CN105758271B - It is a kind of to take turns the explosive-removal robot that leg arm tank is combined - Google Patents
It is a kind of to take turns the explosive-removal robot that leg arm tank is combined Download PDFInfo
- Publication number
- CN105758271B CN105758271B CN201610128626.XA CN201610128626A CN105758271B CN 105758271 B CN105758271 B CN 105758271B CN 201610128626 A CN201610128626 A CN 201610128626A CN 105758271 B CN105758271 B CN 105758271B
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- Prior art keywords
- explosive
- joint
- tank
- arm
- mechanical arm
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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 present invention relates to a kind of robot, and in particular to a kind of explosive-removal robot.A kind of to take turns the explosive-removal robot that leg arm tank is combined, technical scheme is：It includes：Anti-explosion tank (1), disassemble mechanical arm (2), crawl mechanical arm (3), pedipulator (4) and the vehicle frame (5) with roller；After suspicious explosive is found, the present invention can be according to early stage information, and installation is appropriate to disassemble mechanical arm (2), captures mechanical arm (3) and pedipulator (4)；According to site environment, wheel, pedipulator (4) or the two mode combined can be selected to reach near suspicious explosive；Explosive is disassembled by disassembling mechanical arm (2), then put into suspicious explosive in anti-explosion tank (1) by capturing mechanical arm (3)；Even if suspicious explosive blast, will not also cause damage to surrounding environment and explosive-removal robot；Change after anti-explosion tank (1), explosive-removal robot may be reused.
Description
Technical field
The present invention relates to a kind of robot, and in particular to a kind of explosive-removal robot.
Background technology
Explosive-removal robot be it is a kind of can disassemble, shift the automation equipment of explosive, for replace people scout, remove,
Transport suspicious explosive, it is adaptable to the suspicious explosive in the complicated place of the densely populated place such as market, supermarket, subway station, airport, environment
Disposal.
Increasingly serious with anti-terrorism situation, suspicious explosive installation site is more hidden, and installation form is increasingly complex, place
The danger of accidental explosion is more prominent during putting.Existing explosive-removal robot motion means are single, mostly wheeled or crawler belt
The Marcbot explosive-removal robots of formula, such as U.S. employ wheeled locomotive system, Andros explosive-removal robots and employ crawler type
Handling capacity under mobile system, complicated landform is limited, and body gesture is with ground fluctuations, is unfavorable for explosive operation.With
The explosive-removal robot that above-mentioned machine is artificially represented itself does not carry anti-explosion tank, and capturing explosive by mechanical arm reaches place of safety
Explosive is likely to occur in anti-explosion tank, motion process surprisingly falling causes blast, and the security of explosive transport is not enough.
The content of the invention
The purpose of the present invention is：Offer one kind possesses flat ground and smoothly passes ability with complicated landform quickly through ability
And possess the safe explosive-removal robot removing, store, transporting suspicious explosive function.
The technical scheme is that：A kind of to take turns the explosive-removal robot that leg arm tank is combined, it includes：Anti-explosion tank, disassemble machine
Tool arm, crawl 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, in tank body and in tank
The connecting rod of support, the ring flange installed in tank base, the buffer subsystem in tank body, installed in tank body are provided when lid is opened
Two necks of side wall and the locking mechanism for locking cover；
Mechanical arm is disassembled in a neck of anti-explosion tank, including：Shoulder joint, large arm, middle arm, forearm, wrist joint,
Disassemble manipulator；Shoulder joint is made up of outward turning joint, swing arm joint, with two frees degree；The top of large arm and swing arm joint
Connection, bottom is connected with middle arm, and the junction of itself and middle arm forms upper elbow joint；Middle arm is connected with forearm, and junction is formed down
Elbow joint；Disassemble the lower end that manipulator is arranged on forearm；
Capture mechanical arm identical with the composition for disassembling mechanical arm, difference, which is to be substituted by catching robot, disassembles manipulator；
Mechanical arm is captured to be arranged in another neck of anti-explosion tank；
Pedipulator is arranged on vehicle frame, including：Hip joint, thigh, shank, foot pad；Hip joint is closed by outward turning joint, swinging kick
Section composition, possesses two frees degree；Upper leg portion connection swinging kick joint, bottom is connected with shank, its with shank junction shape
Into knee joint；Shank bottom is connected by ball-joint with foot pad.
Beneficial effect：(1) due to anti-explosion tank locking mechanism of the present invention, explosive, which enters cover after anti-explosion tank, to be made in gravity
Closed and locked with lower, realize safety storage, the transport of explosive, drastically increase the security of explosive overall process.
(2) present invention drastically increases explosive-removal robot fast under complicated landform simultaneously provided with roller and pedipulator
The ability that speed is arrived near suspicious explosive；Meanwhile, the contact position on pedipulator and ground be it is discrete, can stretching by leg
Exhibition, contraction adjustment explosive-removal robot posture, make car body be kept upright, good condition are provided for the operation of mechanical arm.
(3) modularization that the present invention realizes mechanical arm by neck is changed the outfit, and different type can be both changed when needed
Equipment, can also remove redundant equipment when not needed, mitigate explosive-removal robot weight, considerably improve explosive-removal robot
Tackle the ability of various tasks.
Brief description of the drawings
Fig. 1 is structural representation of the 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 disassembles the structural representation of 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 neck in the present invention.
Embodiment
The explosive-removal robot combined referring to accompanying drawing, a kind of wheel leg arm tank, it includes：Anti-explosion tank 1, disassemble mechanical arm 2, crawl
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, installed in tank body
The connecting rods 16 supported are provided in 11 and when cover is opened, ring flange 14 installed in the bottom of tank body 11, in tank body 11
Buffer subsystem 17, the locking mechanism 15 installed in two necks 19 of the side wall of tank body 11 and for locking cover 12；
Mechanical arm 2 is disassembled in a neck 19 of anti-explosion tank 1, including：It is shoulder joint 21, large arm 22, middle arm 24, small
Arm 26, wrist joint 27, disassemble manipulator 28；Shoulder joint 21 is made up of outward turning joint, swing arm joint, with two frees degree；Greatly
The top of arm 22 is connected with swing arm joint, and bottom is connected with middle arm 24, and the junction of itself and middle arm 24 forms upper elbow joint 23；In
Arm 24 is connected with forearm 26, and junction forms lower elbow joint 25；Disassemble the lower end that manipulator 28 is arranged on forearm 26；
Capture mechanical arm 3 identical with the composition for disassembling mechanical arm 2, difference, which is to be substituted by catching robot 38, disassembles machinery
Hand 28；Mechanical arm 3 is captured to be arranged in another neck 19 of anti-explosion tank 1；
Pedipulator 4 is arranged on vehicle frame 5, including：Hip joint 1, thigh 42, shank 44, foot pad 45；Hip joint 41 is by outward turning
Joint 411, swinging kick joint 412 are constituted, and possess two frees degree；The top of thigh 42 connection swinging kick joint 412, bottom and shank 44
It is connected, it is forming knee joint 43 with the junction of shank 44；The bottom of shank 44 is connected by ball-joint with foot pad 45.Preferably,
Connecting rod 16 further comprises：Bottom bar 161, the upper side pole 162 of interconnection；The lower end of bottom bar 161 passes through hinge 163 and tank
Body 11 is connected, and upper side pole 162 is connected with cover 12, and hinge 163 carries motor；When cover 12 is opened, motor-locking；When
When motor unlocks, cover 12 is automatic under gravity to be closed.The present invention is in open mode in explosive preceding cover 12, when
After the signal for being connected to explosive contact buffer subsystem 17, the motor unblock of hinge 163, cover 12 is closed automatically under gravity
Close locking.
Preferably, locking mechanism 15 further comprises：Locking bed 151, lock screw 152, limit spring 153, block
154；The probe 121 being engaged with locking mechanism 15 is provided with cover 12；Locking bed 151 is provided with centre bore 1512 and runs through
The cross-drilled hole 1511 of both sides, the front end of block 154 is curved, and the two ends of cross-drilled hole 1511 are provided with screw thread and pass through lock screw 152, limit
The front end of block 154 is limited at the axis of centre bore 1512 by position spring 153；Probe 121 works as cover just to centre bore 1512
12 when being closed, and probe 121 is moved downward, and block 154 is moved after the pressure by probe 121 to both sides, probe 121 by rear,
Block 154 realizes locking to the mobile lengthwise movement for compressing probe 121, limiting probe 121 in centre.When needing unblock, rotation
Go out lock screw 152, limit spring 153, block 154 are taken out successively, release the locking to probe 121.
Preferably, manipulator 28 is disassembled to further comprise：Base A281 and the demounting tool 282 on base A；
Camera is set on base A281；Demounting tool 282 can need to be changed according to task；Catching robot 38 includes：
Base B381 and four fingers 382；Four fingers 382 are uniformly distributed along base B381 and are movably connected on base B381；Hand
Referring to 382 includes：It is flexibly connected between lower finger joint 3821, middle finger joint 3822, upper finger joint 3833, each finger joint；The upper leading portion of finger joint 3833 is
Wedge shape, convenient crawl；Base B381 centers set camera, and set lighting apparatus in side.
Preferably, guide groove 191, confined planes 192 and supply hub 193 are further provided with neck 19；By being oriented to
The frictional force of groove 191, confined planes 192 realize and disassemble mechanical arm 2, crawl mechanical arm 3, are detachably connected with tank body 11；Electricity
Source jack 193 is connected with corresponding plug realizes electric energy supply.
Under flat surface condition, explosive-removal robot hip joint 411 is rotated, and lifts pedipulator 4, makes the minimum point of pedipulator 4
Higher than the minimum point of vehicle frame 5；And knee joint 13 is suitably rotated, realize the folding of thigh 412 and shank 414, explosive-removal robot roller
Quick motion.
Preferably, it is increase intensity, can be between the bottom of tank body 11 and ring flange 14 every 45 ° of setting reinforcements.
Preferably, vehicle frame 5 is also set up by camera device and lighting device, and the order present invention possesses the row under insufficient light state
Quick-fried ability.
Preferably, for convenience of opening, handle 18 is provided with cover 12.
Preferably, it is more preferable adaptation to the ground, the bottom of foot pad 45 is arc.
Invention can be according to early stage information, and installation is appropriate to disassemble mechanical arm 2, captures mechanical arm 3 and pedipulator 4；Root
According to site environment, wheel, pedipulator 4 or the two mode combined can be selected to reach near suspicious explosive；By disassembling machine
Tool arm 2 is disassembled to explosive, is then put into suspicious explosive in anti-explosion tank 1 by capturing mechanical arm 3；Even if suspicious quick-fried
Fried thing blast, will not also cause damage to surrounding environment and explosive-removal robot；Change after anti-explosion tank 1, explosive-removal robot can
To reuse.
Claims (5)
1. a kind of take turns the explosive-removal robot that leg arm tank is combined, it is characterised in that：It includes：Anti-explosion tank (1), disassemble mechanical arm (2),
Capture mechanical arm (3), pedipulator (4) and the vehicle frame (5) with roller；
The anti-explosion tank (1) is arranged on the vehicle frame (5), including：Tank body (11), the tank being flexibly connected with the tank body (11)
Cover (12), the connecting rod (16) of support is provided in the tank body (11) and when the cover is opened, installed in the tank
The ring flange (14) of body (11) bottom, the buffer subsystem (17) in the tank body (11), installed in the tank body (11) side
Two necks (19) of wall and the locking mechanism (15) for locking the cover (12)；The connecting rod (16) includes：Mutually
Bottom bar (161), the upper side pole (162) of connection；The lower end of bottom bar (161) passes through hinge (163) and the tank body (11) phase
Even, the upper side pole (162) is connected with the cover (12), and hinge (163) is driven by motor；When the cover (12) is opened
When, the motor-locking；After the signal of the explosive contact buffer subsystem (17) is connected to, the driving electricity of the hinge (163)
Machine is unlocked, under gravity, and the cover (12) is automatic closed and locked；
The mechanical arm (2) of disassembling is interior installed in a neck (19) of the anti-explosion tank (1), including：Shoulder joint (21),
Large arm (22), middle arm (24), forearm (26), wrist joint (27), disassemble manipulator (28)；The shoulder joint (21) is closed by outward turning
Section, swing arm joint composition, with two frees degree；The top of the large arm (22) is connected with the swing arm joint, bottom and institute
Middle arm (24) connection is stated, the junction of itself and middle arm (24) forms upper elbow joint (23)；The middle arm (24) and the forearm
(26) connect, junction forms lower elbow joint (25)；It is described to disassemble the lower end that manipulator (28) is arranged on the forearm (26)；
The crawl mechanical arm (3) is identical with the composition for disassembling mechanical arm (2), and difference is to be replaced by catching robot (38)
Manipulator (28) is disassembled described in generation；The crawl mechanical arm (3) is arranged on another described neck (19) of the anti-explosion tank (1)
It is interior；
The pedipulator (4) is arranged on the vehicle frame (5), including：Hip joint (41), thigh (42), shank (44), foot pad
(45)；The hip joint (41) is made up of outward turning joint (411), swinging kick joint (412), possesses two frees degree；The thigh
(42) top connects the swinging kick joint (412), and bottom is connected with the shank (44), its with the shank (44) junction
Form knee joint (43)；Shank (44) bottom is connected by ball-joint with the foot pad (45).
2. a kind of explosive-removal robot for taking turns the combination of leg arm tank as claimed in claim 1, it is characterised in that：The locking mechanism
(15) include：Locking bed (151), lock screw (152), limit spring (153), block (154)；Set on the cover (12)
There is the probe (121) being engaged with the locking mechanism (15)；The locking bed (151) provided with vertical centre bore (1512) and
Cross-drilled hole (1511) through both sides, the front end of the block (154) is curved, and the two ends of the cross-drilled hole (1511) are provided with screw thread simultaneously
The front end of two blocks (154) is limited in by the centre bore by the lock screw (152), limit spring (153)
(1512) at axis；The probe (121) is just to the centre bore (1512), when the cover (12) is closed, the spy
Head (121) is moved downward, locked by the block (154).
3. a kind of explosive-removal robot for taking turns the combination of leg arm tank as claimed in claim 1 or 2, it is characterised in that：It is described to disassemble machine
Tool hand (28) includes：Base A (281) and the demounting tool (282) on the base A (281)；In the base A
(281) camera is set on；
The catching robot (38) includes：Base B (381) and four fingers (382)；Four fingers (382) are the bottom of along
Seat B (381) is uniformly distributed and is movably connected on base B (381)；The finger (382) includes：Lower finger joint (3821), middle finger joint
(3822) it is flexibly connected between, upper finger joint (3833), each finger joint；Upper finger joint (3833) leading portion is wedge shape；Base B (381) center
Camera is set, and lighting apparatus is set in side.
4. a kind of explosive-removal robot for taking turns the combination of leg arm tank as claimed in claim 1 or 2, it is characterised in that：The neck
(19) guide groove (191), confined planes (192) and supply hub (193) are provided with.
5. a kind of explosive-removal robot for taking turns the combination of leg arm tank as claimed in claim 1 or 2, it is characterised in that：Flatly noodles
Under part, explosive-removal robot folds the pedipulator (4), uses the roller motion.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105758271A CN105758271A (en) | 2016-07-13 |
| CN105758271B true CN105758271B (en) | 2017-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11199381B2 (en) * | 2016-12-13 | 2021-12-14 | Demine Robotics Inc. | Landmine excabator and neutralizer and related methods |
| CN107179028B (en) * | 2017-06-14 | 2021-12-10 | 徐杰 | System for safely removing explosive device |
| CN107253204A (en) * | 2017-07-31 | 2017-10-17 | 西安航空学院 | Remote explosive-removal robot |
| CN108214506A (en) * | 2017-12-14 | 2018-06-29 | 梅傲寒 | The quick-fried system of independently system applied to public place |
| CN108408395B (en) * | 2018-03-05 | 2023-07-11 | 江南大学 | Movable asymmetric double-arm cooperative robot |
| CN109434856B (en) * | 2018-12-29 | 2021-10-29 | 烟台军星特种装备有限公司 | Bullet removing robot |
| CN110405787B (en) * | 2019-07-31 | 2021-07-09 | 河南牧业经济学院 | Military explosive-handling robot |
| 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 |
| CN114833843B (en) * | 2022-04-26 | 2023-04-14 | 西安理工大学 | Spherical wheel leg explosive-handling robot |
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| JPH10138190A (en) * | 1996-09-11 | 1998-05-26 | Nachi Fujikoshi Corp | Pressurized protected motor-driven robot |
| CN2653432Y (en) * | 2003-11-08 | 2004-11-03 | 王小珊 | Closed explosive removing tray |
| CN1888808A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Intelligent anti-terror explosive removing robot |
| CN101767336A (en) * | 2008-12-29 | 2010-07-07 | 天津开发区贰加壹米兰环保科技有限公司 | Explosion prevention robot |
| CN102672701B (en) * | 2012-04-27 | 2014-09-17 | 华东交通大学 | Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination |
| CN103287523B (en) * | 2013-05-06 | 2015-09-09 | 中国科学技术大学 | The composite deformation mobile robot that a kind of elastic foot is combined with wheel type motion mechanism |
| CN104061829B (en) * | 2014-06-03 | 2015-05-27 | 北京空间飞行器总体设计部 | Portable and deformable energy adsorption anti-explosion pot |
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2016
- 2016-03-08 CN CN201610128626.XA patent/CN105758271B/en active Active
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| CN105758271A (en) | 2016-07-13 |
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