CN106272456B - A kind of land and air double-used clearance robot - Google Patents
A kind of land and air double-used clearance robot Download PDFInfo
- Publication number
- CN106272456B CN106272456B CN201610778200.9A CN201610778200A CN106272456B CN 106272456 B CN106272456 B CN 106272456B CN 201610778200 A CN201610778200 A CN 201610778200A CN 106272456 B CN106272456 B CN 106272456B
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- Prior art keywords
- explosion
- proof tank
- clearance robot
- module
- land
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The present invention discloses a kind of land and air double-used clearance robot, and being equipped with solar cell at the four sides of explosion-proof tank integrates door；The solar cell integrates door and is equipped with door-hinge；The solar cell is integrated to carry out the switch that the solar cell integrates door between door and the explosion-proof tank by the driving of hydraulic thrust lever；Propeller is installed among both sides above the explosion-proof tank；The propeller is mounted on brushless motor；Middle above the explosion-proof tank is equipped with panorama binocular camera；The explosion-proof tank both sides are equipped with mechanical arm；Master controller and accumulator are installed in the explosion-proof tank；The explosion-proof tank bottom four corners are equipped with motor driving wheel；Ultrasonic sensor is installed among the explosion-proof tank bottom；The present invention is time saving and energy saving using land and air double-used unmanned removal of mines technology, reduces the security risk of staff.
Description
Technical field
The invention belongs to robot field more particularly to a kind of land and air double-used clearance robots.
Background technology
In previous war, many land mines especially are buried with World War II for the first time, much
Having many land mines in area especially field, path, the woods, there is no explosions, or even some to be embedded in private courtyard and cause
Many unnecessary injures and deaths；Present removal of mines technology is all manually to remove mines, time-consuming, laborious and brought to staff huge
Security risk.
Invention content
The present invention is to solve the technology that the above-mentioned prior art can not solve fast and safely to remove mines and be not necessarily to manually remove mines to ask
Topic proposes a kind of land and air double-used clearance robot.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of land and air double-used clearance robot, feature exist
In：Solar cell is installed at the four sides of explosion-proof tank and integrates door；The solar cell integrates door and is equipped with door-hinge；It is described too
Positive energy battery is integrated to integrate opening for door between door and the explosion-proof tank by the hydraulic thrust lever driving progress solar cell
It closes；Propeller is installed among both sides above the explosion-proof tank；The propeller is mounted on brushless motor；On the explosion-proof tank
The middle in face is equipped with panorama binocular camera；The explosion-proof tank both sides are equipped with mechanical arm；It is equipped in the explosion-proof tank
Master controller and accumulator；The explosion-proof tank bottom four corners are equipped with motor driving wheel；It is equipped among the explosion-proof tank bottom
Ultrasonic sensor；The clearance robot is communicated by GPRS wireless networks with applications client；The mechanical arm top
End is equipped with mine locator；Explosion ball is installed on the mechanical arm tail end joint.
The master controller includes arm processor, mechanical arm controller, motor drive module, regulator circuit, boosting electricity
Road, charging circuit, sensor driving interface, electronic gyroscope, brushless motor speed adjusting module, GPS module, GPRS module, hydraulic pressure
Drive module, electromagnetic switch；The machinery arm controller, motor driver, regulator circuit, sensor driving interface, electronics top
Spiral shell instrument, brushless motor speed adjusting module, GPS module, GPRS module, hydraulic-driven module, electromagnetic switch are coupled at the ARM
Manage device；
The sensor driving interface is coupled to the panorama binocular camera, ultrasonic sensor, is respectively used to detect
The clearance robot is at a distance from ambient enviroment object；The machinery arm controller is for controlling the mechanical arm；The electricity
Sub- gyroscope is for detecting flight attitude of the clearance robot under state of flight；The motor drive module, is coupled to
The arm processor is for driving the motor driving wheel to push the clearance robot motion；GPS module is coupled to described
Position of the arm processor for the clearance robot positions；Brushless motor speed adjusting module is coupled to the arm processor and uses
In the rotating speed for adjusting the brushless motor；Hydraulic-driven module is coupled to the arm processor for driving the hydraulic starting
Bar；Electromagnetic switch is coupled to ignition of the arm processor for controlling the explosion ball；GPRS module is wireless by GPRS
Network is communicated with the applications client；Solar panel is connected with the booster circuit, described in the booster circuit general too
Positive energy cell plate voltage boosts to 18V；18V voltage voltage stabilizings are that 5V is used to be that the master controller is powered by the regulator circuit；
It is that 12.5V is used to be the accumulator charging that the charging circuit, which is connected with the regulator circuit by boost in voltage,.
Further, the mechanical arm is in a non-operative state inside the anti-explosion cabinet, in the operating condition the sun
Energy battery integrates the mechanical arm after door is opened and just stretches out come the removal of mines work that detect a mine.
Further, the clearance robot carries out mine detection in the case of road conditions complexity using offline mode；On road
The good situation of condition is removed mines using land drive mode.
Further, the clearance robot passes through the GPS location signal in detection place at that time when detecting land mine
GPRS wireless networks transmit data to the applications client；The explosion ball on the mechanical arm is detached from the clearance simultaneously
Robot is ignited automatically after the clearance robot leaves 3 minutes, and the land mine buried is ignited.
Benefit of the present invention：The present invention is time saving and energy saving using land and air double-used unmanned removal of mines technology, reduces the peace of staff
Full hidden danger.
Description of the drawings
Fig. 1 is the structure diagram of clearance robot of the present invention.
Fig. 2 is the principle assumption diagram of master controller of the present invention.
In figure, 1- explosion-proof tanks；2- master controllers；3- accumulators；4- motor driving wheels；5- mine locators；6- mechanical arms；
61- explosion balls；7- solar panels integrate door；71- door-hinges；72- hydraulic starting bars；8- propellers；81- brushless motors；9-
Panorama binocular camera；10- ultrasonic sensors；11- applications clients；21-ARM processors；22- machinery arm controllers；23-
Motor drive module；24- regulator circuits；25- booster circuits；26- charging circuits；27- sensor driving interfaces；28- electronics tops
Spiral shell instrument；29- brushless motor speed adjusting modules；210-GPS modules；211-GPRS modules;212- hydraulic-driven modules；213- electromagnetism is opened
It closes.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
It needs to illustrate in advance, " coupling " includes but not limited to " physical connection ", for example, running master shown in Fig. 1
It can be connected by cable between controller 2 and motor driving wheel 4, it can also be by way of photoelectric coupling or electromagnetic coupling
" connection ".
Embodiment：A kind of land and air double-used clearance robot elaborates to method provided by the invention in conjunction with attached drawing.
A kind of land and air double-used clearance robot, it is characterised in that：It is integrated that solar cell is installed at the four sides of explosion-proof tank 1
Door 7；The solar cell integrates door 7 and is equipped with door-hinge 71；The solar cell is integrated between door 7 and the explosion-proof tank 1
The switch that the solar cell integrates door 7 is carried out by the driving of hydraulic thrust lever；The both sides centre installation above of the explosion-proof tank 1
There is propeller 8；The propeller 8 is mounted on brushless motor 81；Middle above the explosion-proof tank 1 is equipped with panorama binocular
Camera 9；1 both sides of the explosion-proof tank are equipped with mechanical arm 6；Master controller 2 and accumulator 3 are installed in the explosion-proof tank 1；Institute
It states 1 bottom four corners of explosion-proof tank and motor driving wheel 4 is installed；The explosion-proof tank is equipped with ultrasonic sensor 10 among 1 bottom；Institute
Clearance robot is stated to be communicated with applications client 11 by GPRS wireless networks；6 top of the mechanical arm is equipped with land mine
Detector 5；The mechanical arm is equipped with explosion ball 61 on 6 end joint.
The master controller 2 includes arm processor 21, mechanical arm controller 22, motor drive module 23, regulator circuit
24, booster circuit 25, charging circuit 26, sensor driving interface 27, electronic gyroscope 28, brushless motor speed adjusting module 29, GPS
Module 210, GPRS module 211, hydraulic-driven module 212, electromagnetic switch 213；The machinery arm controller 22, motor driving
Device, regulator circuit 24, sensor driving interface 27, electronic gyroscope 28, brushless motor speed adjusting module 29, GPS module 210,
GPRS module 211, hydraulic-driven module 212, electromagnetic switch 213 are coupled to the arm processor 21；The sensor driving
Interface 27 is coupled to the panorama binocular camera 9, ultrasonic sensor 10, is respectively used to detect the clearance robot and week
Enclose the distance of environmental objects；The machinery arm controller 22 is for controlling the mechanical arm 6；The electronic gyroscope 28 is for examining
Survey flight attitude of the clearance robot under state of flight；The motor drive module 23 is coupled to the arm processor
21 for driving the motor driving wheel 4 to push the clearance robot motion；GPS module 210 is coupled to the ARM processing
Position of the device 21 for the clearance robot positions；Brushless motor speed adjusting module 29 is coupled to the arm processor 21 and is used for
Adjust the rotating speed of the brushless motor 81；Hydraulic-driven module 212 is coupled to the arm processor 21 for driving the liquid
Press starting bar 72；Electromagnetic switch 213 is coupled to ignition of the arm processor 21 for controlling the explosion ball 61；GPRS moulds
Block 211 is communicated by GPRS wireless networks with the applications client 11；Solar panel is connected with the booster circuit 25,
The solar cell panel voltages are boosted to 18V by the booster circuit 25；18V voltage voltage stabilizings are 5V by the regulator circuit 24
For powering for the master controller 2；The charging circuit 26 is connected with the regulator circuit 24 uses boost in voltage for 12.5V
It charges in for the accumulator 3.
Further, the mechanical arm 6 is in a non-operative state inside the anti-explosion cabinet, in the operating condition the sun
Energy battery integrates the mechanical arm 6 after door 7 is opened and just stretches out come the removal of mines work that detect a mine.
Further, the clearance robot carries out mine detection in the case of road conditions complexity using offline mode；On road
The good situation of condition is removed mines using land drive mode.
Further, the clearance robot passes through the GPS location signal in detection place at that time when detecting land mine
GPRS wireless networks transmit data to the applications client 11；The explosion ball 61 on the mechanical arm 6 is detached from institute simultaneously
Clearance robot is stated, is ignited automatically after the clearance robot leaves 3 minutes, the land mine buried is ignited.
Claims (4)
1. a kind of land and air double-used clearance robot, it is characterised in that：In explosion-proof tank（1）To be equipped with solar cell integrated at four sides
Door（7）；The solar cell integrates door（7）Door-hinge is installed（71）；The solar cell integrates door（7）With it is described explosion-proof
Case（1）Between pass through the driving of hydraulic thrust lever and carry out the solar cell and integrate door（7）Switch；The explosion-proof tank（1）On
Face is equipped with propeller among both sides（8）；The propeller（8）Mounted on brushless motor（81）On；The explosion-proof tank（1）Above
Middle panorama binocular camera is installed（9）；The explosion-proof tank（1）Both sides are equipped with mechanical arm（6）；The explosion-proof tank
（1）Master controller is inside installed（2）And accumulator（3）；The explosion-proof tank（1）Bottom four corners are equipped with motor driving wheel（4）；Institute
State explosion-proof tank（1）Ultrasonic sensor is installed among bottom（10）；The clearance robot by GPRS wireless networks with answer
Use client（11）It is communicated；The mechanical arm（6）Top is equipped with mine locator（5）；The mechanical arm（6）It closes end
Explosion ball is installed on section（61）；
The master controller（2）It include arm processor（21）, mechanical arm controller（22）, motor drive module（23）, voltage stabilizing
Circuit（24）, booster circuit（25）, charging circuit（26）, sensor driving interface（27）, electronic gyroscope（28）, brushless motor
Speed adjusting module（29）, GPS module（210）, GPRS module（211）, hydraulic-driven module（212）, electromagnetic switch（213）；It is described
Mechanical arm controller（22）, motor driver, regulator circuit（24）, sensor driving interface（27）, electronic gyroscope（28）, nothing
Brush motor speed adjusting module（29）, GPS module（210）, GPRS module（211）, hydraulic-driven module（212）, electromagnetic switch（213）
It is coupled to the arm processor（21）；The sensor driving interface（27）It is coupled to the panorama binocular camera（9）、
Ultrasonic sensor（10）, it is respectively used to detect the clearance robot at a distance from ambient enviroment object；The mechanical arm control
Device processed（22）For controlling the mechanical arm（6）；The electronic gyroscope（28）It is flying for detecting the clearance robot
Flight attitude under state；The motor drive module（23）, it is coupled to the arm processor（21）For driving the motor
Driving wheel（4）Push the clearance robot motion；GPS module（210）, it is coupled to the arm processor（21）For described
The position of clearance robot positions；Brushless motor speed adjusting module（29）, it is coupled to the arm processor（21）It is described for adjusting
Brushless motor（81）Rotating speed；Hydraulic-driven module（212）, it is coupled to the arm processor（21）For driving hydraulic starting
Bar（72）；Electromagnetic switch（213）, it is coupled to the arm processor（21）For controlling the explosion ball（61）Ignition；GPRS
Module（211）Pass through GPRS wireless networks and the applications client（11）Communication；Solar panel and the booster circuit
（25）It is connected, the booster circuit（25）The solar cell panel voltages are boosted into 18V；The regulator circuit（24）It will
18V voltage voltage stabilizings are 5V for being the master controller（2）Power supply；The charging circuit（26）With the regulator circuit（24）Phase
Even it is that 12.5V is used to be the accumulator by boost in voltage（3）Charging.
2. a kind of land and air double-used clearance robot according to claim 1, it is characterised in that：The mechanical arm（6）Non-
Under working condition inside the explosion-proof tank, the solar cell integrates door in the operating condition（7）The machinery after opening
Arm（6）Just it stretches out come the removal of mines work that detect a mine.
3. a kind of land and air double-used clearance robot according to claim 1, it is characterised in that：The clearance robot is on road
Mine detection is carried out using offline mode in the case of condition complexity；It is arranged using land drive mode in the good situation of road conditions
Thunder.
4. a kind of land and air double-used clearance robot according to claim 1, it is characterised in that：The clearance robot is being visited
The GPS location signal in detection place at that time is transmitted data into the application client by GPRS wireless networks when measuring land mine
End（11）；Simultaneously by the mechanical arm（6）On explosion ball（61）Be detached from the clearance robot, the clearance robot from
It is ignited automatically after opening 3 minutes, the land mine buried is ignited.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610778200.9A CN106272456B (en) | 2016-08-31 | 2016-08-31 | A kind of land and air double-used clearance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610778200.9A CN106272456B (en) | 2016-08-31 | 2016-08-31 | A kind of land and air double-used clearance robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272456A CN106272456A (en) | 2017-01-04 |
| CN106272456B true CN106272456B (en) | 2018-09-28 |
Family
ID=57673042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610778200.9A Active CN106272456B (en) | 2016-08-31 | 2016-08-31 | A kind of land and air double-used clearance robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106272456B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107253204A (en) * | 2017-07-31 | 2017-10-17 | 西安航空学院 | Remote explosive-removal robot |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
| CN108227598A (en) * | 2018-03-27 | 2018-06-29 | 济南大学 | A kind of clearance removal of mines robot control system moved in parallel |
| CN109974528B (en) * | 2018-11-02 | 2021-07-06 | 北京理工大学 | Crawler-type remote control mine sweeping system |
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| CN204450529U (en) * | 2015-01-09 | 2015-07-08 | 南昌航空大学 | A kind of aerial explosive-removal robot |
| RU2584766C1 (en) * | 2015-05-27 | 2016-05-20 | Александр Алексеевич Семенов | Combat robot mobile system |
| CN205292836U (en) * | 2015-12-21 | 2016-06-08 | 中国人民解放军装甲兵工程学院 | Dolly is exploded to crawler -type row |
| CN105751225A (en) * | 2016-03-30 | 2016-07-13 | 吉林大学珠海学院 | Intelligent safety protection and explosive handling robot on basis of internet of things |
| CN105891454A (en) * | 2016-05-23 | 2016-08-24 | 桂仲成 | Hub-type robot and detecting method for system for autonomously detecting road surfaces |
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2016
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Patent Citations (5)
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|---|---|---|---|---|
| CN204450529U (en) * | 2015-01-09 | 2015-07-08 | 南昌航空大学 | A kind of aerial explosive-removal robot |
| RU2584766C1 (en) * | 2015-05-27 | 2016-05-20 | Александр Алексеевич Семенов | Combat robot mobile system |
| CN205292836U (en) * | 2015-12-21 | 2016-06-08 | 中国人民解放军装甲兵工程学院 | Dolly is exploded to crawler -type row |
| CN105751225A (en) * | 2016-03-30 | 2016-07-13 | 吉林大学珠海学院 | Intelligent safety protection and explosive handling robot on basis of internet of things |
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| Publication number | Publication date |
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| CN106272456A (en) | 2017-01-04 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180828 Address after: 211100 300 Chi Hui Road, Qilin science and Technology Innovation Park, Jiangning District, Nanjing, Jiangsu Applicant after: Nanjing Ling que Intelligent Manufacturing Co., Ltd. Address before: 054999 101 Yao Lou village, Luzhai Township, Linxi County, Xingtai, Hebei Applicant before: Xu Hongen |
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Effective date of registration: 20191128 Address after: Magi Road, Changshu high tech Industrial Development Zone, Suzhou City, Jiangsu Province, No. 1 215500 Patentee after: Suzhou Law Point Information Technology Co., Ltd. Address before: 211100 No. 300 Zhihui Road, Qilin Science and Technology Innovation Park, Jiangning District, Nanjing City, Jiangsu Province Patentee before: Nanjing Ling que Intelligent Manufacturing Co., Ltd. |
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