on the stepped cylinder (201), and the first internal gear (302) is meshed with the first gear (205); the grooves below the second circular plate (401) of the bomb component carrying part (4) are slidably mounted on the second group of balls (203), and the second internal gear (402) is meshed with the second gear (207);

the bomb fixing part (2) comprises a step type cylinder (201), a sliding groove (202), balls (203), a first stepping motor (204), a first gear (205), a second stepping motor (206), a second gear (207), a third stepping motor (208), a third gear (209), a first telescopic mechanism (210), a first telescopic mechanism top plate (211), a second hydraulic cylinder (212), a sliding block (213), a third hydraulic cylinder (214), a third hydraulic cylinder top seat (215), a second telescopic mechanism (216), a second steering engine (217), a second steering engine top plate (218), a fourth hydraulic cylinder (219), a first connecting rod (220), a second connecting rod (221) and a clamping plate (222), wherein the step type cylinder (201) is a three-step cylinder, and the balls (203) in a circumferential array are arranged on the step; a sliding groove (202) is arranged in the middle of the stepped cylinder (201), and a sliding block is arranged in the sliding groove (202); the side surface of the first stepping motor (204) is fixedly arranged in a groove of the stepped cylinder (201), and a motor shaft of the first stepping motor is fixedly connected with a first gear (205); the side surface of a second stepping motor (206) is fixedly arranged in a groove on the stepped cylinder (201), and a motor shaft of the second stepping motor is fixedly connected with a second gear (207); the side surface of a third step motor (208) is fixedly arranged in a groove below the stepped cylinder (201), and a motor shaft of the third step motor is fixedly connected with a third gear (209); the first telescopic mechanism (210) is fixedly arranged on a supporting plate below the stepped cylinder (201), a first telescopic mechanism top plate (211) is arranged at the outer end of the first telescopic mechanism, and an optical axis is arranged at the outer side of the first telescopic mechanism top plate (211); the sliding block (213) is slidably mounted on the optical axis outside the first telescoping mechanism top plate (211); the bottom of the second hydraulic cylinder (212) is fixedly arranged at the inner side of the top plate (211) of the first telescopic mechanism, and the end part of a piston rod of the second hydraulic cylinder is fixedly connected with a side plate of a sliding block (213); the bottom of the cylinder body of the third hydraulic cylinder (214) is fixedly arranged on the sliding block (213), the end part of a piston rod of the third hydraulic cylinder is fixedly connected with a third hydraulic cylinder top seat (215), a steering engine is arranged on the side surface of the third hydraulic cylinder top seat (215), and a motor shaft of the steering engine is fixedly connected with a rotating shaft on the third hydraulic cylinder top seat (215) through a coupler; a round hole below the second telescopic mechanism (216) is fixedly arranged on a rotating shaft above the third hydraulic cylinder top seat (215), a steering engine is arranged on the outer side of the second telescopic mechanism (216), and a motor shaft of the steering engine is fixedly connected with the rotating shaft above the third hydraulic cylinder top seat (215); the bottom surface of the second steering engine top plate (218) is fixedly arranged on a motor shaft of the second steering engine (217); the bottom of a cylinder body of a fourth hydraulic cylinder (219) is fixedly arranged on a supporting plate on the outer side of a second steering engine top plate (218), and the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with a first connecting rod (220); the second connecting rod (221) is rotatably connected with a connecting shaft of the first connecting rod (220), a steering engine is arranged on the outer side of the first connecting rod (220), and the steering engine is fixedly connected with the connecting shaft of the first connecting rod (220); a connecting shaft of the clamping plate (222) is rotatably arranged in a round hole in the upper surface of the second connecting rod (221), a steering engine is arranged on the outer side of the second connecting rod (221), and a motor shaft of the steering engine is fixedly connected with the connecting shaft in the upper surface of the clamping plate (222) through a coupler.

2. The demolition robot of claim 1, wherein: the base part (1) comprises a bottom plate (101), a bomb storage place (102), a walking mechanism (103), a first steering engine (104), a first hydraulic cylinder (105), a baffle plate (106) and a supporting plate (107), the bomb storage place (102) is arranged on the bottom plate (101), the bottom of a cylinder body of the first hydraulic cylinder (105) is fixedly arranged on the bomb storage place (102), the end part of a piston rod of the first hydraulic cylinder is fixedly connected with a connecting plate on the baffle plate (106), and the baffle plate (106) is slidably arranged in a groove on the bomb storage place (102); the bottom of the first steering engine (104) is fixedly arranged on the bottom plate (101), a motor shaft of the first steering engine is fixedly connected with the supporting plate (107), and a dovetail groove and a rack are arranged on the supporting plate (107).

3. The demolition robot of claim 1, wherein: the bomb dismounting part (3) comprises a first circular ring plate (301), a first internal gear (302), an arc groove (303), a fifth hydraulic cylinder (304), a third steering gear (305), a first connecting seat (306), a fourth steering gear (307), a sixth hydraulic cylinder fixing seat (308), a sixth hydraulic cylinder (309), a fifth steering gear (310), a second connecting seat (311), a rotating plate (312), a rotating plate fixing plate (313), a fourth stepping motor (314), a scissors sliding plate (315), scissors (316), a fourth gear (317), an L-shaped plate (318), a fifth stepping motor (319), a screwdriver (320), a protective sleeve (321) and a fifth gear (322), the arc groove (303) is arranged below the first circular ring plate (301), and the first internal gear (302) is arranged on the inner side of the first circular ring plate (301); the bottom of a cylinder body of a fifth hydraulic cylinder (304) is fixedly arranged on the outer side of the first circular ring plate (301), the end part of a piston rod of the fifth hydraulic cylinder is fixedly connected with a fixed seat of a third steering engine (305), the side surface of the third steering engine (305) is fixedly arranged in the fixed seat of the third steering engine (305), a motor shaft of the fifth hydraulic cylinder is fixedly connected with a first connecting seat (306), the side surface of a fourth steering engine (307) is fixedly arranged on the outer side of the first connecting seat (306), and the motor shaft of the fourth hydraulic cylinder is fixedly connected with a rotating shaft of the first connecting seat (306) through a coupler; a sixth hydraulic cylinder fixing seat (308) is fixedly arranged on the rotating shaft of the first connecting seat (306); the bottom of the cylinder body of the sixth hydraulic cylinder (309) is fixedly arranged on a sixth hydraulic cylinder fixing seat (308), and the end part of a piston rod of the sixth hydraulic cylinder is fixedly connected with the fixing plate; the bottom of a fifth steering engine (310) is fixedly arranged on a fixing plate of a sixth hydraulic cylinder (309), and a motor shaft of the fifth steering engine is fixedly connected with a second connecting seat (311); a rotating shaft is arranged in the second connecting seat (311), a steering engine is arranged on the outer side of the second connecting seat (311), and a motor shaft of the steering engine on the outer side of the second connecting seat (311) is fixedly connected with the rotating shaft in the second connecting seat (311); the round hole under the rotating plate (312) is fixedly arranged on the rotating shaft in the second connecting seat (311), and the outer end of the round hole is fixedly connected with the rotating plate fixing plate (313); a rack is arranged on the outer side of the rotating plate fixing plate (313); a fixing plate of a fourth stepping motor (314) is slidably arranged in a groove on the rotating plate fixing plate (313), a motor shaft of the fourth stepping motor (314) is fixedly connected with a fourth gear (317), and the fourth gear (317) is meshed with a rack of the rotating plate fixing plate (313); the lower part of the scissors sliding plate (315) is fixedly arranged on a fixed plate of a fourth stepping motor (314), a hydraulic cylinder is arranged on the scissors sliding plate, and the hydraulic cylinder on the scissors sliding plate (315) is fixedly connected with scissors (316); an L-shaped plate (318) is arranged on the outer side of the other rotating plate (312), the side surface of a fifth stepping motor (319) is fixedly arranged on the outer side of the L-shaped plate (318), and a motor shaft of the fifth stepping motor passes through a round hole in the L-shaped plate (318) and is fixedly connected with a screwdriver (320); a rack is arranged on the outer side of the L-shaped plate (318), a motor shaft of a stepping motor on the outer side of the protective sleeve (321) is fixedly connected with a fifth gear (322), and the fifth gear (322) is meshed with the rack of the L-shaped plate (318); the protective sleeve (321) is slidably mounted on the screwdriver (320); the lower board of the protective sleeve (321) is slidably mounted in a groove on the L-shaped board (318).

4. The demolition robot of claim 1, wherein: the bomb part carrying part (4) comprises a second circular plate (401), a second internal gear (402), a third telescopic mechanism (403), a sixth steering engine (404), a third connecting seat (405), a seventh steering engine (406), a seventh steering engine connecting shaft (407), a seventh hydraulic cylinder fixing plate (408), a seventh hydraulic cylinder (409), a seventh hydraulic cylinder top plate (410) and a sucker (411), a circular groove is formed below the second circular plate (401), and the second internal gear (402) is arranged on the inner side of the second circular plate (401); one end of a third telescopic mechanism (403) is fixedly arranged on a supporting plate at the outer side of the second circular plate (401), the other end of the third telescopic mechanism is fixedly connected with a sixth steering engine (404), and a motor shaft of the sixth steering engine (404) is fixedly connected with a third connecting seat (405); a seventh steering engine connecting shaft (407) is rotatably arranged in a round hole on the third connecting seat (405), a seventh steering engine (406) is fixedly arranged on the outer side of the third connecting seat (405), and a motor shaft of the seventh steering engine connecting shaft (407) is fixedly connected with the seventh steering engine connecting shaft (407) through a coupler; a seventh hydraulic cylinder fixing plate (408) is fixedly arranged on a seventh steering engine connecting shaft (407) and is positioned in the third connecting seat (405); the bottom of the cylinder body of the seventh hydraulic cylinder (409) is fixedly arranged on a seventh hydraulic cylinder fixing plate (408), the end part of a piston rod of the seventh hydraulic cylinder fixing plate is fixedly connected with a seventh hydraulic cylinder top plate (410), and a sucker (411) is arranged on the outer side of the seventh hydraulic cylinder top plate (410).