CN104526678A - Explosive-handling robot - Google Patents
Explosive-handling robot Download PDFInfo
- Publication number
- CN104526678A CN104526678A CN201410834591.2A CN201410834591A CN104526678A CN 104526678 A CN104526678 A CN 104526678A CN 201410834591 A CN201410834591 A CN 201410834591A CN 104526678 A CN104526678 A CN 104526678A
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- CN
- China
- Prior art keywords
- explosive
- connecting rod
- electric pushrod
- movably hinged
- assembling post
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an explosive-handling robot. The explosive-handling robot comprises a base plate, a left continuous track, a right continuous track, a left motor, a right motor, a mechanical arm and a manipulator, wherein the left continuous track and the right continuous track are arranged on the two sides of the base plate respectively, the left continuous track is in linkage with the left motor, and the right continuous track is in linkage with the right motor; the mechanical arm is fixedly mounted on the base plate, and the manipulator is mounted at the tail end of the mechanical arm; the mechanical arm comprises a base, a front assembly column, a rear assembly column, a first electric push rod, a second electric push rod, a connecting rod and a front arm. The explosive-handling robot has the advantages of being simple in structure, low in cost and good in performance.
Description
Technical field
The present invention relates to a kind of explosive equipment, particularly explosive-removal robot.
Background technology
Blast brings huge economic loss and political fallout to the country and people, threatens the life security of explosive personnel.Various countries, in order to maintain social stability and political requirement, give the technology and equipment of research and development fight against terrorism and violence and pay attention to greatly and more input.Along with remote control and the development of local autonomous technology, start to be applied for anti-terrorism investigation and explosive ground mobile robot.Explosive-removal robot (explosive disposal robot) refer to replace people to can not go or be not suitable for have in the environment such as blast, danger, or the robot that thing work of carrying out eliminating danger is done, it is the robot being specifically designed to search, detecting, process various Explosive hazardous material, also can implement effective attack to some armed terrorists and offender, be requisite important equipment in anti-terrorism professional contingent.
Find through retrieval, domestic more existing bibliographical informations about explosive-removal robot:
Such as: [patent No.] 200620049543.3, [title] a kind of intelligent anti-terror explosive removing robot, [applying date] 2006.12.26, comprise car body and walking mechanism, be provided with intelligent controlling device in car body, on car body, rear portion is provided with explosion-proof vent, the mechanical arm that can rotate and fold is provided with at Vehicular body front, the top of mechanical arm is provided with manipulator, and intelligent controlling device controls walking mechanism walking, and controller mechanical arm and manipulator behavior.In addition exploder detecting device and camera head are also housed, and walking mechanism adopts crawler type walking mechanism.Anti-terrorism intelligently realizing explosion-proof robot of the present invention function is more perfect, and explosive ability is more strengthened, and can realize explosive complete zero injures and deaths.
Again such as: [patent No.] CN200710175389.3, [title] robot for eliminating exploding and danger, [applying date] 2007.09.29, mainly comprise running gear, robot section, body part, cradle head part and control section, the equipment compartment of its body part and battery flat and cradle head part are arranged on rear chassis, running gear is left and right two parts, symmetry is connected in front chassis and the rear chassis both sides of body part, robot section is arranged on the front chassis of body part, and the afterbody left and right sides of described running gear is provided with shoe part; Robot section adopts multiple degrees of freedom, has both ensured enough to grab Beijing South Maxpower Technology Co. Ltd's power, and improve again the ability of robot by narrow space, flexible tail supporting construction plays cushioning effect, not easily topples, safe and reliable; Have the function close to heavy-duty machines people, adaptable to complicated landform, obstacle climbing ability is strong, and alternative artificial investigation, the task scene of being directly used in carries out scouting, get rid of and process explosive and other dangerous material.
Above-mentioned two machine is more typical explosive-removal robot, include chassis, walking mechanism, manipulator, motor, even have matched sniffer, camera head and The Cloud Terrace, this kind of robot price mechanism is complicated, fuselage gold is expensive, price reach hundreds thousand of to millions of not etc., only could use this kind of robot in very special occasion.Therefore expensive price governs the popularization of explosive-removal robot.If a kind of explosive-removal robot that is cheap, dependable performance can be invented must reduce the use threshold of explosive-removal robot, benefit the nation and the people.
Summary of the invention
The object of the invention is to solve the higher problem of current explosive-removal robot cost, provide a kind of structure concise and to the point, with low cost, of good performance explosive-removal robot.
Explosive-removal robot of the present invention, comprises chassis, left crawler belt, right-hand track chiain, left motor, right motor, mechanical arm, manipulator; Described both sides, chassis arrange left crawler belt and right-hand track chiain respectively, described left crawler belt and left motor interlock, described right-hand track chiain and right motor interlock; Described mechanical arm is fixedly mounted on chassis, and manipulator is arranged on mechanical arm tail end.
Further illustrate as of the present invention, described mechanical arm comprises base, front assembling post, rear assembling post, the first electric pushrod, the second electric pushrod, connecting rod and forearm; Described front assembling post, rear assembling post are installed on base, and rear assembling post is higher than front assembling post; Described front assembling post is movably hinged with the first electric pushrod, and the described rear upper end of assembling post and one end of connecting rod are movably hinged, and the other end of described connecting rod and the middle part of forearm are movably hinged; Described connecting rod is movably hinged near the position of rear assembling post and the second electric pushrod, and the other end and first electric pushrod of connecting rod are movably hinged, and the other end of the second electric pushrod and one end of forearm are movably hinged; Installation manipulator on the other end of described forearm.
Further illustrate as of the present invention, described manipulator comprises installing plate, intermediate connecting rod and mechanical finger; Described installing plate is fixedly mounted on one end of forearm, and installing plate both sides are respectively movably hinged a mechanical finger respectively; The root of described mechanical finger is linked together by intermediate connecting rod, and the connected mode of mechanical finger and intermediate connecting rod is for being movably hinged; Described forearm is provided with vertically the 3rd electric pushrod; The external part of the 3rd described electric pushrod is fixedly connected with in the middle part of intermediate connecting rod.
Further illustrate as of the present invention, described mechanical finger is L-type.
Further illustrate as of the present invention, described chassis is H type, is made up of the track frame of intermediate transverse girder and both sides, and fitting machine mechanical arm on intermediate transverse girder, both sides track frame installs crawler belt respectively.
Further illustrate as of the present invention, also comprise robot controller, explosive-removal robot is equipped with high-definition camera, camera is connected with control device by data channel, manipulation personnel are facilitated to obtain the field of view information of robot, in real time adjustment explosion-proof vehicle direct of travel.
Robot of the present invention achieves following technique effect:
1, can complete the explosive action that explosive-removal robot is basic: robot chassis design becomes Track Type, bi-motor drives left and right two-wheeled respectively, ensures to advance the balance of central robot, only needs asynchronous for the rotating speed of two motors simultaneously, just can turn easily.Adopt crawler type to be designed with good climbing capacity and stability, the drive unit of robot adopts direct current generator, through shaft coupling Direct driver crawler main driving wheel.Such robot can realize following action when moving: advance, retreat, turn and speed change, response characteristic is good.
2, working arm is an insufficient DOF structure by 2 cradle heads, what its actuation techniques adopted is electric pushrod, the scope of working arm almost can arrive any position in its half-circle area, dead ahead, and the rotation in conjunction with robot chassis can realize most of explosive work.
3, manipulator is double-crank hinge linkage, is driven by electric pushrod, and the on-off action by paw realizes the clamping to object.
4, chassis design is H type by preferred version of the present invention, save the material that chassis consumes to greatest extent, and the present invention only employs the most basic module such as chassis, crawler belt, mechanical arm, manipulator, motor, avoid unnecessary structure and assembly to greatest extent, on the basis ensureing original explosive function, the cost of low explosive-removal robot has fallen greatly.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is the front view of explosive-removal robot of the present invention.
Fig. 2 is the top view of explosive-removal robot of the present invention.
Fig. 3 is mechanical arm structural representation of the present invention.
Fig. 4 is robot manipulator structure schematic diagram of the present invention.
In figure, 1-chassis; 2-left crawler belt; 3-right-hand track chiain; 4-left motor; 5-right motor; 6-mechanical arm; 601-base; 602-front assembling post; 603-assemble post afterwards; 604-the first electric pushrod; 605-the second electric pushrod; 606-connecting rod; 607-forearm; 608-the three electric pushrod; 7-manipulator; 701-installing plate; 702-intermediate connecting rod; 703-mechanical finger.
Detailed description of the invention
See Fig. 1 to Fig. 4, explosive-removal robot of the present invention, comprises chassis 1, left crawler belt 2, right-hand track chiain 3, left motor 4, right motor 5, mechanical arm 6, manipulator 7; Described both sides, chassis 1 arrange left crawler belt 2 and right-hand track chiain 3 respectively, described left crawler belt 2 and left motor 4 interlock, described right-hand track chiain 3 and right motor 5 interlock; Described mechanical arm 6 is fixedly mounted on chassis 1, and manipulator 7 is arranged on mechanical arm 6 end.
Robot can realize following action when moving: advance, retreat, turn and speed change, response characteristic is good.Wherein:
robot variable motion: make click acceleration or deceleration by Current Control;
robot ride: optional equipment CCD camera in robot, manipulation personnel can adjust explosion-proof vehicle direct of travel at any time; 3. robot turns: control both sides motor and make its speed equal direction contrary, formed differential, robot is rotated around fuselage axial line, completes turning.
As shown in Figure 3, described mechanical arm 6 comprises base 601, front assembling post 602, rear assembling post 603, first electric pushrod 604, second electric pushrod 605, connecting rod 606 and forearm 607; Described front assembling post 602, rear assembling post 603 are installed on base, and rear assembling post 603 is higher than front assembling post 602; Described front assembling post 602 is movably hinged with the first electric pushrod 604, and the described upper end of rear assembling post 603 and one end of connecting rod 606 are movably hinged, and the other end of described connecting rod 606 and the middle part of forearm 607 are movably hinged; Described connecting rod 606 is movably hinged near the position of rear assembling post 603 and the second electric pushrod 605, and the other end and first electric pushrod 604 of connecting rod 606 are movably hinged, and the other end of the second electric pushrod 605 and one end of forearm 607 are movably hinged; Installation manipulator 7 on the other end of described forearm 607.
In the course of work, the first electric pushrod 604 drive link 606 rotates, and the second electric pushrod 605 drives forearm 607 to rotate.Time first electric pushrod 604 stretches, connecting rod 606 rotates up, and realizes mechanical arm and " lifts " action; Otherwise time the first electric pushrod 604 shrinks, connecting rod 606 is rotated down, and realizes mechanical arm and " puts down " action.When second electric pushrod stretches, forearm 607 is rotated down, and realizes mechanical arm and " bends " action; Otherwise when the second electric pushrod shrinks, forearm 607 rotates up, and realizes mechanical arm and " stretches " action.Mechanical arm relies on the driving of electric pushrod realize bending and stretch, and because mechanical arm is doublejointed structure, its range of movement is confined in two dimensional surface, and the rotation in conjunction with robot chassis can implement three-dimensional explosive work.
As shown in Figure 4, described manipulator 7 comprises installing plate 701, intermediate connecting rod 702 and mechanical finger 703; Described installing plate 701 is fixedly mounted on one end of forearm 607, and installing plate 701 both sides are respectively movably hinged a mechanical finger 703 respectively; The root of described mechanical finger 703 is linked together by intermediate connecting rod 702, and the connected mode of mechanical finger 703 and intermediate connecting rod 702 is for being movably hinged; Described forearm 607 is provided with vertically the 3rd electric pushrod 608; The external part of the 3rd described electric pushrod 608 is fixedly connected with in the middle part of intermediate connecting rod 702.Described mechanical finger 403 is L-type.
When needs holding articles, the orientation of first reconditioner mechanical arm 6, makes manipulator 7 touch target item.3rd electric pushrod 608 stretches, and drive intermediate connecting rod 702 shifted forward, connecting rod 702 acts on mechanical finger 703, produces outside moment, and left and right mechanical finger 703, respectively to inner rotary, realizes manipulator and " opens " action.When manipulator encases target item, the 3rd electric pushrod 608 shrinks, and drive intermediate connecting rod 702 translation backward, connecting rod 702 acts on mechanical finger 703, produces inside moment, and left and right mechanical finger 703, respectively to interior rotation, realizes manipulator and " to hold with a firm grip " action.After obtaining target item, just driven machine people can drive to safety zone, carry out other explosive process.
Described chassis 1 is H type, is made up of the track frame of intermediate transverse girder and both sides, and fitting machine mechanical arm 6 on intermediate transverse girder, both sides track frame installs crawler belt respectively.
The first described electric pushrod 604, second electric pushrod 605, the 3rd electric pushrod 608 market all there is sale.
The drive disk assembly of crawler belt---driving wheel is arranged on the one end near motor on left crawler belt 2 or right-hand track chiain 3, is connected the clutch end of motor by shaft coupling; Driven pulley is distributed in crawler belt surrounding, serves as inducer and the BOGEY WHEEL of crawler belt; Driving wheel is by chain-driving driven pulley.Described shaft coupling, driving wheel, driven pulley all adopt flat key to be connected with the axial location of axle.Setting like this is to ensure in order to sprocket wheel (driving wheel and driven pulley) and axle are combined with good centering.
Also comprise robot controller, explosive-removal robot is equipped with high-definition camera, camera is connected with control device by data channel, facilitates manipulation personnel to obtain the field of view information of robot, in real time adjustment explosion-proof vehicle direct of travel.
Claims (6)
1. an explosive-removal robot, comprises chassis (1), left crawler belt (2), right-hand track chiain (3), left motor (4), right motor (5), mechanical arm (6), manipulator (7); It is characterized in that: described chassis (1) both sides arrange left crawler belt (2) and right-hand track chiain (3) respectively, described left crawler belt (2) and left motor (4) interlock, described right-hand track chiain (3) and right motor (5) interlock; Described mechanical arm (6) is fixedly mounted on chassis (1), and manipulator (4) is arranged on mechanical arm (6) end.
2. explosive-removal robot according to claim 1, is characterized in that: described mechanical arm (6) comprises base (601), front assembling post (602), rear assembling post (603), the first electric pushrod (604), the second electric pushrod (605), connecting rod (606) and forearm (607); Described front assembling post (602), rear assembling post (603) are installed on base, and rear assembling post (603) is higher than front assembling post (602); Described front assembling post (602) is movably hinged with the first electric pushrod (604), the described upper end of rear assembling post (603) and one end of connecting rod (606) are movably hinged, and the other end of described connecting rod (606) and the middle part of forearm (607) are movably hinged; Described connecting rod (606) is movably hinged near the position of rear assembling post (603) and the second electric pushrod (605), the other end and first electric pushrod (604) of connecting rod (606) are movably hinged, and the other end of the second electric pushrod (605) and one end of forearm (607) are movably hinged; Installation manipulator (7) on the other end of described forearm (607).
3. explosive-removal robot according to claim 1, is characterized in that: described manipulator (7) comprises installing plate (701), intermediate connecting rod (702) and mechanical finger (703); Described installing plate (701) is fixedly mounted on one end of forearm (607), and installing plate (701) both sides are respectively movably hinged a mechanical finger (703) respectively; The root of described mechanical finger (703) is linked together by intermediate connecting rod (702), and the connected mode of mechanical finger (703) and intermediate connecting rod (702) is for being movably hinged; Described forearm (606) is provided with vertically the 3rd electric pushrod (608); The external part of the 3rd described electric pushrod (608) is fixedly connected with intermediate connecting rod (702) middle part.
4. explosive-removal robot according to claim 3, is characterized in that: described mechanical finger (403) is L-type.
5. explosive-removal robot according to claim 1, is characterized in that: described chassis (1) is H type, is made up of the track frame of intermediate transverse girder and both sides, and fitting machine mechanical arm (6) on intermediate transverse girder, both sides track frame installs crawler belt respectively.
6. explosive-removal robot according to claim 1, is characterized in that: also comprise robot controller, explosive-removal robot is equipped with high-definition camera, and camera is connected with control device by data channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410834591.2A CN104526678B (en) | 2014-12-30 | 2014-12-30 | A kind of explosive-removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410834591.2A CN104526678B (en) | 2014-12-30 | 2014-12-30 | A kind of explosive-removal robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104526678A true CN104526678A (en) | 2015-04-22 |
| CN104526678B CN104526678B (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410834591.2A Expired - Fee Related CN104526678B (en) | 2014-12-30 | 2014-12-30 | A kind of explosive-removal robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN104526678B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196288A (en) * | 2015-09-28 | 2015-12-30 | 三门峡市天康成套设备有限责任公司 | Blindage vehicle capable of achieving active explosion removal |
| CN106112316A (en) * | 2016-06-23 | 2016-11-16 | 广西大学 | A kind of big work space controllable electric push-down welding robot |
| CN106737746A (en) * | 2017-01-06 | 2017-05-31 | 王佳蔚 | A kind of Multifunction robot |
| CN106826805A (en) * | 2017-04-17 | 2017-06-13 | 菏泽学院 | A kind of robot arm of multi-angle precise control |
| CN108000556A (en) * | 2017-10-17 | 2018-05-08 | 北京中科盾科技有限公司 | A kind of explosive-removal robot balanced support mechanism and robot |
| CN109664321A (en) * | 2018-12-27 | 2019-04-23 | 四川文理学院 | Mechanical arm, explosive trolley and method for searching |
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2014
- 2014-12-30 CN CN201410834591.2A patent/CN104526678B/en not_active Expired - Fee Related
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196288A (en) * | 2015-09-28 | 2015-12-30 | 三门峡市天康成套设备有限责任公司 | Blindage vehicle capable of achieving active explosion removal |
| CN106112316A (en) * | 2016-06-23 | 2016-11-16 | 广西大学 | A kind of big work space controllable electric push-down welding robot |
| CN106737746A (en) * | 2017-01-06 | 2017-05-31 | 王佳蔚 | A kind of Multifunction robot |
| CN106826805A (en) * | 2017-04-17 | 2017-06-13 | 菏泽学院 | A kind of robot arm of multi-angle precise control |
| CN108000556A (en) * | 2017-10-17 | 2018-05-08 | 北京中科盾科技有限公司 | A kind of explosive-removal robot balanced support mechanism and robot |
| CN109664321A (en) * | 2018-12-27 | 2019-04-23 | 四川文理学院 | Mechanical arm, explosive trolley and method for searching |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104526678B (en) | 2016-06-15 |
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Granted publication date: 20160615 Termination date: 20161230 |