CN108381563B

CN108381563B - Intelligent security and protection robot capable of removing explosion

Info

Publication number: CN108381563B
Application number: CN201810368817.2A
Authority: CN
Inventors: 姚佳锋
Original assignee: Haian Jiaorui Robot Technology Co Ltd
Current assignee: Haian Jiaorui Robot Technology Co., Ltd.
Priority date: 2018-04-23
Filing date: 2018-04-23
Publication date: 2020-02-14
Anticipated expiration: 2038-04-23
Also published as: CN108381563A

Abstract

The invention discloses an intelligent security and protection and explosive elimination robot, which structurally comprises: the intelligent controller can intelligently stabilize the intelligent controller, the improved intelligent security and protection and explosive disposal robot can keep the stability of dangerous articles in moving to the maximum extent, the robot shakes less when moving at a high speed, and the robot helps explosive disposal personnel to transfer the dangerous articles more quickly.

Description

Intelligent security and protection robot capable of removing explosion

Technical Field

The invention discloses an intelligent security and protection and explosion elimination robot, and belongs to the field of robots.

Background

The explosive disposal robot is a special equipment for disposing or destroying explosive doubtful matters by explosive disposal personnel, and avoids unnecessary casualties. It can be used for removing explosion on various complex terrains. The device is mainly used for replacing explosive disposal personnel to carry and transfer explosive suspicious articles and other harmful dangerous articles; explosive destroying devices are used for destroying bombs instead of explosive disposal personnel; the field security inspection personnel are replaced to carry out field investigation, and field images are transmitted in real time; a shotgun can be equipped to attack criminals; detection equipment can be equipped to check dangerous places and dangerous goods.

However, in the process of moving explosives, due to the fact that the unevenness of the road surface is too fast in moving speed, the explosive removing robot in the prior art is prone to shaking, and the explosives are prone to explosion.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an intelligent security and protection and explosion elimination robot to solve the problem that in the process of moving explosives, the explosion elimination robot is easy to shake once the moving speed is too high due to unevenness of a road surface, so that the explosives are easy to explode.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an intelligent security protection and explosive disposal robot, its structure includes: the balance controller is provided with a multifunctional knob, a driving motor, a movable gear set, a transmission case, a balance main seat, an auxiliary transmission case and a driving long rod, the multifunctional knob is electrically connected with a rotor of the driving motor through a lead, a driving shaft of the driving motor is mechanically connected with a gear on the right side of the movable gear set, the transmission case is horizontally arranged at the lower end on the right side of the balance main seat, the gear at the top of the auxiliary transmission case is meshed with the outer teeth of the gear on the left side of the long driving rod, and the long driving rod is arranged on the left side of the movable gear set and is mechanically connected with a main shaft of a driving motor

Further, multi-functional knob comprises from locking lever, knob head, fixing base, rolling ware, receipts winding tape, contact, binding post, from the recess at locking lever level through knob head center, knob head horizontal installation on the right side of fixing base and with the left end swing joint of rolling ware, the top of receipts winding tape is glued and is connected inside the recess of rolling ware, the right side at the contact is fixed from the left side level of locking lever, binding post passes through the wire and is connected with driving motor's terminal electricity, the internal thread of fixing base and the internal thread clearance fit on balance controller outer wall right side.

Furthermore, the driving motor consists of a cylindrical guide rail, a sliding ring, a support, a cushion pad and a motor, wherein the outer wall of the cylindrical guide rail is movably connected with the inside of the sliding ring, the sliding ring is vertically welded inside an opening at the top of the support, the cushion pad is fixed at the bottom of the support through a bolt, and the motor is horizontally fixed at the upper end of the support and is mechanically connected with the movable gear set.

Furthermore, the movable gear set comprises a frame, a first synchronous gear, a chain, a second synchronous gear and a fastening joint, the first synchronous gear is horizontally fixed inside a bearing on the left side of the frame, the first synchronous gear is movably connected with the second synchronous gear through the chain, the second synchronous gear is installed at the upper end on the left side of the frame and is in clearance fit with the right side of the driving long rod, the fastening joint is provided with two upper and lower ends which are installed on the left side of the frame, and the chain is mechanically connected with a main shaft of the driving motor.

Further, the transmission case comprises first transmission gear, bearing frame, transmission shaft, belt pulley, belt, first transmission gear installs perpendicularly on the right side of bearing frame, the transmission shaft (the level run through the center of bearing frame and with first transmission gear swing joint, the center of belt pulley passes through the bolt fastening in the left side of transmission shaft, the inside of belt and the band pulley clearance fit on balanced main tributary seat right side.

Further, the balance main seat is composed of a transmission belt wheel, an anti-shake shaft seat, a synchronous shaft rod, a special-shaped gear, a limiting ejector rod and a connecting support, the center of the transmission belt wheel is installed on the right side of the anti-shake shaft seat, the anti-shake shaft seat is provided with two gears which are installed on the left side and the right side of the synchronous shaft rod, the special-shaped gear is horizontally fixed to the upper end of the limiting ejector rod, the limiting ejector rod is fixed to the upper end of the connecting support through a bolt, and the bottom end of the connecting support is mechanically connected with.

Furthermore, the auxiliary transmission case comprises a first bevel gear, a middle shaft, a fixed seat, a second bevel gear, a movable shaft, a universal connecting shaft and a fluted disc, wherein the first bevel gear is horizontally arranged at the top end of the middle shaft, the fixed seat is arranged on the left side of the inner wall of the balance controller, the centers of the movable shaft are horizontally welded on the left side and the right side of the universal connecting shaft, and the right end of the movable shaft is mechanically connected with the outer teeth of the fluted disc.

Further, the drive stock comprises input gear, connecting rod, bearing, spacing, output gear, the input gear welds on the right side of connecting rod, the connecting rod run through the center of bearing and with spacing bottom swing joint, output gear's outer wall and auxiliary transmission case left side mechanical connection, the left side at multi-functional knob is installed perpendicularly to spacing.

Advantageous effects

The robot is exploded to row makes the athey wheel drive track and move by drive case provides power, the auxiliary wheel of front end can make the robot is exploded to row can more unobstructed move ahead multi-functional knob and can manually carry out the function to the balance control ware and detect in the more complicated area of topography, carry out automatic work when needs and make and to change automatic module, carry out to the mechanical transmission of balance control ware and carry out power supply by the inside motor of driving motor, the loose gear group can drive the gear of transmission case and drive stock more nimble fast through the cylindricality guide rail, the chain can make first synchronizing gear and second synchronizing gear can not appear skidding phenomenon control, it is more accurate fast, universal connecting shaft can guarantee that balance control moves the axle and still can provide power when the horizontal hunting when power transmission reaches auxiliary transmission case, the synchronous axostylus axostyle on the anti-shake axle bed of balanced main seat accomplishes the auto-lock under dysmorphism gear and spacing ejector pin interact and alleviates the motor certain for the motor Power consumption.

The intelligent controller can intelligently stabilize the intelligent controller, the improved intelligent security and protection and explosion elimination robot can keep the stability of dangerous goods in moving to the maximum degree, the shake is small in high-speed moving, and the explosion elimination personnel can be helped to transfer the dangerous goods more quickly.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is an appearance structure schematic diagram of an intelligent security and protection and explosion elimination robot.

Fig. 2 is a schematic diagram of the internal structure of the intelligent security and protection combined explosion-elimination robot.

Fig. 3 is a schematic diagram of the detailed internal structure of the intelligent security and protection combined explosion-elimination robot.

Fig. 4 is a schematic structural diagram of the intelligent security and protection combined explosion-removing robot after transmission.

FIG. 5 is a schematic diagram of the structure A of FIG. 3 according to the present invention.

FIG. 6 is a schematic diagram of the structure B in FIG. 3 according to the present invention.

In the figure: balance controller-1, driving box-2, crawler wheel-3, crawler-4, auxiliary wheel-5, manipulator-6, camera-7, chuck-8, multifunctional knob-101, driving motor-102, movable gear set-103, transmission box-104, balance main seat-105, auxiliary transmission box-106, driving long rod-107, self-locking rod-1011, knob head-1012, fixing seat-1013, winder-1014, winding belt-1015, contact-1016, connecting terminal-1017, cylindrical guide rail-1031021, slip ring-1022, support-1023, buffer pad-1024, motor-1025, frame-1031, first synchronizing gear-1032, chain-1034, second synchronizing gear-1034, The device comprises a fastening joint-1035, a first transmission gear-1041, a bearing seat-1042, a transmission shaft-1043, a belt pulley-1044, a belt-1045, a transmission belt pulley-1051, an anti-vibration shaft seat-1052, a synchronous shaft rod-1053, a special-shaped gear-1054, a limit ejector rod-1055, a connecting bracket-1056, a first bevel gear-1061, a middle shaft-1062, a fixed seat-1063, a second bevel gear-1064, a moving shaft-1065, a universal connecting shaft-1066, a fluted disc-1067, an input gear-1071, a connecting rod-1072, a bearing-1073, a limit frame-1074 and an output gear-1075.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

Referring to fig. 1 to 6, the present invention provides an intelligent security and protection robot with explosion elimination: the structure includes: the balance controller comprises a balance controller 1, a driving box 2, a crawler wheel 3, a crawler 4, an auxiliary wheel 5, a manipulator 6, a camera 7 and a chuck 8, wherein the lower end of the balance controller 1 is horizontally fixed at the upper end of the driving box 2, a movable shaft of the driving box 2 is mechanically connected with the center of the crawler wheel 3, the inner wall of the crawler 4 is installed around the outer wall of the crawler wheel 3, the crawler wheel 3 is horizontally fixed at the right side of the auxiliary wheel 5, the camera 7 is fixed at the rear part of the manipulator 6 through bolts, the outer wall of the chuck 8 is mechanically connected with the top end of the manipulator 6, the camera 7 is electrically connected with a main board inside the driving box 2 through a lead wire, the balance controller 1 is provided with a multifunctional knob 101, a driving motor 102, a movable gear group 103, a transmission box 104, a balance main seat 105, an auxiliary transmission box 106 and a driving long rod 107, the multifunctional knob 101 is electrically connected with a, the drive shaft of driving motor 102 is connected with the gear machinery on loose gear group 103 right side, transmission case 104 horizontal installation is at the lower extreme on balanced owner seat 105 right side, the gear at supplementary transmission case 106 top and the external tooth intermeshing of driving stock 107 left side gear, driving stock 107 installs the left side at loose gear group 103 and with driving motor 102's main shaft mechanical connection, multi-functional knob 101 comprises self-locking pole 1011, knob head 1012, fixing base 1013, rolling ware 1014, rolling belt 1015, contact 1016, binding post 1017, the recess at knob head 1012 center is run through to self-locking pole 1011 level, knob head 1012 horizontal installation is on the right side of fixing base 1013 and with the left end swing joint of rolling ware 1014, the top glue connection of rolling belt 1015 is inside the recess of rolling ware 1014, the left side level of self-locking pole 1011 is fixed on the right side of contact 1016, the connecting terminal 1017 is electrically connected with a terminal of the driving motor 102 through a lead, the internal thread of the fixed seat 1013 is in clearance fit with the internal thread on the right side of the outer wall of the balance controller 1, the driving motor 102 is composed of a cylindrical guide rail 1021, a slip ring 1022, a bracket 1023, a buffer 1024 and a motor 1025, the outer wall of the cylindrical guide rail 1021 is movably connected with the inside of the slip ring 1022, the slip ring 1022 is vertically welded inside an opening on the top of the bracket 1023, the buffer 1024 is fixed on the bottom of the bracket 1023 through bolts, the motor 1025 is horizontally fixed on the upper end of the bracket 1023 and is mechanically connected with the movable gear set 103, the movable gear set 103 is composed of a frame 1031, a first synchronous gear 1032, a chain 1033, a second synchronous gear 1034 and a fastening joint 1035, the first synchronous gear 1032 is horizontally fixed inside a bearing on the left side of the frame 1031, the first synchronous gear 1032 is movably connected with the second synchronous, the second synchronizing gear 1034 is installed at the upper end of the left side of the frame 1031 and is in clearance fit with the right side of the long driving rod 107, the fastening joint 1035 is provided with two upper and lower ends installed at the left side of the frame 1031, the chain 1033 is mechanically connected with the main shaft of the driving motor 102, the transmission box 104 is composed of a first transmission gear 1041, a bearing seat 1042, a transmission shaft 1043, a belt pulley 1044 and a belt 1045, the first transmission gear 1041 is vertically installed at the right side of the bearing seat 1042, the transmission shaft 1043 horizontally penetrates through the center of the bearing seat 1042 and is movably connected with the first transmission gear 1041, the center of the belt pulley 1044 is fixed at the left side of the transmission shaft 1043 through a bolt, the inside of the belt 1045 is in clearance fit with the belt pulley at the right side of the main balancing seat 105, the main balancing seat 105 is composed of a transmission belt pulley 1051, an anti-shake shaft seat 1052, a, the center of the transmission pulley 1051 is installed at the right side of the anti-shake shaft seat 1052, the anti-shake shaft seat 1052 is provided with two left and right sides installed at the synchronous shaft lever 1053, the special-shaped gear 1054 is horizontally fixed at the upper end of the limit mandril 1055, the limit mandril 1055 is fixed at the upper end of the connecting bracket 1056 through bolts, the bottom end of the connecting bracket 1056 is mechanically connected with the pillar at the upper end of the driving box 2, the auxiliary transmission box 106 is composed of a first bevel gear 1061, a central shaft 1062, a fixed seat 1063, a second bevel gear 1064, a moving shaft 1065, a universal connecting shaft 1066 and a fluted disc 1067, the first bevel gear 1061 is horizontally installed at the top end of the central shaft 1062, the fixed seat 1063 is installed at the left side of the inner wall of the balance controller 1, the left and right sides of the universal connecting shaft 1066 are horizontally welded at the center of the moving shaft 1065, the right end of the moving shaft, Connecting rod 1072, bearing 1073, spacing 1074, output gear 1075 constitute, input gear 1071 welds the right side at connecting rod 1072, connecting rod 1072 run through the center of bearing 1073 and with spacing 1074's bottom end swing joint, output gear 1075's outer wall and auxiliary transmission case 106 left side mechanical connection, spacing 1074 is installed perpendicularly in the left side of multi-functional knob 101.

The explosive-handling robot of the invention is provided with power by the driving box 2 to enable the track wheels 3 to drive the tracks 4 to move, the front end auxiliary wheel 5 can enable the explosive-handling robot to move forward more smoothly in a region with more complex terrain, the multifunctional knob 101 can manually detect the function of the balance controller 1, when automatic work is required to enable the automatic module to be replaced, the motor 1025 inside the driving motor 102 provides power for mechanical transmission of the balance controller 1, the movable gear set 103 can more flexibly and rapidly drive the transmission box 104 and the gears of the driving long rod 107 through the cylindrical guide rail 1021, the chain 1033 can enable the first synchronizing gear 1032 and the second synchronizing gear 1034 not to have slipping phenomenon control and be more accurate and rapid, when power is transmitted to the auxiliary transmission box 106, the universal connecting shaft 1066 can ensure that the moving shaft 1065 still can provide power when the balance controller 1 swings left and right, the synchronous shaft lever 1053 on the anti-shake shaft seat 1042 of the balance main seat 105 completes self-locking under the interaction of the special-shaped gear 1054 and the limiting ejector rod 1055 to lighten certain power consumption for the motor 1025, the improved intelligent security and protection explosion-removing robot can keep the stability of dangerous articles in moving to the maximum degree, and the robot shakes less in high-speed moving, and helps explosion-removing personnel to transfer dangerous articles more quickly.

The universal connecting shaft 1066 of the invention utilizes the characteristics of the mechanism thereof to ensure that the two shafts are not on the same axis, can realize the continuous rotation of the two connected shafts under the condition of an included angle of the axes and reliably transmit torque and movement, and the universal coupling has the biggest characteristics that: the structure has larger angular compensation capability, compact structure and high transmission efficiency.

The structure and the principle of the robot are known by technical manuals or conventional experimental methods, and the robot solves the problem that the robot is easy to shake once the moving speed of the robot is too high in the process of moving explosives, so that the explosives are easy to explode.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an intelligent security protection and explosive disposal robot, its structure includes: balance controller (1), drive case (2), athey wheel (3), track (4), auxiliary wheel (5), manipulator (6), camera (7), chuck (8), its characterized in that:

the lower end of the balance controller (1) is horizontally fixed at the upper end of the driving box (2), a movable shaft of the driving box (2) is mechanically connected with the center of the crawler wheel (3), the inner wall of the crawler (4) is installed around the outer wall of the crawler wheel (3), the crawler wheel (3) is horizontally fixed at the right side of the auxiliary wheel (5), the camera (7) is fixed at the rear of the manipulator (6) through a bolt, the outer wall of the chuck (8) is mechanically connected with the top end of the manipulator (6), and the camera (7) is electrically connected with a main board inside the driving box (2) through a lead;

balance controller (1) is equipped with multi-functional knob (101), driving motor (102), loose gear group (103), transmission case (104), balanced main seat (105), auxiliary transmission case (106), drive stock (107), multi-functional knob (101) are connected through the rotor electricity of wire with driving motor (102), the drive shaft and the gear mechanical connection on loose gear group (103) right side of driving motor (102), transmission case (104) horizontal installation is at the lower extreme on balanced main seat (105) right side, the gear at auxiliary transmission case (106) top and the external tooth intermeshing of drive stock (107) left side gear, install in the left side of loose gear group (103) and with the main shaft mechanical connection of driving motor (102) drive stock (107).

2. The intelligent security and protection combined explosion-elimination robot according to claim 1, characterized in that: multifunctional knob (101) comprises from locking lever (1011), knob head (1012), first fixing base (1013), rolling ware (1014), rolling area (1015), contact (1016), binding post (1017), from locking lever (1011) level run through the recess at knob head (1012) center, knob head (1012) horizontal installation on the right side of first fixing base (1013) and with the left end swing joint of rolling ware (1014), the top of rolling area (1015) is glued inside the recess of rolling ware (1014), the right side at contact (1016) is fixed to the left side level of locking lever (1011), binding post (1017) is connected through the wire and is connected with driving motor (102)'s terminal electricity, the internal thread of first fixing base (1013) and the internal thread clearance fit on balanced controller (1) outer wall right side.

3. The intelligent security and protection combined explosion-elimination robot according to claim 1, characterized in that: the driving motor (102) is composed of a cylindrical guide rail (1021), a sliding ring (1022), a support (1023), a buffer pad (1024) and a motor (1025), wherein the outer wall of the cylindrical guide rail (1021) is movably connected with the inside of the sliding ring (1022), the sliding ring (1022) is vertically welded inside an opening at the top of the support (1023), the buffer pad (1024) is fixed at the bottom of the support (1023) through bolts, and the motor (1025) is horizontally fixed at the upper end of the support (1023) and is mechanically connected with the movable gear set (103).

4. The intelligent security and protection combined explosion-elimination robot according to claim 1, characterized in that: the movable gear set (103) comprises a frame (1031), a first synchronous gear (1032), a chain (1033), a second synchronous gear (1034) and a fastening joint (1035), wherein the first synchronous gear (1032) is horizontally fixed inside a bearing on the left side of the frame (1031), the first synchronous gear (1032) is movably connected with the second synchronous gear (1034) through the chain (1033), the second synchronous gear (1034) is installed at the upper end on the left side of the frame (1031) and is in clearance fit with the right side of the long driving rod (107), the fastening joint (1035) is provided with two upper and lower ends which are installed on the left side of the frame (1031), and the chain (1033) is mechanically connected with a main shaft of the driving motor (102).

5. The intelligent security and protection combined explosion-elimination robot according to claim 1, characterized in that: the transmission case (104) comprises first transmission gear (1041), bearing frame (1042), transmission shaft (1043), belt pulley (1044), belt (1045), first transmission gear (1041) is installed perpendicularly on the right side of bearing frame (1042), the center that transmission shaft (1043) level run through bearing frame (1042) and with first transmission gear (1041) swing joint, the left side at transmission shaft (1043) is passed through the bolt fastening in the center of belt pulley (1044), the inside and the band pulley clearance fit on balance owner seat (105) right side of belt (1045).

6. The intelligent security and protection combined explosion-elimination robot according to claim 1, characterized in that: the balance main seat (105) is composed of a transmission belt wheel (1051), an anti-vibration shaft seat (1052), a synchronous shaft lever (1053), a special-shaped gear (1054), a limiting ejector rod (1055) and a connecting bracket (1056), wherein the center of the transmission belt wheel (1051) is installed on the right side of the anti-vibration shaft seat (1052), the anti-vibration shaft seat (1052) is provided with two parts which are installed on the left side and the right side of the synchronous shaft lever (1053), the special-shaped gear (1054) is horizontally fixed at the upper end of the limiting ejector rod (1055), the limiting ejector rod (1055) is fixed at the upper end of the connecting bracket (1056) through a bolt, and the bottom end of the connecting bracket (1056) is mechanically connected with a support column.

7. The intelligent security and protection combined explosion-elimination robot according to claim 1, characterized in that: the auxiliary transmission case (106) is composed of a first bevel gear (1061), a middle shaft (1062), a second fixed seat (1063), a second bevel gear (1064), a moving shaft (1065), a universal connecting shaft (1066) and a toothed disc (1067), wherein the first bevel gear (1061) is horizontally installed at the top end of the middle shaft (1062), the second fixed seat (1063) is installed on the left side of the inner wall of the balance controller (1), the centers of the moving shaft (1065) are horizontally welded on the left side and the right side of the universal connecting shaft (1066), and the right end of the moving shaft (1065) is mechanically connected with external teeth of the toothed disc (1067).

8. The intelligent security and protection combined explosion-elimination robot according to claim 1, characterized in that: drive stock (107) comprise input gear (1071), connecting rod (1072), bearing (1073), spacing (1074), output gear (1075), input gear (1071) welding is on the right side of connecting rod (1072), connecting rod (1072) run through the center of bearing (1073) and with the bottom swing joint of spacing (1074), the outer wall and the auxiliary transmission case (106) left side mechanical connection of output gear (1075), the left side at multi-functional knob (101) is installed perpendicularly in spacing (1074).