CN101204810B - Explosion prevention robot - Google Patents
Explosion prevention robot Download PDFInfo
- Publication number
- CN101204810B CN101204810B CN2007101159250A CN200710115925A CN101204810B CN 101204810 B CN101204810 B CN 101204810B CN 2007101159250 A CN2007101159250 A CN 2007101159250A CN 200710115925 A CN200710115925 A CN 200710115925A CN 101204810 B CN101204810 B CN 101204810B
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- China
- Prior art keywords
- synchronizing wheel
- support
- electromagnet
- base
- fixed
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- Expired - Fee Related
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Abstract
The invention relates to an explosion-proof robot assembled by two stepping motors, two drive wheels, a universal wheel, a horizontal base, a base supporter, an electromagnet bracket, an electromagnet, a synchronization belt bracket, a synchronization belt bracket supporter and a synchronization belt, etc. The two stepping motors of the base directly drive the drive wheels and utilize the two drive wheels to control moving forwards and turning; when reaching an appointed location, the invention utilizes the stepping motors fixed on the base to control the up and down moving of a claw through the synchronization belt and then clamp the target through the opening and closing of the electromagnet fixed on the claw. The invention uses a remote wireless control to control the single. The invention effectively utilizes remote operation, replaces a manual explosion removing, and improves the working efficiency and safety factor.
Description
Technical field
The present invention relates to a kind of explosive device, control the walking of robot specifically with two stepper motors, a stepper motor is controlled the lifting of pawl, grasps a kind of industrial robot of explosive substance by the folding control pawl of electromagnet.
Background technology
In the modern life, explosive majority is finished by manpower, but also to guarantee not ignite at explosive process assurance explosive, this just requires explosive personnel to have higher explosive technology and psychological quality to face the blast that can take place at any time, this just is difficult to guarantee explosive personnel's life security, and be unsuitable for the people in a lot of occasions and go explosively, make explosive condition of work be subjected to great restriction.
Summary of the invention
At above-mentioned deficiency, the design provides a kind of replacement hand labor, improves the explosive-removal robot of safety coefficient at work greatly, and explosive personnel can accurately control robot at a distance.Finish and grasp explosive and will be transported to the safety area, both can also can in building, work, can in narrow and small tunnel space, work in addition in opening work.
The present invention is achieved by the following technical solutions:
A kind of explosive-removal robot, it comprises stepper motor, driving wheel, universal wheel, horizontal base, base support, electromagnet stent, electromagnet, synchronizing wheel support, synchronizing wheel stent support, band, synchronizing wheel etc. are partly formed synchronously.Base support is fixed on the bottom of horizontal base, and driving wheel is installed on the fore base support, and the everything wheel is installed on the base support of back.The synchronizing wheel stent support is fixed on above the horizontal base, and the synchrony theory support is installed on the stent support.A synchronizing wheel is fixed on the top of synchronizing wheel support, is assemblied on the synchronizing wheel being with synchronously simultaneously.The axis hole of another synchronizing wheel and stepper motor interference fit, this synchronizing wheel cooperates with synchronous band again, make synchronous band tensioning after, synchronizing wheel and stepper motor are fixed on the synchronizing wheel support in the lump.Electromagnet is installed in and forms paw on the electromagnet stent, paw is fixed on is with synchronously again, drives paw by synchronous band and moves up and down, and for preventing the paw position that moved up, on synchronizing wheel support top a limit shaft has been installed.Rubber band is enclosed within the groove of pawl front, is used with electromagnet and grasps object.
Drive motors of the present invention is a stepper motor, can control walking, the location of robot accurately.The present invention has characteristics such as volume is little, power is little, control is simple.
Description of drawings
Fig. 1 is the structural representation of explosion prevention robot.
Wherein, 1, rubber reinforcement, 2 a, pawl, 3, circular arc pawl, 4, electromagnet, 5, band synchronously, 6, stop gear shaft, 7, synchronous wheel shaft, 8, hex bolts M3,9, support, 10, base for supporting, 11, the universal wheel backing plate, 12, universal wheel, 13, base side plate, 14, driving wheel, 15, lifting stepper motor, 16, drive stepper motor.
The specific embodiment
Among Fig. 1, two base side plates 13 are installed in the front part sides of base for supporting 10 respectively, and two stepper motors 16 pass two side plates and two driving wheel 14 interference fit respectively, drive the driving wheel motion.Two universal wheel backing plates 11 are installed in the both sides, rear portion of base for supporting 10 respectively, and two universal wheels 12 are separately fixed on two universal wheel backing plates 11.Being with 5 to cooperate with synchronizing wheel synchronously, again synchronizing wheel is fixed on the support 9 by synchronous wheel shaft 7.The axle of stepper motor 15 passes and is fixed on support 9 back and another synchronizing wheel interference fit, is with 5 to cooperate with synchronizing wheel and make synchronous band tensioning synchronously.Electromagnet 4 is fixed on the electromagnet carriage on the circular arc pawl 3, carriage is fixed on two pawls 2, pawl and accessory structure thereof are done as a whole being fixed on by hex bolts 8 and are treated synchronously on 5, by being with 5 to drive pawls 2 and move up and down synchronously, the scope that moves up and down that a stop gear shaft 6 limits pawl had been installed on the top of support 9 for anti-claw stop 2 moves the position.Rubber reinforcement 1 is enclosed within the groove of a pawl 2.During this robot ambulation, two stepper motors 16 on its driving wheel change then for advancing forward simultaneously.Turn round simultaneously then for retreating.That motor on the left side that motor of limit that turns right does not forward change then for turning right.Turn left forward that motor on limit of that motor of the right does not change then for turning left.
When grasping object, a pawl 2 drops near ground object is entangled, and electromagnet 4 energisings are stretched out with rubber reinforcement 1 cooperation object is caught then.
Claims (1)
1. explosion prevention robot, it comprises the lifting stepper motor, drives stepper motor, driving wheel, universal wheel, horizontal base, base support, electromagnet stent, electromagnet, synchronizing wheel support, synchronizing wheel stent support, synchronizing wheel, band, stop gear shaft, rubber band synchronously; It is characterized in that: base support is fixed on the bottom of horizontal base, driving wheel is installed on the fore base support, universal wheel is installed on the base support of back, the synchronizing wheel stent support is fixed on above the horizontal base, the synchronizing wheel support is installed on the synchronizing wheel stent support, a synchronizing wheel is fixed on the top of synchronizing wheel support, be assemblied on this synchronizing wheel being with synchronously simultaneously, the axle interference fit of the axis hole of another synchronizing wheel and lifting stepper motor, this another synchronizing wheel cooperates with synchronous band again, after making synchronous band tensioning, this another synchronizing wheel and lifting stepper motor are fixed on the synchronizing wheel support in the lump; Electromagnet is installed in and forms paw on the electromagnet stent, again paw is fixed on and is with synchronously, driving paw by synchronous band moves up and down, for prevent paw moved up the position, the stop gear shaft is installed as limit shaft on synchronizing wheel support top, rubber band is enclosed within the groove of paw front, is used with electromagnet and grasps object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101159250A CN101204810B (en) | 2007-12-16 | 2007-12-16 | Explosion prevention robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101159250A CN101204810B (en) | 2007-12-16 | 2007-12-16 | Explosion prevention robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101204810A CN101204810A (en) | 2008-06-25 |
| CN101204810B true CN101204810B (en) | 2010-06-09 |
Family
ID=39565394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101159250A Expired - Fee Related CN101204810B (en) | 2007-12-16 | 2007-12-16 | Explosion prevention robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101204810B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223665B (en) * | 2013-04-28 | 2015-04-29 | 哈尔滨工业大学 | Full-automatic transport robot for physical files |
| CN105710857B (en) * | 2016-04-15 | 2017-09-01 | 北京电子科技职业学院 | A kind of intelligent explosive-removal robot |
| CN109341453B (en) * | 2018-11-15 | 2024-04-19 | 北京理工大学 | Unmanned flexible explosion-proof disposal system |
| CN110405787B (en) * | 2019-07-31 | 2021-07-09 | 河南牧业经济学院 | Military explosive-handling robot |
-
2007
- 2007-12-16 CN CN2007101159250A patent/CN101204810B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101204810A (en) | 2008-06-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100609 Termination date: 20101216 |