CN105758271A - Wheel-leg-arm-tank combined explosive disposal robot - Google Patents
Wheel-leg-arm-tank combined explosive disposal robot Download PDFInfo
- Publication number
- CN105758271A CN105758271A CN201610128626.XA CN201610128626A CN105758271A CN 105758271 A CN105758271 A CN 105758271A CN 201610128626 A CN201610128626 A CN 201610128626A CN 105758271 A CN105758271 A CN 105758271A
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- CN
- China
- Prior art keywords
- joint
- arm
- tank
- explosive
- mechanical arm
- Prior art date
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D5/00—Safety arrangements
- F42D5/04—Rendering explosive charges harmless, e.g. destroying ammunition; Rendering detonation of explosive charges harmless
-
- 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
Abstract
The invention relates to a robot and particularly relates to an explosive disposal robot. According to the technical scheme, a wheel-leg-arm-tank combined explosive disposal robot comprises an explosion-proof tank (1), a dismounting mechanical arm (2), a grasping mechanical arm (3), mechanical legs (4) and a frame (5) with rolling wheels; after questionable explosives are found, the proper dismounting mechanical arm (2), grasping mechanical arm (3), and mechanical legs (4) can be mounted according to early-stage information; according to the field environment, the robot can reach the adjacent side of the questionable explosives in a manner of selecting the wheels and the mechanical legs (4) or combining the wheels and the mechanical legs (4); the explosives are dismounted through the dismounting mechanical arm (2) and then the questionable explosives are put into the explosion-proof tank (1) through the grasping mechanical arm (3); even if the questionable explosives explode, damages to the surrounding and the explosive disposal robot are not caused; and after the explosion-proof tank (1) is replaced, the explosive disposal robot can be repeatedly utilized.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of explosive-removal robot.
Background technology
Explosive-removal robot is a kind of automation equipment that can disassemble, shift explosive, is used for replacing people to scout, removes, transports suspicious explosive, it is adaptable to the densely populated place such as market, supermarket, subway station, airport, circumstance complication place suspicious explosive dispose.
Increasingly serious along with anti-terrorism situation, suspicious explosive installation site is more hidden, and installation form is increasingly complex, and in disposal process, the danger of accidental explosion is more prominent.Existing explosive-removal robot motion means are single, it mostly is wheeled or crawler type, the Marcbot explosive-removal robot of the such as U.S. have employed wheeled locomotive system, Andros explosive-removal robot have employed crawler-type mobile system, handling capacity under complicated landform is limited, and body gesture is with ground fluctuations, it is unfavorable for explosive operation.Not carrying anti-explosion tank with the explosive-removal robot self that above-mentioned robot is representative, mechanical arm capture explosive and arrive the anti-explosion tank of place of safety, be likely to occur explosive and surprisingly fall and cause blast in motor process, the safety of explosive transport is not enough.
Summary of the invention
It is an object of the invention to: provide a kind of and possess smooth ground and smoothly pass ability quickly through ability with complicated landform and possess the explosive-removal robot of safe dismounting, storage, the suspicious explosive function of transport.
The technical scheme is that and a kind of take turns the explosive-removal robot that lower limb arm tank combines, it includes: anti-explosion tank, disassemble mechanical arm, gripper mechanical arm, pedipulator and the vehicle frame with roller；
Anti-explosion tank is arranged on vehicle frame, including: tank body, the cover being flexibly connected with tank body, it is arranged in tank body and the connecting rod supported is provided when cover is opened, the ring flange being arranged on tank base, the buffer subsystem being arranged in tank body, be arranged on two draw-in grooves of tank wall and for locking the locking mechanism of cover；
Disassemble mechanical arm and be arranged in a draw-in groove of anti-explosion tank, including: shoulder joint, large arm, middle arm, forearm, carpal joint, disassemble mechanical hand；Shoulder joint is made up of outward turning joint, swing arm joint, has two degree of freedom；The top of large arm is connected with swing arm joint, and bottom is connected with middle arm, and its junction with middle arm forms elbow joint；Middle arm is connected with forearm, and junction forms lower elbow joint；Disassemble mechanical hand and be arranged on the lower end of forearm；
Gripper mechanical arm is identical with the composition disassembling mechanical arm, is distinctive in that to be substituted by catching robot and disassembles mechanical hand；Gripper mechanical arm is arranged in another draw-in groove of anti-explosion tank；
Pedipulator is arranged on vehicle frame, including: hip joint, thigh, shank, foot pad；Hip joint is made up of outward turning joint, swinging kick joint, possesses two degree of freedom；Upper leg portion connects swinging kick joint, and bottom is connected with shank, and it is forming knee joint with shank junction；Shank bottom is connected with foot pad by ball-joint.
Beneficial effect: (1), due to anti-explosion tank locking mechanism of the present invention, after explosive enters anti-explosion tank, cover can be closed and locked under gravity, it is achieved the safety storage of explosive, transport, drastically increases the safety of explosive overall process.
(2) present invention is simultaneously provided with roller and pedipulator, drastically increases explosive-removal robot and quickly arrives at the ability near suspicious explosive under complicated landform；Meanwhile, pedipulator is discrete with the contact position on ground, it is possible to by the stretching, extension of lower limb, shrinks adjustment explosive-removal robot attitude, makes car body be kept upright, for the condition that the operation offer of mechanical arm is good.
(3) modularity that the present invention achieves mechanical arm by draw-in groove changes the outfit, both can change different types of equipment when needed, redundant equipment can also have been removed when not needed, alleviate explosive-removal robot weight, considerably improve the ability of explosive-removal robot reply various tasks.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structure composition schematic diagram of anti-explosion tank in the present invention；
Fig. 3 is the preferred structure composition schematic diagram of anti-explosion tank in the present invention；
Fig. 4 is the structural representation of locking mechanism in the present invention；
Fig. 5 is the structural representation of pedipulator in the present invention；
Fig. 6 is the structural representation disassembling mechanical arm in the present invention；
Fig. 7 is the structural representation of catching robot in the present invention；
Fig. 8 is the structural representation of draw-in groove in the present invention.
Detailed description of the invention
Referring to accompanying drawing, a kind of taking turns the explosive-removal robot that lower limb arm tank combines, it includes: anti-explosion tank 1, disassemble mechanical arm 2, gripper mechanical arm 3, pedipulator 4 and the vehicle frame 5 with roller；
Anti-explosion tank 1 is arranged on vehicle frame 5, including: tank body 11, the cover 12 being flexibly connected with tank body 11, it is arranged in tank body 11 and the connecting rod 16 supported is provided when cover is opened, the buffer subsystem 17 be arranged on the ring flange 14 bottom tank body 11, being arranged in tank body 11, is arranged on two draw-in grooves 19 of tank body 11 sidewall and for locking the locking mechanism 15 of cover 12；
Disassemble mechanical arm 2 and be arranged in a draw-in groove 19 of anti-explosion tank 1, including: shoulder joint 21, large arm 22, middle arm 24, forearm 26, carpal joint 27, disassemble mechanical hand 28；Shoulder joint 21 is made up of outward turning joint, swing arm joint, has two degree of freedom；The top of large arm 22 is connected with swing arm joint, and bottom is connected with middle arm 24, and its junction with middle arm 24 forms elbow joint 23；Middle arm 24 is connected with forearm 26, and junction forms lower elbow joint 25；Disassemble mechanical hand 28 and be arranged on the lower end of forearm 26；
Gripper mechanical arm 3 is identical with the composition disassembling mechanical arm 2, is distinctive in that to be substituted by catching robot 38 and disassembles mechanical hand 28；Gripper mechanical arm 3 is arranged in another draw-in groove 19 of anti-explosion tank 1；
Pedipulator 4 is arranged on vehicle frame 5, including: hip joint 41, thigh 42, shank 44, foot pad 45；Hip joint 41 is made up of outward turning joint 411, swinging kick joint 412, possesses two degree of freedom；Thigh 42 top connects swinging kick joint 412, and bottom is connected with shank 44, and it is forming knee joint 43 with shank 44 junction；Shank 44 bottom is connected with foot pad 45 by ball-joint.Preferably, connecting rod 16 farther includes: interconnective bottom bar 161, upper end bar 162；The lower end of bottom bar 161 is connected with tank body 11 by hinge 163, and upper end bar 162 is connected with cover 12, and hinge 163 is with drive motor；When cover 12 is opened, motor-locking；When motor unlocks, cover 12 closes under gravity automatically.The present invention is in open mode at explosive front cover 12, when, after the signal receiving explosive contact buffer subsystem 17, the drive motor of hinge 163 unlocks, and cover 12 is automatically closed and locked under gravity.
Preferably, locking mechanism 15 farther includes: locking bed 151, lock screw 152, limit spring 153, block 154；Cover 12 is provided with the probe 121 matched with locking mechanism 15；Locking bed 151 is provided with centre bore 1512 and runs through the cross-drilled hole 1511 of both sides, and the front end of block 154 is curved, and the two ends of cross-drilled hole 1511 are provided with screw thread and the front end of block 154 is limited in by lock screw 152, limit spring 153 the axis place of centre bore 1512；Probe 121 is just to centre bore 1512, and when cover 12 is closed, probe 121 moves downward, block 154 is subject to backward two side shiftings of pressure of probe 121, and after probe 121 passes through, block 154 moves compression probe 121 to centre, limit the lengthwise movement of probe 121, it is achieved locking.When needs unlock, screw out lock screw 152, take out limit spring 153, block 154 successively, release the locking to probe 121.
Preferably, disassemble mechanical hand 28 to farther include: base A281 and the demounting tool 282 being arranged on base A；Base A281 arranges photographic head；Demounting tool 282 can need to be replaced according to task；Catching robot 38 includes: base B381 and four fingers 382；Four fingers 382 are along being uniformly distributed and be movably connected on base B381；Finger 382 includes: refer to down joint 3821, middle finger joint 3822, upper finger joint 3833, respectively refers to that internode is flexibly connected；Upper finger joint 3833 leading portions are wedge shape, convenient crawl；Base B381 center arranges photographic head, and arranges luminaire in side.
Preferably, draw-in groove 19 is further provided with gathering sill 191, confined planes 192 and supply hub 193；Achieved by the frictional force of gathering sill 191, confined planes 192 and disassemble removably connecting of mechanical arm 2, gripper mechanical arm 3 and tank body 11；Supply hub 193 is connected with corresponding plug and achieves electric energy supply.
Under smooth surface condition, explosive-removal robot hip joint 411 rotates, and lifts pedipulator 4, makes the minimum point of pedipulator 4 higher than vehicle frame 5 minimum point；And suitably rotating knee joint 13, it is achieved thigh 412 is folding with shank 414, explosive-removal robot roller rapid movement.
Preferably, for increasing intensity, bottom tank body 11 and between ring flange 14, reinforcement can be set every 45 °.
Preferably, vehicle frame 5 also sets up by camera head and illuminator, makes the present invention possess the explosive ability under insufficient light state.
Preferably, for convenience of opening, cover 12 is provided with handle 18.
Preferably, for better adaptation to the ground, it is arc bottom foot pad 45.
Invention according to early stage information, can be installed and suitable disassemble mechanical arm 2, gripper mechanical arm 3 and pedipulator 4；According to site environment, it is possible to select the mode of wheel, pedipulator 4 or the two combination to arrive near suspicious explosive；By disassembling mechanical arm 2, explosive is disassembled, then by gripper mechanical arm 3, suspicious explosive is put in anti-explosion tank 1；Even if suspicious explosive explodes, cause damage without to surrounding and explosive-removal robot；After changing anti-explosion tank 1, explosive-removal robot can be reused.
Claims (5)
1. take turns the explosive-removal robot that lower limb arm tank combines for one kind, it is characterised in that: it includes: anti-explosion tank (1), disassemble mechanical arm (2), gripper mechanical arm (3), pedipulator (4) and the vehicle frame (5) with roller；
Described anti-explosion tank (1) is arranged on described vehicle frame (5), including: tank body (11), the cover (12) being flexibly connected with described tank body (11), it is arranged in described tank body (11) and the connecting rod (16) supported is provided when described cover is opened, the ring flange (14) being arranged on described tank body (11) bottom, the buffer subsystem (17) being arranged in described tank body (11), be arranged on two draw-in grooves (19) of described tank body (11) sidewall and be used for locking the locking mechanism (15) of described cover (12)；
Described mechanical arm (2) of disassembling is arranged in a described draw-in groove (19) of described anti-explosion tank (1), including: shoulder joint (21), large arm (22), middle arm (24), forearm (26), carpal joint (27), disassemble mechanical hand (28)；Described shoulder joint (21) is made up of outward turning joint, swing arm joint, has two degree of freedom；The top of described large arm (22) is connected with described swing arm joint, and bottom is connected with described middle arm (24), and its junction with middle arm (24) forms elbow joint (23)；Described middle arm (24) is connected with described forearm (26), and junction forms lower elbow joint (25)；Described mechanical hand (28) of disassembling is arranged on the lower end of described forearm (26)；
Described gripper mechanical arm (3) is identical with the described composition disassembling mechanical arm (2), is distinctive in that described in catching robot (38) substitutes and disassembles mechanical hand (28)；Described gripper mechanical arm (3) is arranged in another described draw-in groove (19) of described anti-explosion tank (1)；
Described pedipulator (4) is arranged on described vehicle frame (5), including: hip joint (41), thigh (42), shank (44), foot pad (45)；Described hip joint (41) is made up of outward turning joint (411), swinging kick joint (412), possesses two degree of freedom；Described thigh (42) top connects described swinging kick joint (412), and bottom is connected with described shank (44), and it is forming knee joint (43) with described shank (44) junction；Described shank (44) bottom is connected with described foot pad (45) by ball-joint.
2. as claimed in claim 1 a kind of take turns lower limb arm tank combine explosive-removal robot, it is characterised in that: described connecting rod (16) including: interconnective bottom bar (161), upper end bar (162)；The lower end of bottom bar (161) is connected with described tank body (11) by hinge (163), and described upper end bar (162) is connected with described cover (12), and hinge (163) is driven by motor；When described cover (12) is opened, described motor-locking；When described motor unlocks, described cover (12) closes under gravity automatically.
3. as claimed in claim 1 or 2 a kind of take turns lower limb arm tank combine explosive-removal robot, it is characterised in that: described locking mechanism (15) including: locking bed (151), lock screw (152), limit spring (153), block (154)；Described cover (12) is provided with the probe (121) matched with described locking mechanism (15)；Described locking bed (151) is provided with vertical centre bore (1512) and runs through the cross-drilled hole (1511) of both sides, the front end of described block (154) is curved, and the two ends of described cross-drilled hole (1511) are provided with screw thread and the front end of two described blocks (154) is limited in by described lock screw (152), limit spring (153) the axis place of described centre bore (1512)；Described probe (121) is just to described centre bore (1512), and when described cover (12) is closed, described probe (121) moves downward, locked by described block (154).4. a kind of as claimed in claim 1 or 2 take turns the explosive-removal robot that lower limb arm tank combines, it is characterised in that: described in disassemble mechanical hand (28) and including: base A (281) and be arranged on the demounting tool (282) on described base A (281)；Described base A (281) arranges photographic head；
Described catching robot (38) including: base B (381) and four fingers (382)；Four described fingers (382) are along being uniformly distributed and be movably connected on base B (381)；Described finger (382) including: under refer to joint (3821), middle finger joint (3822), upper refer to joint (3833), respectively refer to internode flexible connection；Upper finger joint (3833) leading portion is wedge shape；Base B (381) center arranges photographic head, and arranges luminaire in side.
4. as claimed in claim 1 or 2 a kind of take turns lower limb arm tank combine explosive-removal robot, it is characterised in that: described draw-in groove (19) is provided with gathering sill (191), confined planes (192) and supply hub (193).
5. as claimed in claim 1 or 2 a kind of take turns lower limb arm tank combine explosive-removal robot, it is characterised in that: under smooth surface condition, explosive-removal robot folds described pedipulator (4), uses described roller to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610128626.XA CN105758271B (en) | 2016-03-08 | 2016-03-08 | It is a kind of to take turns the explosive-removal robot that leg arm tank is combined |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610128626.XA CN105758271B (en) | 2016-03-08 | 2016-03-08 | It is a kind of to take turns the explosive-removal robot that leg arm tank is combined |
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| CN105758271A true CN105758271A (en) | 2016-07-13 |
| CN105758271B CN105758271B (en) | 2017-08-25 |
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| CN201610128626.XA Active CN105758271B (en) | 2016-03-08 | 2016-03-08 | It is a kind of to take turns the explosive-removal robot that leg arm tank is combined |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107179028A (en) * | 2017-06-14 | 2017-09-19 | 徐杰 | The system that safety removes destructor |
| CN107253204A (en) * | 2017-07-31 | 2017-10-17 | 西安航空学院 | Remote explosive-removal robot |
| WO2018107285A1 (en) * | 2016-12-13 | 2018-06-21 | Demine Robotics Inc. | Landmine excavator and neutralizer and related methods |
| CN108214506A (en) * | 2017-12-14 | 2018-06-29 | 梅傲寒 | The quick-fried system of independently system applied to public place |
| CN108408395A (en) * | 2018-03-05 | 2018-08-17 | 江南大学 | A kind of movable type asymmetric both arms cooperation robot |
| CN109434856A (en) * | 2018-12-29 | 2019-03-08 | 丁风海 | A kind of bomb disposal robot |
| CN110405787A (en) * | 2019-07-31 | 2019-11-05 | 河南牧业经济学院 | A kind of military explosive-removal robot |
| CN113175856A (en) * | 2021-03-31 | 2021-07-27 | 湖南艾尔防务技术有限公司 | Intelligent mobile type explosion-proof barrel |
| CN114260923A (en) * | 2022-02-09 | 2022-04-01 | 航天科工智能机器人有限责任公司 | Explosive-handling robot and explosive-handling method thereof |
| CN114833843A (en) * | 2022-04-26 | 2022-08-02 | 西安理工大学 | Spherical wheel leg explosive-handling robot |
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| CN110405787A (en) * | 2019-07-31 | 2019-11-05 | 河南牧业经济学院 | A kind of military explosive-removal robot |
| CN113175856A (en) * | 2021-03-31 | 2021-07-27 | 湖南艾尔防务技术有限公司 | Intelligent mobile type explosion-proof barrel |
| CN113175856B (en) * | 2021-03-31 | 2022-10-18 | 湖南艾尔防务技术有限公司 | Intelligent mobile type explosion-proof barrel |
| CN114260923A (en) * | 2022-02-09 | 2022-04-01 | 航天科工智能机器人有限责任公司 | Explosive-handling robot and explosive-handling method thereof |
| CN114833843A (en) * | 2022-04-26 | 2022-08-02 | 西安理工大学 | Spherical wheel leg explosive-handling robot |
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