CN105171751A - MK6 comprehensive anti-explosion robot - Google Patents
MK6 comprehensive anti-explosion robot Download PDFInfo
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- CN105171751A CN105171751A CN201510564857.0A CN201510564857A CN105171751A CN 105171751 A CN105171751 A CN 105171751A CN 201510564857 A CN201510564857 A CN 201510564857A CN 105171751 A CN105171751 A CN 105171751A
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Abstract
The invention relates to an MK6 comprehensive anti-explosion robot. The MK6 comprehensive anti-explosion robot is composed of a body, a universal two-screw arm, a connector, a rotary cantilever, a manipulator, a water gun fixing frame, two wireless receiving antennas, an electrical and hydraulic system, a central processor and a drive device. The MK6 comprehensive anti-explosion robot can adapt to various terrains, is convenient, easy and rapid to operate, not only has the hauling capacity of a large robot, but also has the speed and gradeability of a small robot, can rapidly approach a target, is flexible and rapid to operate, can independently complete the functions of detection, suspicious object capturing and destruction and the like, and can better meet the needs of practical application.
Description
Technical field
The invention belongs to explosive-removal robot technical field, be specifically related to the comprehensive explosive-removal robot of a kind of MK6.
Background technology
The key of explosive-removal robot is independently to obtain, process and identify object information, has certain autonomous analysis ability, independently can complete comparatively complicated operation task, have greater flexibility than general industrial robot.Their general volumes are little, turn to flexibly, are convenient at narrow local work, and operating personnel can control its activity by radio or optical cable at hundreds of rice to several kilometers in addition.Therefore, explosive-removal robot is widely used in the multiple fields such as inspection and maintenance of anti-quick-fried, the military cause of fire reconnaissance, anti-terrorism, nuclear facilities.
But like product ubiquity volume in the market, flexibility and the mutual unmatched problem of frictional ground force, be mainly reflected in the larger flexibility of volume poorer, integral power is equipped with perfect not; Traction is less, ramp angle is little, easily causes the phenomenons such as rollover skidding; Be difficult to be applicable to complicated urban environment and mountain road; Overall pace controllability is not strong, and control system is complicated, the gait of march of extremely difficult control in human users's process.
Summary of the invention
For above-mentioned problems of the prior art, a kind of avoiding is the object of the present invention is to provide to occur the comprehensive explosive-removal robot of the MK6 of above-mentioned technological deficiency.
In order to realize foregoing invention object, the technical solution used in the present invention is as follows:
The comprehensive explosive-removal robot of a kind of MK6, by body 1, universal binodal leading screw arm 2, connector 3, hinged cantilever 4, manipulator 5, hydraulic giant big gun fixed mount 6, two wireless receiving antennas 9, rotating waist dish 15, electrically and hydraulic system, central processing unit and drive unit form, wherein:
Described central processing unit and described electrically and hydraulic system be arranged on the inside of described body 1, described central processing unit and hydraulic system electric with described is connected;
Described drive unit is arranged on the two bottom sides of described body 1, and with described electrically and hydraulic system be connected;
Described rotating waist dish 15 is arranged on the rear end of described body 1, and with described electrically and hydraulic system be connected;
Described universal binodal leading screw arm 2 is arranged on described rotating waist dish 15, and with described electrically and hydraulic system be connected;
Described connector 3 is arranged on one end of described universal binodal leading screw arm 2;
Described hinged cantilever 4 is connected with described connector 3;
Described manipulator 5 is connected with described hinged cantilever 4;
Described hydraulic giant big gun fixed mount 6 is arranged on described connector 3;
Described two wireless receiving antennas 9 are arranged on described body 1, are all connected with described central processing unit.
Further, the comprehensive explosive-removal robot of described MK6 also comprises the first camera 11, second camera 12, the 3rd camera 13 and support bar 14, wherein:
Described first camera 11 is arranged on described manipulator 5;
Described second camera 12 is arranged on described hydraulic giant big gun fixed mount 6;
Described 3rd camera 13 is arranged on described body 1 by described support bar 14.
Further, described drive unit is made up of drive motors, six driving wheels 7 and two crawler belts 8, described drive motors is arranged on the inside of described body 1, be connected with described six driving wheels 7 with described central processing unit, every three described driving wheels 7 are arranged on the side of described body 1, and every bar crawler belt 8 is arranged on every three described driving wheels 7.
Further, described universal binodal leading screw arm 2 is made up of gear train 21, motor 22, rotating threaded shaft 23, Universal rotary rotary head 24 and arm shell 25, wherein:
Described rotating threaded shaft 23 is arranged on the inside of described arm shell 25;
Described gear train 21 is arranged on one end of described arm shell 25, is connected with described rotating threaded shaft 23;
Described motor 22 is connected with described gear train 21;
Described Universal rotary rotary head 24 is arranged on the other end of described rotating threaded shaft 23.
Further, the comprehensive explosive-removal robot of described MK6 also comprises Hall element, and described Hall element to be arranged on described manipulator and to be connected with described central processing unit.
Further, described two crawler belts 8 are polybutadiene rubber synthesis crawler belt.
The comprehensive explosive-removal robot of MK6 provided by the invention, can adapt to multiple landform, more convenient operation simple and fast.The existing heavy-duty machines people of the present invention pulls ability, also speed and the climbing capacity of small scale robot is had concurrently, can rapidly close to target, flexible operation is quick, complete independently investigation, suspicious item can capture and the function such as destruction, the needs of practical application can be met well.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the perspective structure schematic diagram of universal binodal leading screw arm;
In figure, 1-body, 2-universal binodal leading screw arm, 21-gear train, 22-motor, 23-rotating threaded shaft, the rotary head of 24-Universal rotary, 25-arm shell, 3-connector, 4-hinged cantilever, 5-manipulator, 6-hydraulic giant big gun fixed mount, 7-driving wheel, 8-crawler belt, 9-wireless receiving antenna, 10-bracing frame, 11-first camera, 12-second camera, 13-the 3rd camera, 14-support bar, 15-rotating waist dish.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
As shown in Figure 1, the comprehensive explosive-removal robot of a kind of MK6, by body 1, universal binodal leading screw arm 2, connector 3, hinged cantilever 4, manipulator 5, hydraulic giant big gun fixed mount 6, two wireless receiving antennas 9, electrically and hydraulic system, central processing unit and drive unit form, wherein: described central processing unit and described electrically and hydraulic system be arranged on the inside of described body 1, described central processing unit and hydraulic system electric with described is connected; Described drive unit is arranged on the two bottom sides of described body 1, and with described electrically and hydraulic system be connected; Described rotating waist dish 15 be arranged on described body 1 rear end and with described electrically and hydraulic system be connected, rotating waist dish 15 can 360 degree of rotations; Described universal binodal leading screw arm 2 is arranged on described rotating waist dish 15, and with described electrically and hydraulic system be connected; Bracing frame 10 to be arranged on rotating waist dish 15 and to be connected with universal binodal leading screw arm 2, can support the motion of universal binodal leading screw arm 2; Described connector 3 is arranged on one end of described universal binodal leading screw arm 2; Described hinged cantilever 4 is connected with described connector 3; Described manipulator 5 is connected with described hinged cantilever 4; Described hydraulic giant big gun fixed mount 6 is arranged on described connector 3; Described two wireless receiving antennas 9 are arranged on described body 1, are all connected with described central processing unit.The comprehensive explosive-removal robot of described MK6 also comprises Hall element, described Hall element to be arranged on described manipulator 5 and to be connected with described central processing unit, transducing signal is input to central processing unit, Hall element is sensor position signalling being converted to current signal, different voltage is produced by resistance, voltage and displacement or angle have a proportionate relationship, voltage input central processing unit is carried out identifying manipulator 5 displacement of passing by or angle, more desirably to reach the operating process of diversification, make the more convenient to operate of manipulator 5, easy control.
The comprehensive explosive-removal robot of described MK6 also comprises the first camera 11, second camera 12, the 3rd camera 13 and support bar 14, wherein: described first camera 11 is arranged on described manipulator 5; Described second camera 12 is arranged on described hydraulic giant big gun fixed mount 6; Described 3rd camera 13 is arranged on described body 1 by described support bar 14.First camera 11, second camera 12, image transmission captured by the 3rd camera 13 are to central processing unit.
Described drive unit is made up of drive motors, six driving wheels 7 and two crawler belts 8, described drive motors is arranged on the inside of described body 1, be connected with described six driving wheels 7 with described central processing unit, every three described driving wheels 7 are arranged on the side of described body 1, and every bar crawler belt 8 is arranged on every three described driving wheels 7.Described two crawler belts 8 are polybutadiene rubber synthesis crawler belt, the ramp angle drastically increasing robot and the stationarity of advancing.Drive motors adopts the high-power hollow-cup motor of imported with original packaging, realizes the overall co-ordination of the power of complete machine, speed, volume: 1) energy conservation characteristic: energy conversion efficiency is very high from following four aspects; 2) control characteristic: start, brake rapidly, response is exceedingly fast, mechanical time constant is less than 28 milliseconds, within portioned product can reach 10 milliseconds (iron core motors is generally more than 100 milliseconds), under the state that runs up in recommendation operation area, sensitive adjustment can be carried out to rotating speed easily; 3) drag characteristics: operation stability is very reliable, and the fluctuation of rotating speed is very little, can control easily within 2% as its fluctuation of speed of micromotor; 4) weight, volume, energy density increase substantially, and compared with the iron core motors of Same Efficieney, its weight, volume alleviate 1/3-1/2.
Central processing unit carries out radio communication by two wireless receiving antennas 9 and control centre's main frame, the image information that the first camera 11, second camera 12, the 3rd camera 13 import into can be transferred to control centre's main frame.Staff can carry out straighforward operation and monitoring by control centre's main frame to robot, and the operating platform of control centre's main frame is designed to rocker-type operating means, two are only needed to hold the everything of operating grip with regard to the complete control of energy, without the need to observing action button, two gear change hand lever is adopted to carry out stepless time adjustment, it is more easily convenient to operate, and overcomes the complexity of Traditional control panel button operation, the shortcoming such as discontinuous.Control centre's main frame can be desktop computer or notebook computer, and it is connected with dual-handle rocker-type operating platform.
As shown in Figure 2, described universal binodal leading screw arm 2 is made up of gear train 21, motor 22, rotating threaded shaft 23, Universal rotary rotary head 24 and arm shell 25, wherein: described rotating threaded shaft 23 is arranged on the inside of described arm shell 25; Described gear train 21 is arranged on one end of described arm shell 25, is connected with described rotating threaded shaft 23; Described motor 22 is connected with described gear train 21; Described Universal rotary rotary head 24 is arranged on the other end of described rotating threaded shaft 23.Be provided with spring vibration damper between rotating threaded shaft 23 and Universal rotary rotary head 24, the effect of spring vibration damper is the subsidence velocity slowing down rotating threaded shaft when gravity transships, to reach the rectilinear motion effect of universal binodal leading screw arm 2 better.Universal binodal leading screw arm 2 overall operation process rotates generation power by motor 22 positive and negative rotation driven gear group 21, the power produced is transmitted through rotating threaded shaft 23 again, the tenesmus strength of front snatch thing is eliminated again through Universal rotary rotary head 24, overall stress point is made to fall within the strong point of universal binodal leading screw arm 2, efficiently utilize the stationarity of rotating threaded shaft 23, and reasonably accomplished the integration of strength, achieve overall balance.Robot adopts set-up mode rearmounted for rotating waist dish 15, universal binodal leading screw arm 2 is arranged on the rear end of body 1 by rotating waist dish 15, effectively reduce the overall volume of robot, robot can be made when capturing article to increase himself balance and stability, be more convenient for working in narrow space, and have more flexibility.
The comprehensive explosive-removal robot of MK6 provided by the invention, can adapt to multiple landform, more convenient operation simple and fast.The existing heavy-duty machines people of the present invention pulls ability, also speed and the climbing capacity of small scale robot is had concurrently, can rapidly close to target, flexible operation is quick, complete independently investigation, suspicious item can capture and the function such as destruction, the needs of practical application can be met well.
The above embodiment only have expressed embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (6)
1. the comprehensive explosive-removal robot of MK6, it is characterized in that, by body (1), universal binodal leading screw arm (2), connector (3), hinged cantilever (4), manipulator (5), hydraulic giant big gun fixed mount (6), two wireless receiving antennas (9), rotating waist dish (15), electrically and hydraulic system, central processing unit and drive unit form, wherein:
Described central processing unit and described electrically and hydraulic system be arranged on the inside of described body (1), described central processing unit and hydraulic system electric with described is connected;
Described drive unit is arranged on the two bottom sides of described body 1, and with described electrically and hydraulic system be connected;
Described rotating waist dish (15) is arranged on the rear end of described body 1, and with described electrically and hydraulic system be connected;
Described universal binodal leading screw arm (2) is arranged on described rotating waist dish (15), and with described electrically and hydraulic system be connected;
Described connector (3) is arranged on one end of described universal binodal leading screw arm (2);
Described hinged cantilever (4) is connected with described connector (3);
Described manipulator (5) is connected with described hinged cantilever (4);
Described hydraulic giant big gun fixed mount (6) is arranged on described connector (3);
Described two wireless receiving antennas (9) are arranged on described body (1), are all connected with described central processing unit.
2. MK6 robot according to claim 1, it is characterized in that, the comprehensive explosive-removal robot of described MK6 also comprises the first camera (11), second camera (12), the 3rd camera (13) and support bar (14), wherein:
Described first camera (11) is arranged on described manipulator (5);
Described second camera (12) is arranged on described hydraulic giant big gun fixed mount (6);
Described 3rd camera (13) is arranged on described body (1) by described support bar (4).
3. the comprehensive explosive-removal robot of MK6 according to claim 1,2, it is characterized in that, described drive unit is made up of drive motors, six driving wheels (7) and two crawler belts (8), described drive motors is arranged on the inside of described body (1), be connected with described six driving wheels (7) with described central processing unit, every three described driving wheels (7) are arranged on the side of described body (1), and every bar crawler belt (8) is arranged on every three described driving wheels (7).
4. the comprehensive explosive-removal robot of the MK6 according to claim 1-3, it is characterized in that, described universal binodal leading screw arm (2) is made up of gear train (21), motor (22), rotating threaded shaft (23), Universal rotary rotary head (24) and arm shell (25), wherein:
Described rotating threaded shaft (23) is arranged on the inside of described arm shell (25);
Described gear train (21) is arranged on one end of described arm shell (25), is connected with described rotating threaded shaft (23);
Described motor (22) is connected with described gear train (21);
Described Universal rotary rotary head (24) is arranged on the other end of described rotating threaded shaft (23).
5. MK6 robot according to claim 4, is characterized in that, the comprehensive explosive-removal robot of described MK6 also comprises Hall element, and described Hall element to be arranged on described manipulator and to be connected with described central processing unit.
6. MK6 robot according to claim 3, is characterized in that, described two crawler belts (6) are polybutadiene rubber synthesis crawler belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510564857.0A CN105171751A (en) | 2015-09-07 | 2015-09-07 | MK6 comprehensive anti-explosion robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510564857.0A CN105171751A (en) | 2015-09-07 | 2015-09-07 | MK6 comprehensive anti-explosion robot |
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| CN105171751A true CN105171751A (en) | 2015-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510564857.0A Pending CN105171751A (en) | 2015-09-07 | 2015-09-07 | MK6 comprehensive anti-explosion robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926909A (en) * | 2015-12-30 | 2017-07-07 | 苏茂 | Robot crawler-type mobile chassis |
| CN113715032A (en) * | 2021-05-07 | 2021-11-30 | 南京理工大学 | Mobile partition wall reconnaissance robot device |
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| CN1792569A (en) * | 2005-12-22 | 2006-06-28 | 马鞍山市惊天液压机械制造有限公司 | Robot for disassembling work |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN101362330A (en) * | 2008-09-27 | 2009-02-11 | 公安部上海消防研究所 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
| CN101367207A (en) * | 2008-09-26 | 2009-02-18 | 郭长青 | Miniature self-service ground robot |
| CN101642906A (en) * | 2009-08-27 | 2010-02-10 | 清华大学 | Multi-DOF telescopic redundant manipulator |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
| CN104015199A (en) * | 2014-05-29 | 2014-09-03 | 中广核检测技术有限公司 | Mechanical arm and detection robot based on mechanical arms |
| CN104626134A (en) * | 2015-01-23 | 2015-05-20 | 东莞市松庆智能自动化科技有限公司 | Rotary feeding and discharging manipulator device |
| CN104669275A (en) * | 2015-02-06 | 2015-06-03 | 中国人民解放军63908部队 | Intelligent explosive ordnance disposal robot |
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2015
- 2015-09-07 CN CN201510564857.0A patent/CN105171751A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5413454A (en) * | 1993-07-09 | 1995-05-09 | Movsesian; Peter | Mobile robotic arm |
| CN1792569A (en) * | 2005-12-22 | 2006-06-28 | 马鞍山市惊天液压机械制造有限公司 | Robot for disassembling work |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN101367207A (en) * | 2008-09-26 | 2009-02-18 | 郭长青 | Miniature self-service ground robot |
| CN101362330A (en) * | 2008-09-27 | 2009-02-11 | 公安部上海消防研究所 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
| CN101642906A (en) * | 2009-08-27 | 2010-02-10 | 清华大学 | Multi-DOF telescopic redundant manipulator |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
| CN104015199A (en) * | 2014-05-29 | 2014-09-03 | 中广核检测技术有限公司 | Mechanical arm and detection robot based on mechanical arms |
| CN104626134A (en) * | 2015-01-23 | 2015-05-20 | 东莞市松庆智能自动化科技有限公司 | Rotary feeding and discharging manipulator device |
| CN104669275A (en) * | 2015-02-06 | 2015-06-03 | 中国人民解放军63908部队 | Intelligent explosive ordnance disposal robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926909A (en) * | 2015-12-30 | 2017-07-07 | 苏茂 | Robot crawler-type mobile chassis |
| CN113715032A (en) * | 2021-05-07 | 2021-11-30 | 南京理工大学 | Mobile partition wall reconnaissance robot device |
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Application publication date: 20151223 |