CN106931835B - A kind of inflation Land mine removing apparatus - Google Patents
A kind of inflation Land mine removing apparatus Download PDFInfo
- Publication number
- CN106931835B CN106931835B CN201710131690.8A CN201710131690A CN106931835B CN 106931835 B CN106931835 B CN 106931835B CN 201710131690 A CN201710131690 A CN 201710131690A CN 106931835 B CN106931835 B CN 106931835B
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- Prior art keywords
- air
- membrane structure
- propeller
- supported membrane
- rotary shaft
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
- F41H11/13—Systems specially adapted for detection of landmines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Separation Using Semi-Permeable Membranes (AREA)
Abstract
The present invention provides a kind of inflation Land mine removing apparatus, including：Air-supported membrane structure, is spheroidal or cylinder, and inside has accommodation space；Rotary shaft is located in the accommodation space, is arranged along the central axes of the air-supported membrane structure, the both ends of the rotary shaft are connected with the air-supported membrane structure respectively；And removal of mines detector, it is located in the accommodation space, is mounted in the rotary shaft.The present invention proposes a kind of inflation Land mine removing apparatus, is used as motion platform by the air-supported membrane structure of spheroidal or cylinder, may be implemented to roll certainly, and can certainly be rolled in ground or the water surface；In rolling process, realize that all standing in minefield detects by internal removal of mines detector.The whole device is simple in structure, low cost, convenient for large batch of production and lays.
Description
Technical field
The present invention relates to removal of mines fields, more particularly, to a kind of inflation Land mine removing apparatus.
Background technology
Ground/submarine mine is a kind of ancient explosive weapon, can be laid in many ways with means ground/underwater or
Ground/the water surface constitutes volatile barrier, and area or waters block can be effectively performed.Due to its is cheap, arrangement facilitates
Again efficiently, in the local war or conflict in the whole world, each side that enters a war largely uses land mine, resultingly/submarine mine indiscriminate
The minepollution problem of cloth abuse, even if many years after the war, ground/submarine mine can still be ignited by holdee, vehicle, ship, be seriously threatened
The life security of the minefield common people, has seriously affected post-war economic construction and the life of the people, after the war more will exclusively/submarine mine, disappear
Except hidden danger；However, the removal of mines is an abnormally dangerous job.
Currently, mine dragging mainly or by engineer's carrying one-man mine detector carries out, this great danger of mode, no
Utilize the personal safety for ensureing operator, it is therefore desirable to a kind of to enter the unmanned device that minefield is removed mines instead of people.
With the development of science and technology also there is some unmanned mine clearance vehicles or removal of mines ship.Due to unmanned mine clearance vehicle or the removal of mines ship,
It is complicated to involve great expense, it is impossible to large batch of to come into operation.Especially in the area that experienced chaos caused by war, economic level is often
Lower, it is even more impossible to undertake the expense of existing unmanned Land mine removing apparatus.In addition, or existing unmanned Land mine removing apparatus is only used for ground,
It is only used for the water surface, can not achieve amphibious.
Therefore, at present there is an urgent need for a kind of cheap, it can be used in the unmanned Land mine removing apparatus of ground and the water surface.
Invention content
The present invention provides a kind of inflation Land mine removing apparatus for overcoming the above problem or solving the above problems at least partly.
According to an aspect of the present invention, a kind of inflation Land mine removing apparatus is provided, including：
Air-supported membrane structure, the air-supported membrane structure are spheroidal or cylinder, and inside has accommodation space；
Rotary shaft is located in the accommodation space, and is arranged along the central axes of the air-supported membrane structure, the rotary shaft
Both ends are connected with the air-supported membrane structure respectively；And
Remove mines detector, be located in the accommodation space, and be mounted in the rotary shaft, for detect ground/submarine mine with/
Or it removes mines.
The present invention proposes a kind of inflation Land mine removing apparatus, and it is flat to be used as movement by the air-supported membrane structure of spheroidal or cylinder
Platform may be implemented to roll certainly, and can certainly be rolled in ground or the water surface；In rolling process, pass through internal removal of mines detector
Realize all standing detection in minefield.The whole device is simple in structure, low cost, convenient for large batch of production and lays.
Description of the drawings
Fig. 1 is that first embodiment of the invention inflates Land mine removing apparatus structural schematic diagram；
Fig. 2 is that first embodiment of the invention inflates Land mine removing apparatus structure C area enlarged diagram.
Fig. 3 is that second embodiment of the invention inflates Land mine removing apparatus structural schematic diagram；
Fig. 4 is the half-section diagram that second embodiment of the invention inflates Land mine removing apparatus structure；
Fig. 5 is that second embodiment of the invention inflates the areas Land mine removing apparatus structure A enlarged diagram；
Fig. 6 is that third embodiment of the invention inflates Land mine removing apparatus structural schematic diagram；
Fig. 7 is the half-section diagram that third embodiment of the invention inflates Land mine removing apparatus structure；
Fig. 8 is that third embodiment of the invention inflates the areas Land mine removing apparatus structure B enlarged diagram.
Reference sign
11, air-supported membrane structure, 12, pressure-sealing zipper, 13, inflatable interface, 2, support construction, 21, ring flange, 22, first axle
It holds, 23, rotary shaft, 24, second bearing, 3, removal of mines detector, 31, probe, 32, accumulator, 33, signal processing module, 34, control
Molding block, 4, solar panel, 5, propeller, 51, support shaft, 52, propeller, 53, propeller duct.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
As shown in Figure 1, a kind of inflation Land mine removing apparatus, including：
Air-supported membrane structure 11, air-supported membrane structure 11 are spheroidal or cylinder, and inside has accommodation space；
Rotary shaft 23 is located in the accommodation space, and is arranged along the central axes of the air-supported membrane structure, the rotary shaft
Both ends be connected respectively with the air-supported membrane structure 11；And
Removal of mines detector 3, is located in the accommodation space, and be mounted in the rotary shaft 23, for detecting ground/submarine mine
And/or it removes mines.
Simple, low-cost inflation Land mine removing apparatus is made the present embodiment provides a kind of, passes through spheroidal or cylinder
Air-supported membrane structure 11 is used as motion platform, may be implemented to roll certainly；It is real by internal removal of mines detector 3 in rolling process
The all standing detection in existing minefield.Described device is simple in structure, convenient for large batch of production and lays.
In the present embodiment, the outside of air-supported membrane structure 11 is spheroidal or cylinder, is please referred to Fig.3 and Fig. 6, can be on ground
Face or the water surface roll with the wind, do not need the energy and are driven, and can save the energy, further reduce the cost.
In the present embodiment, the removal of mines detector 3 mounts in the rotary shaft 23, and center of gravity is located under the rotary shaft 23
Side, close to ground or the water surface.When the inflation Land mine removing apparatus rolls, the removal of mines detector 3 will not be with the rotary shaft 23
It rolls, the mounting mode to keep down can persistently carry out removal of mines operation.
As an optional embodiment, the removal of mines detector 3 includes probe 31, the signal processing mould being sequentially connected electrically
Block 33 and control module 34.
In the present embodiment, the probe 31 receives describedly/submarine mine reflection for detecting ground/submarine mine on ground or the water surface
Signal.The signal processing module 33 is used to carry out analyzing processing to the probe received signal, determines whether ground/water
Thunder.The control module 34 can send out the real time position and detector signal of the inflation Land mine removing apparatus to control centre,
The control centre can be the terminal user of the inflation Land mine removing apparatus.
As an optional embodiment, the central axes both ends of the air-supported membrane structure 11 are respectively arranged with ring flange 21,
The ring flange 21 is connected on the air-supported membrane structure 11；
It is provided with a first bearing 22 in each ring flange 21, the both ends of the rotary shaft 23 are respectively arranged at described
22 in first bearing.The structural relation of the ring flange 21, rotary shaft 23 and air-supported membrane structure 11 is as shown in Figure 2.
In the present embodiment, the rotary shaft is fixed by the ring flange 21 at the central axes both ends of the air-supported membrane structure 11
23, it is axis in ground or water surface rolling using the central axes where the rotary shaft 23 when inflation 11 operation of Land mine removing apparatus.
As an optional embodiment, it is additionally provided with a second bearing 24 in each ring flange 21, described second
Bearing 24 is juxtaposed on the first bearing 22 in the ring flange 21, and the first bearing 22 is located at the aerated film knot
The inside of structure 11, the second bearing 24 are located at the outside of the air-supported membrane structure 11；
The outside of the air-supported membrane structure 11 is additionally provided with propeller 5, and the propeller 5 is connected with the second bearing 24
It connects, includes the second propeller of first propeller of described central axes one end and/or the central axes other end.
The present embodiment installs propeller 5 additional in the one or both sides of the central axes of the air-supported membrane structure 11, installs one additional and pushes away
Into the first propeller when device, the first propeller and the second propeller when installing two propellers additional；The propeller 5 passes through institute
The second bearing 24 stated on ring flange 21 is connected with the air-supported membrane structure 11, for providing power to inflation Land mine removing apparatus,
It is rolled by the propulsion of the power, is rolled without fully relying on Wind power propelling.Its spheroidal structure as shown in figure 3,
The semi-cutaway of the spheroidal structure is as shown in Figure 4；Its cylindrical structure as shown in fig. 6, the cylindrical structure semi-cutaway
As shown in Figure 7.
The power size of the propeller 5 can be controlled by sending instruction to control module 34.It is pushed away when two
When into device, terminal user, that is, control centre can send the different control instructions to two propellers to control module 34,
It controls two side propellers and exports different thrusts, torque caused by thrust difference forces the air-supported membrane structure 11 to deflect, in turn
It realizes TRAJECTORY CONTROL, scans entire minefield.
As an optional embodiment, the propeller 5 includes support shaft 51, propeller 52 and propeller duct 53；
The propeller 52 is arranged in the support shaft 51；The propeller duct 53 is a circular configuration, is set to
In the support shaft 51, the propeller 52 is surrounded；
One end of the support shaft 51 connects the second bearing 24, and passes through the second bearing 24 and first bearing 22
It is connected with the rotary shaft 23, the other end is connect with the edge of the propeller duct 53.
Present embodiments provide a kind of specific combination of propeller and ring flange, bearing and chosen axis, junction
Enlarged drawing it is as shown in Figure 5 and Figure 8.When the air-supported membrane structure rolls, the weight of entire support construction 2 and removal of mines detector 3
Amount will drive rotary shaft 23 to be rotated around second bearing 24 so that the orientation of removal of mines detector 3 is held essentially constant, and has gyro steady
Characteristic is determined, so that detector 3 can not be influenced persistently to detect by moving.
As an optional embodiment, solar panel 4, the sun are additionally provided in the air-supported membrane structure 11
Energy solar panel 4 connects accumulator 32, and the accumulator 32 connects the propeller 5 and the removal of mines detector 3.
The solar panel 4 divides two layers with the removal of mines detector 3 to be mounted in the rotary shaft 23, the sun
Energy battery 4 is located at one layer close to the rotary shaft 23, and the removal of mines detector 3 is located at the lower section of the solar panel 4
And one layer from the rotary shaft 23 farther out.
In the present embodiment, luminous energy is carried out by solar panel 4 and electric energy is converted, is described by accumulator electric power storage
All active equipments are powered in inflation Land mine removing apparatus, real by the cycle energy being made of solar cell and accumulator
Now prolonged work.
As an optional embodiment, inflatable interface 13 is provided on the air-supported membrane structure 11.Pass through the inflation
Interface 13 can be filled with gas into air-supported membrane structure.
Preferably, when the Land mine removing apparatus is only used for detection, inside can be filled with to helium to mitigate own wt, in turn
Mitigate the pressure of over the ground/submarine mine, in order to avoid ignite pressure-sensitively/submarine mine.
As an optional embodiment, pressure-sealing zipper 12 is provided on the air-supported membrane structure 11.Open pressure-sealing zipper
12, the installation of internal structure and equipment can be facilitated；When pressure-sealing zipper 12 closes, the air-supported membrane structure is sealing state.
As an optional embodiment, the air-supported membrane structure 11 is transparent or translucent material.It is transparent or semitransparent
Material can make sunlight transmission come in, and energy conversion is carried out in order to which internal solar panel 4 receives solar radiation.
As an optional embodiment, the rotary shaft 23 is metal or nonmetallic materials.
The inflation Land mine removing apparatus is for when removing mines, the rotary shaft 23 to be the metal material that metal can select quality larger
Material；When encountering thunder, because of whole device with metal object and with certain weight, it can ignite quick with presser sensor and magnetic force
The thunder of sense.
When the inflation Land mine removing apparatus is only used for detection, nonmetallic materials can be used in the rotary shaft 23, and then avoid drawing
Ground/submarine mine of quick-fried magnetic force sensitivity.
Embodiment of the present invention provides a kind of inflation Land mine removing apparatus that track is controllable, passes through aerated film of the inside filled with gas
Structure makes whole device not only can be used for land and clears the mines as motion platform, but also can be applied to the water surface and exclude submarine mine.
The rotary shaft 23 inside Land mine removing apparatus is inflated described in the embodiment of the present invention by being rotated around first bearing 22 so that too
The position of positive energy solar panel 4 and removal of mines detector 3 is held essentially constant, and has gyrocontrol characteristic, so that the removal of mines detects
Device 3 can not be influenced persistently to detect by moving, and solar panel 4 is also enable to remain that reception is face-up.
In use, discharging the inflation Land mine removing apparatus in minefield, the inflation Land mine removing apparatus will roll with the wind, meanwhile,
The real time position and detector signal of the inflation Land mine removing apparatus are sent to terminal user by control module 34.Encounter thunder
When, because of whole device with metal object and with certain weight, the thunder with presser sensor and magnetic force sensitivity can be ignited；It meets
Position will be marked in the signal to the doubtful object that can not be ignited.When needing controlled motion track, then by control
Module 34 sends instruction, and two side propellers 5 of control export different thrusts, and torque caused by thrust difference forces air-supported membrane structure 11 inclined
Turn, and then realize TRAJECTORY CONTROL, scans entire minefield.Simple in structure due to entirely inflating Land mine removing apparatus, cost is relatively low, in reality
In use, can operation once be put into high-volume described device, and then efficiency is improved, solves prior art cost height, structure
Complicated problem, and can realize amphibious, there is good advantageous effect.
Finally, the present processes are only preferable embodiment, are not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (7)
1. a kind of inflation Land mine removing apparatus, which is characterized in that including：
Air-supported membrane structure, the air-supported membrane structure are spheroidal or cylinder, and inside has accommodation space；
Rotary shaft is located in the accommodation space, and is arranged along the central axes of the air-supported membrane structure, the both ends of the rotary shaft
It is connected respectively with the air-supported membrane structure；And
Remove mines detector, be located in the accommodation space, and be mounted in the rotary shaft, for detect ground/submarine mine and/or into
The row removal of mines；
Wherein, the central axes both ends of the air-supported membrane structure are respectively arranged with ring flange, and the ring flange is connected in the inflation
In membrane structure；
It is provided with a first bearing in each ring flange, the both ends of the rotary shaft are respectively arranged at the first bearing
It is interior；
Wherein, it is additionally provided with a second bearing in each ring flange, the second bearing is set side by side with the first bearing
It is placed in the ring flange, the first bearing is located at the inside of the air-supported membrane structure, and the second bearing is located at described fill
The outside of air film structure；
The outside of the air-supported membrane structure is additionally provided with propeller, and the propeller is connected with the second bearing, including institute
State first propeller of central axes one end and/or the second propeller of the central axes other end；
Wherein, the propeller includes support shaft, propeller and propeller duct；
The propeller is arranged in the support shaft；The propeller duct is a circular configuration, is set to the support shaft
On, surround the propeller；
One end of the support shaft connects the second bearing, and across the second bearing and first bearing and the rotary shaft
It is connected, the other end is connect with the edge of the propeller duct.
2. device as described in claim 1, which is characterized in that the removal of mines detector includes the probe being sequentially connected electrically, letter
Number processing module and control module；
The probe receives the signal of describedly/submarine mine reflection for detecting ground/submarine mine on ground or the water surface；
The signal processing module determines whether ground/submarine mine for carrying out analyzing processing to the probe received signal；
The control module, for sending real-time position information and detectable signal to control centre.
3. device as described in claim 1, which is characterized in that it is additionally provided with solar panel in the air-supported membrane structure,
The solar panel connects accumulator, and the accumulator connects the propeller and the removal of mines detector；
The solar panel is mounted in the rotary shaft for two layers with the removal of mines detector point, the solar cell position
In one layer of the close rotary shaft, the removal of mines detector is located at the lower section of the solar panel and from the rotary shaft
Farther out one layer.
4. device as described in claim 1, which is characterized in that be provided with inflatable interface on the air-supported membrane structure.
5. device as described in claim 1, which is characterized in that be provided with pressure-sealing zipper on the air-supported membrane structure.
6. device as described in claim 1, which is characterized in that the air-supported membrane structure is transparent or translucent material.
7. device as described in claim 1, which is characterized in that the rotary shaft is metal or nonmetallic materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131690.8A CN106931835B (en) | 2017-03-07 | 2017-03-07 | A kind of inflation Land mine removing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131690.8A CN106931835B (en) | 2017-03-07 | 2017-03-07 | A kind of inflation Land mine removing apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106931835A CN106931835A (en) | 2017-07-07 |
| CN106931835B true CN106931835B (en) | 2018-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710131690.8A Active CN106931835B (en) | 2017-03-07 | 2017-03-07 | A kind of inflation Land mine removing apparatus |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206755999U (en) * | 2017-03-07 | 2017-12-15 | 中国科学院光电研究院 | One kind inflation Land mine removing apparatus |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4036343C1 (en) * | 1990-11-15 | 1994-07-21 | Deutsche Aerospace | Rolling mine has inner supports retracted while rolling |
| SE0402672D0 (en) * | 2004-11-02 | 2004-11-02 | Viktor Kaznov | Ball robot |
| CN101229832B (en) * | 2008-02-28 | 2010-06-02 | 南京航空航天大学 | Omnidirectional moving spherical robot |
| CN101386174B (en) * | 2008-10-17 | 2010-08-25 | 西安电子科技大学 | Spherical robot with inside and outside driving |
| CN102219032B (en) * | 2011-06-07 | 2013-04-24 | 中国人民解放军理工大学工程兵工程学院 | Soft-shell spherical robot |
| CN103895845A (en) * | 2012-12-29 | 2014-07-02 | 天津港湾水运工程有限公司 | Spherical underwater robot working in shallow water |
| CN105292414A (en) * | 2015-10-30 | 2016-02-03 | 深圳市泓洋汇智创新科技有限公司 | Underwater robot propulsion system |
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2017
- 2017-03-07 CN CN201710131690.8A patent/CN106931835B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206755999U (en) * | 2017-03-07 | 2017-12-15 | 中国科学院光电研究院 | One kind inflation Land mine removing apparatus |
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| CN106931835A (en) | 2017-07-07 |
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