CN100553896C - Robot for eliminating exploding and danger - Google Patents

Robot for eliminating exploding and danger Download PDF

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Publication number
CN100553896C
CN100553896C CNB2007101753893A CN200710175389A CN100553896C CN 100553896 C CN100553896 C CN 100553896C CN B2007101753893 A CNB2007101753893 A CN B2007101753893A CN 200710175389 A CN200710175389 A CN 200710175389A CN 100553896 C CN100553896 C CN 100553896C
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CN
China
Prior art keywords
assembly
robot
connects
chassis
joint
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Expired - Fee Related
Application number
CNB2007101753893A
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Chinese (zh)
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CN101134313A (en
Inventor
王野
韩广
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Beijing Universal Pioneering Technology Co., Ltd.
Original Assignee
BEIJING BOCHUANG XINGSHENG ROBOT TECHNOLOGY Co Ltd
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Priority to CNB2007101753893A priority Critical patent/CN100553896C/en
Publication of CN101134313A publication Critical patent/CN101134313A/en
Application granted granted Critical
Publication of CN100553896C publication Critical patent/CN100553896C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/002Manipulators for defensive or military tasks
    • B25J11/0025Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects

Abstract

The present invention relates to a kind of small-sized robot for eliminating exploding and danger.Mainly comprise running gear, manipulator part, body part, The Cloud Terrace part and control section, the equipment compartment of its body part and battery flat and The Cloud Terrace partly are arranged on the rear chassis, running gear is left and right sides two parts, symmetry is connected in the front chassis and the rear chassis both sides of body part, manipulator partly is arranged on the front chassis of body part, and the afterbody left and right sides of described running gear is provided with the shoe part; Manipulator partly adopts multiple degrees of freedom, has both guaranteed the enough Beijing South Maxpower Technology Co. Ltd's power of grabbing, and improves the ability of robot by narrow space again, and the flexible tail supporting construction plays cushioning effect, and difficult toppling is safe and reliable; Has function near large-scale robot, adaptive capacity to complex-terrain is strong, obstacle climbing ability is strong, alternative artificial investigation, explosive and other dangerous material are scouted, get rid of and handled in the task scene of being directly used in,, be requisite alert in the security protection anti-terrorism troop also with military important equipment applicable to the militarization action of some band offensivenesses.

Description

Robot for eliminating exploding and danger
Technical field
The invention belongs to the robot field, relate to a kind of small-sized robot for eliminating exploding and danger.
Background technology
Robot for eliminating exploding and danger is called " dangerous school assignment robot " again, is used to the earliest at severe toxicity, under the extreme hazardous environment such as nuclear radiation, replaces the mankind to finish every operation.Because it can replace the mankind to carry out dangerous operation, therefore developed rapidly.In Afghanistan and the war in Iraq, various reconnaissance robots, removal of mines robot, nuclear biomonioring robot etc. has dropped into practical application; Along with various countries to national security, the great attention of government utilities such as social security is that the robot for eliminating exploding and danger research and development of feature is very rapid with the anti-terror explosive removing and the rescue of getting rid of the danger.
State such as English, U.S. is about to begin since the later stage sixties and uses explosive-removal robot to carry out operation, and robots such as famous Andros F6A, super handcart are extensive use of in the whole world especially.Since the nineties in last century, each research institution of China, relevant unit have also obtained sizable progress in the police aspect robot, to independent research, have substantially formed the alert robot product of using that own characteristic is arranged from imitated external product.The DRAGON series of unit Development and Production such as Chinese Academy of Sciences's Shenyang Institute of Automation, auspicious fine jade company, clever lizard series robot for eliminating exploding and danger in Xinjiang, the ground police such as Sichuan, Beijing, Guangzhou are extensive use of, complete successfully the dangerous explosive investigation of many cases, disposal task, created the huge social benefit.
According to the weight and the size classes of present robot, can be divided into large-scale robot and small-sized/microrobot roughly.Traditional large-scale robot for eliminating exploding and danger Mission Capability height, but volume is big, the weight height, the part of advancing of the especially big-and-middle-sized ground mobile robot wheel-leg combined types that adopt more, the rear portion has enough big counterweight, cause structure huge and complicated, the overweight stability of robot when crossing stair that is unfavorable in rear portion; Traditional manipulator part adopts the lower worm type of reduction gearing structure of efficient mostly, its manipulator accounts for 1/5 of total weight, robot for 60kg, if keep the work capacity of approaching large-scale robot, then the weight of manipulator and extracting can account for nearly 1/2 of everybody total weight of machine, when manipulator long more, it is big more to be positioned at the turning torque that the weight of arm end produces, center of gravity is unstable more, and a little less than the large-scale manipulator mobility, can not enter small space, involve great expense, the maintenance cost height.Small scale robot since volume cause the landform adaptive capacity relatively poor for a short time, less from the manipulator that heavy and light brings, the work capacity deficiency, and go downstairs or the step process in have serious impact, topple easily.Because existing robots operation control mode is single, the controller integrated level is not high, the human oriented design deficiency, not only operation inconvenience, and the maneuvering range of robot and mobility are limited easily causes on-the-spot explosive is produced signal to disturb, even causing blast, security reliability is relatively poor.
The small-sized robot for eliminating exploding and danger research that can realize approaching large-scale robot function at present in the world wide is at the early-stage, and domestic research to this respect also yet there are no relevant report.Therefore, study and a kind ofly possess or, have great importance carrying out the eliminating exploding and danger task near the small scale robot of large-scale robot for eliminating exploding and danger performance.
Summary of the invention
The object of the present invention is to provide a kind of volume little, in light weight, mobility strong has the small-sized robot for eliminating exploding and danger near large-scale robot function.
The technical solution used in the present invention: a kind of robot for eliminating exploding and danger, mainly comprise running gear, manipulator part, body part, The Cloud Terrace part and control section, the equipment compartment of its body part and battery flat and The Cloud Terrace partly are arranged on the rear chassis, running gear is left and right sides two parts, symmetry is connected in the front chassis and the rear chassis both sides of body part, manipulator partly is arranged on the front chassis of body part, and the afterbody left and right sides of described running gear is provided with the shoe part.
The framework lateral plate of described running gear is connected by gusset piece, and driven pulley, BOGEY WHEEL, driving wheel, regulating wheel are installed on the frame, and the engagement crawler belt, and driving wheel connects electric machine assembly.
Movable first joint assembly that connects on the chassis assembly of described manipulator part, the movable second joint assembly that connects of first joint assembly, the movable wrist joint assembly that connects of second joint assembly, the movable clamper assembly that connects of wrist joint assembly, the manipulator video camera is arranged on the wrist joint assembly.
The traffic cycle of described chassis assembly is arranged in the rotating shaft, and rotating shaft is plugged on the front chassis of body part, and mini-roundabout is arranged in the little rotating shaft, is installed in by gusset piece on the side end face of support, and electric machine assembly is arranged on the mini-roundabout.
The decelerator assembly in described first joint is installed in the pivoted arm hole, and an end of pivoted arm is installed in the support of chassis assembly, and the decelerator assembly connects electric machine assembly.
The electric machine assembly of described second joint, decelerator assembly are installed in pivoted arm one side end face in first joint by tie-plate, and knuckle support is connected in the opposite side end face of the pivoted arm in first joint.
The clamping electric machine assembly of described wrist joint connects with the electric rotating machine assembly, and the electric rotating machine assembly is arranged in the paw rotary sleeve, and the paw rotary sleeve connects with cantilever, and cantilever connects with the knuckle support of second joint.
The paw support of described clamper is connected on the clamping motor of wrist joint, and the paw support is provided with rotating shaft, and rotating shaft is provided with two pawl arms, and cover plate is installed on it, and two pawl arm front ends are equipped with two paws by the paw rotating shaft.
The base of described The Cloud Terrace part is installed on the rear chassis of body part, and the telescopic stem lower end is connected on the base, and the upper end connects the The Cloud Terrace support, in the The Cloud Terrace support casing is installed, and is provided with camera in the casing.
The shoe support of described shoe part is connected on the gusset piece of running gear, and an end of elastic shaft assembly and shoe pole is connected in respectively in the hole up and down of shoe support, and the other end is connected on the wheel shaft of tail wheel jointly; Be provided with spring, push rod in the spring spool of described elastic shaft assembly, the terminal depression bar that connects of spring spool, depression bar connects the back hinge, and the spring spool front end connects the depression bar cover; Push rod connects thread barrel, hinge before thread barrel connects.
The positive beneficial effect that the present invention had:
1. the part of advancing adopts the triangle track drive, and simple in structure, in light weight, stair climbing speed is fast, and strong to the adaptive capacity of complex-terrain, obstacle climbing ability is strong, the security reliability height;
2. adopt the counterweight of manipulator when ascending stair, be that robot stretches out whole mechanical arm forward when ascending stair, as anterior counterweight,, arm is regained in the occasion that does not need to ascend stair, reduce the projected area of robot, both guaranteed the enough Beijing South Maxpower Technology Co. Ltd's power of grabbing, improved the ability of robot again, stable gravity center by narrow space, balance is good, difficult toppling; And adopt such as new materials such as harmonic speed reducer and carbon fiber bar, new parts, having alleviated the weight of whole manipulator greatly, cost is more cheap;
3. manipulator partly is an individual components, adopts multiple degrees of freedom, has realized 1 meter of mechanical arm spread length under lighter weight, the dangerous goods that can get rid of maximum 15kg, can grasp under the table even the dangerous goods at the bottom of the car, eliminating exploding and danger is flexible, and has good maintainability;
4. adopt the flexible tail supporting construction, the effective length that makes robot can prolong the robot chassis when needs are ascended obstacle avoids robot to topple; Simultaneously, can play cushioning effect to robot from barrier following time, avoid robot to be subjected to frequent impact in robot; When need not to ascend barrier, can very easily the afterbody supporting construction be dismantled, thus the flexibility that improves robot;
5. have wireless, wired two cover control link remote-controlled robot over the horizons and carry out operation, robot is in the place complexity, adopt wireless remote control when not requiring radio shielding, the controlled in wireless distance can increase substantially the maneuvering range and the mobility of robot, when the scene needs radio shielding greater than 300m, can connect with cable between robot and the console, employing has line traffic control, avoids that on-the-spot explosive is produced the signal interference and causes blast, and is safe and reliable;
6. the portable operation controller is integrated in the safety box, waterproof, anti-pressure, antidetonation, anti-falling, and safe to use, the graphical operation interface is used more convenient, is convenient to the mode of operation that officers and men People's Armed Police can grasp robot with the fastest speed;
7. volume only is 800 * 400 * 500mm, and weight is below 50kg, because volume is little, in light weight, thereby need not special-purpose vehicle in the process of executing the task, can shorten the responding reaction time significantly;
8. the present invention has the function near large-scale robot, alternative artificial investigation, explosive and other dangerous material are scouted, get rid of and handled in the task scene of being directly used in,, be requisite alert in the security protection anti-terrorism troop also with military important equipment applicable to the militarization action of some band offensivenesses.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the front view of structural representation of the present invention;
Fig. 3 is the vertical view of structural representation of the present invention;
Fig. 4 is a STRUCTURE DECOMPOSITION schematic diagram of the present invention;
Fig. 5 is a running gear decomposing schematic representation of the present invention;
Fig. 6 is a manipulator part-structure schematic diagram of the present invention;
Fig. 7 is a manipulator chassis assembly decomposing schematic representation of the present invention;
Fig. 8 is the manipulator first joint decomposing schematic representation of the present invention;
Fig. 9 is a manipulator second joint decomposing schematic representation of the present invention;
Figure 10 is a manipulator wrist joint decomposing schematic representation of the present invention;
Figure 11 is a manipulator clamper decomposing schematic representation of the present invention;
Figure 12 is a The Cloud Terrace part decomposing schematic representation of the present invention;
Figure 13 is a shoe part decomposing schematic representation of the present invention;
Figure 14 is a shoe part elastic shaft assembly decomposing schematic representation of the present invention.
The specific embodiment
Consult Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, a kind of robot for eliminating exploding and danger, mainly being graded by running gear 1, manipulator part 2, body part 3, The Cloud Terrace part 4, shoe part 5 and control part constitutes; Its body part 3 comprises parts such as equipment compartment 301, battery flat 302, front chassis 303, rear chassis 304, and equipment compartment 301 and battery flat 302 respectively are an individual components, all are arranged on the rear chassis 304, can dismantle respectively, safeguard, transport; The Cloud Terrace part 4 is arranged on the rear chassis 304 of body part 3; Running gear 1 is left and right sides two parts, and symmetry is connected in the front chassis 303 and rear chassis 304 both sides of body part 3; Manipulator part 2 is made into an individual components and is plugged on the front chassis 303 of body part 3; Shoe part 5 is left and right sides two parts, is connected in the afterbody left and right sides of running gear 1 respectively.
Consult shown in Figure 5ly, described running gear 1 left and right sides structure is identical, mainly comprises parts such as electric machine assembly 101, crawler belt 102, regulating wheel 103, gusset piece 104, frame 105, driven pulley 106, BOGEY WHEEL 107, driving wheel 108; Its frame 105 is a left and right sides plate, two ends are equipped with two driven pulley 106 assemblies on it, the middle part is equipped with several BOGEY WHEEL 107 assemblies that are used to improve crawler belt middle part and front end load capacity, one end is equipped with driving wheel 108 assemblies, the other end is equipped with regulating wheel 103 assemblies that are used to adjust crawler belt 102 rates of tension, and good with cross-country ability respectively triangle crawler belt 102 engagements, machine frame at two sides 105 constitutes a stable triangular structure with two driven pulleys 106 and a driving wheel 108 of horizontal direction, be linked together by gusset piece 104, driving wheel 108 connects electric machine assembly 101; Described driven pulley 106 assemblies, BOGEY WHEEL 107 assemblies, driving wheel 108 assemblies and regulating wheel 103 assemblies are known technology, mainly are made of parts such as rotating shaft, bearing, axle sleeve, connecting flanges, can commercially available complete standard component; Described electric machine assembly 101 is a known technology, comprises parts such as micromachine, output shaft and bearing, axle sleeve, connecting flange, can commercially available complete standard component.
Consult shown in Figure 6, described manipulator part 2 is main executing agencies of robot manipulating task, mainly comprises parts such as chassis assembly 201, first joint 202, second joint 203, wrist joint 204,205 5 free degree rotating mechanisms of clamper and manipulator video camera 206; Movable first joint, 202 assemblies that connect on its chassis assembly 201, movable second joint 203 assemblies that connect of first joint, 202 assemblies, movable wrist joint 204 assemblies that connect of second joint 203 assemblies, movable clamper 205 assemblies that connect of wrist joint 204 assemblies; Manipulator video camera 206 is a prior art, is installed on wrist joint 204 assemblies, and manipulator video camera 206 can observe the image information that band is discharged object, and the image information of gathering mechanical hand portion 2 in real time offers controller.
Consult shown in Figure 7ly, described chassis assembly 201 comprises traffic cycle 2011, rotating shaft 2012, mini-roundabout 2013, parts such as little rotating shaft 2014, gusset piece 2015, support 2016, electric machine assembly 2017; Its traffic cycle 2011 is arranged in the rotating shaft 2012, rotating shaft 2012 directly is plugged on the front chassis 303 of body part 3, mini-roundabout 2013 is arranged in the little rotating shaft 2014, be installed in by gusset piece 2015 on the side end face of support 2016, electric machine assembly 2017 is arranged on the mini-roundabout 2013, can drive mini-roundabout 2013 and realize the horizontal free degree rotation of manipulator; Described electric machine assembly 2017 is a known technology, can commercially available complete standard component.
Consult shown in Figure 8ly, described first joint 202 comprises parts such as pivoted arm 2021, decelerator assembly 2022, electric machine assembly 2023; Its decelerator assembly 2022 is installed in pivoted arm 2021 holes, and an end of pivoted arm 2021 is installed in the support 2016 of chassis assembly 201, and decelerator assembly 2022 connects electric machine assembly 2023; Described decelerator assembly 2022, electric machine assembly 2023 are known technology, can commercially available complete standard component.
Consult shown in Figure 9ly, described second joint 203 comprises parts such as electric machine assembly 2031, decelerator assembly 2032, tie-plate 2033, knuckle support 2034; Its electric machine assembly 2031, decelerator assembly 2032 are installed in a side end face of the pivoted arm 2021 in first joint 202 by tie-plate 2033, and knuckle support 2034 is connected in the opposite side end face of the pivoted arm 2021 in first joint 202; Described electric machine assembly 2031, decelerator assembly 2032 are known technology, can commercially available complete standard component.
Consult shown in Figure 10ly, described wrist joint 204 comprises parts such as paw rotary sleeve 2041, electric rotating machine 2042, clamping motor 2043, cantilever 2044; Its clamping motor 2043 assemblies connect with electric rotating machine 2042 assemblies, and electric rotating machine 2042 assemblies are arranged in the paw rotary sleeve 2041, and paw rotary sleeve 2041 connects with cantilever 2044, and cantilever 2044 connects with the knuckle support 2034 of second joint 203; Described electric rotating machine 2042 assemblies, clamping motor 2043 assemblies are known technology, can commercially available complete standard component.
Consult shown in Figure 11ly, described clamper 205 comprises parts such as paw support 2051, rotating shaft 2052, cover plate 2053, pawl arm 2054, paw 2055, paw rotating shaft 2056; Its paw support 2051 is connected on the clamping motor 2043 of wrist joint 204, paw support 2051 is provided with rotating shaft 2052, rotating shaft 2052 is provided with two pawl arms 2054, cover plate 2053, two pawl arms 2054 front ends is installed on it by paw rotating shaft 2,056 two paws 2055 is installed.
Consult Figure 12 and shown in Figure 2, described The Cloud Terrace part 4 comprises parts such as camera 401, casing 402, The Cloud Terrace support 403, telescopic stem 404, base 405; Its base 405 is installed on the rear chassis 304 of body part 3, telescopic stem 404 lower ends are connected on the base 405, the upper end is connected with The Cloud Terrace support 403, The Cloud Terrace support 403 horizontally rotates and two frees degree of pitching for The Cloud Terrace part 4 provides, realize video camera level and the vertically motion of both direction, can observe entire machine people's the duty and the environment of machine direct of travel; Casing 402 protection video cameras are installed in the The Cloud Terrace support 403, make camera chain have the degree of protection of IP67, be provided with camera 401 in the casing 402.
Consult shown in Figure 13, described shoe part 5 is the triangle elastic construction, can play the effect of the cushioning effect and the prolongation robot body size of front, ground, afterbody, make shoe part 5 that different working morphologies is arranged under different stress conditions simultaneously, to adapt to the ascend needs of stair, crossing over blockage of robot; Mainly comprise parts such as tail wheel 501, elastic shaft 502 assemblies, shoe support 503, shoe pole 504; Its shoe support 503 is connected on the gusset piece 104 of running gear 1, and an end of elastic shaft 502 assemblies and shoe pole 504 is connected in respectively in the hole up and down of shoe support 503, and the other end is connected on the wheel shaft of tail wheel 501 jointly.
Consult shown in Figure 14ly, elastic shaft 502 assemblies of described shoe part 5 comprise parts such as preceding hinge 5021, depression bar cover 5022, spring 5023, depression bar 5024, back hinge 5025, spring spool 5026, push rod 5027, thread barrel 5028; Be provided with spring 5023, push rod 5027 in its spring spool 5026, the spring spool 5026 terminal depression bars 5024 that connect, depression bar 5024 connects back hinge 5025, and spring spool 5026 front ends connect depression bar cover 5022; Push rod 5027 connects thread barrel 5028, hinge 5021 before thread barrel 5028 connects.
Control section of the present invention adopts existing wireless, wired two cover control links, the portable operation controller is integrated in the safety box, waterproof, anti-pressure, antidetonation, anti-falling are adopted the graphical operation interface, are convenient to the mode of operation that officers and men People's Armed Police can grasp robot with the fastest speed; Robot adopts wireless remote control in the place complexity when not requiring radio shielding, maneuvering range and mobility are big, when the scene needs radio shielding, adopt cable to connect between robot and the controller, avoid that on-the-spot explosive is produced the signal interference and cause blast, safe and reliable.

Claims (10)

1. robot for eliminating exploding and danger, mainly comprise running gear, manipulator part, body part, The Cloud Terrace part and control section, the equipment compartment of its body part and battery flat and The Cloud Terrace partly are arranged on the rear chassis, running gear is left and right sides two parts, symmetry is connected in the front chassis and the rear chassis both sides of body part, manipulator partly is arranged on the front chassis of body part, it is characterized in that the afterbody left and right sides of described running gear (1) is provided with shoe part (5); The shoe support (503) of described shoe part (5) is connected on the gusset piece (104) of running gear (1), one end of elastic shaft (502) assembly and shoe pole (504) is connected in respectively in the hole up and down of shoe support (503), and the other end is connected on the wheel shaft of tail wheel (501) jointly.
2. robot for eliminating exploding and danger according to claim 1, frame (105) side plate that it is characterized in that described running gear (1) is connected by gusset piece (104), driven pulley (106), BOGEY WHEEL (107), driving wheel (108), regulating wheel (103) are installed on the frame (105), and engagement crawler belt (102), driving wheel (108) connects electric machine assembly (101).
3. robot for eliminating exploding and danger according to claim 1, the chassis assembly (201) that it is characterized in that described manipulator part (2) is gone up movable first joint (202) assembly that connects, movable second joint (203) assembly that connects of first joint (202) assembly, movable wrist joint (204) assembly that connects of second joint (203) assembly, movable clamper (205) assembly that connects of wrist joint (204) assembly, manipulator video camera (206) is arranged on wrist joint (204) assembly.
4. robot for eliminating exploding and danger according to claim 3, the traffic cycle (2011) that it is characterized in that described chassis assembly (201) is arranged in the rotating shaft (2012), rotating shaft (2012) is plugged on the front chassis (303) of body part (3), mini-roundabout (2013) is arranged in the little rotating shaft (2014), be installed in by gusset piece (2015) on the side end face of support (2016), electric machine assembly (2017) is arranged on the mini-roundabout (2013).
5. robot for eliminating exploding and danger according to claim 3, the decelerator assembly (2022) that it is characterized in that described first joint (202) is installed in pivoted arm (2021) hole, one end of pivoted arm (2021) is installed in the support (2016) of chassis assembly (201), and decelerator assembly (2022) connects electric machine assembly (2023).
6. robot for eliminating exploding and danger according to claim 3, the electric machine assembly (2031), decelerator assembly (2032) that it is characterized in that described second joint (203) is installed in pivoted arm (2021) one side end faces in first joint (202) by tie-plate (2033), and knuckle support (2034) is connected in the opposite side end face of the pivoted arm (2021) of first joint (202).
7. robot for eliminating exploding and danger according to claim 3, clamping motor (2043) assembly that it is characterized in that described wrist joint (204) connects with electric rotating machine (2042) assembly, electric rotating machine (2042) assembly is arranged in the paw rotary sleeve (2041), paw rotary sleeve (2041) connects with cantilever (2044), and cantilever (2044) connects with the knuckle support (2034) of second joint (203).
8. robot for eliminating exploding and danger according to claim 3, the paw support (2051) that it is characterized in that described clamper (205) is connected on the clamping motor (2043) of wrist joint (204), paw support (2051) is provided with rotating shaft (2052), rotating shaft (2052) is provided with two pawl arms (2054), cover plate (2053) is installed on it, and two pawl arm (2054) front ends are equipped with two paws (2055) by paw rotating shaft (2056).
9. robot for eliminating exploding and danger according to claim 1, the base (405) that it is characterized in that described The Cloud Terrace part (4) is installed on the rear chassis (304) of body part (3), telescopic stem (404) lower end is connected on the base (405), the upper end connects The Cloud Terrace support (403), casing (402) is installed in the The Cloud Terrace support (403), is provided with camera (401) in the casing (402).
10. robot for eliminating exploding and danger according to claim 1, it is characterized in that being provided with spring (5023), push rod (5027) in the spring spool (5026) of described elastic shaft (502) assembly, the terminal depression bar (5024) that connects of spring spool (5026), depression bar (5024) connects back hinge (5025), and spring spool (5026) front end connects depression bar cover (5022); Push rod (5027) connects thread barrel (5028), hinge (5021) before thread barrel (5028) connects.
CNB2007101753893A 2007-09-29 2007-09-29 Robot for eliminating exploding and danger Expired - Fee Related CN100553896C (en)

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