CN108608432A - A kind of separate type explosive-removal robot - Google Patents
A kind of separate type explosive-removal robot Download PDFInfo
- Publication number
- CN108608432A CN108608432A CN201611143302.XA CN201611143302A CN108608432A CN 108608432 A CN108608432 A CN 108608432A CN 201611143302 A CN201611143302 A CN 201611143302A CN 108608432 A CN108608432 A CN 108608432A
- Authority
- CN
- China
- Prior art keywords
- compartment
- car
- mechanical arm
- sliding rail
- sliding block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The present invention relates to a kind of separate type explosive-removal robots, including active compartment and follower car, the active compartment is with follower car by magnechuck with magnetic connection, the active compartment includes car body, mechanical arm and noctovisor scan instrument, the follower car includes mechanical arm, manipulator, compartment, it is fixed on the pulley of the car bottom, two group of first sliding rail being fixed on the compartment, two piece of first sliding block being connected with first sliding rail, the second sliding rail for being mutually perpendicular to and being fixed on two piece of first sliding block with first sliding rail, the second sliding block being connected with second sliding rail, the mechanical arm is fixed on second sliding block, the manipulator is installed on the mechanical arm tail end；Active compartment of the present invention and follower car are can at any time to detach active compartment with follower car with magnetic connection by magnechuck, be organized work simultaneously, easy to operate, easy to use.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of separate type explosive-removal robot.
Background technology
With the continuous improvement of social science and technology, robot steps into the public visual field and public in a certain range
Received.Explosive-removal robot is examined on the spot in the hazardous environment for replacing on-the-spot security inspection personnel that cannot go to or be not suitable for area to people,
Real-time Transmission image scene；It carries, shift suspicious explosive product and other dangerous things；Explosive pin is used instead of explosive personnel
Device destruction of bomb is ruined, unnecessary casualties is avoided.
But current explosive-removal robot is complicated, involves great expense, use cost is excessively high, and robot is more
It works in complex environment, often will appear the dangerous situations such as explosion, robot integrally damages if occurring, and robot
Ambient enviroment cannot further be investigated while explosive work, so, now society in explosive-removal robot use
It cannot promote.
Invention content
The purpose of the present invention is overcome the problems, such as that explosive-removal robot is caused damages due to breaking-up excessive in the prior art.
The technical problem to be solved in the present invention is achieved through the following technical solutions：
A kind of separate type explosive-removal robot, including active compartment and follower car, the active compartment pass through electricity with follower car
Magnetic-disc is fixedly connected by connecting rod with active compartment with magnetic connection, the magnechuck, the active compartment include car body,
Mechanical arm and noctovisor scan instrument；
The follower car includes mechanical arm, manipulator, compartment, the pulley for being fixed on the car bottom, is fixed on the vehicle
Two piece of first sliding block and first sliding rail that two group of first sliding rail and first sliding rail on compartment are connected mutually hang down
Straight and the second sliding rail being fixed on two piece of first sliding block, the second sliding block being connected with second sliding rail, the machinery
Arm is fixed on second sliding block, and the manipulator is installed on the mechanical arm tail end.
As the further explanation of the present invention, the pulley is Universal pulley, and quantity is at least four.
As the further explanation of the present invention, the car body includes chassis, left crawler belt, right-hand track chiain, left motor and right motor,
The chassis is made of intermediate transverse girder and both sides track frame, and the left crawler belt and right-hand track chiain are separately mounted on the track frame of both sides,
The left crawler belt and the left motor linkage, the right-hand track chiain and the right motor linkage are provided with control on the intermediate transverse girder
Mechanism processed.
As the further explanation of the present invention, high-definition camera is mounted on the active compartment and the follower car
Head, and connect with control device by data channel.
Beneficial effects of the present invention：
1. the active compartment and follower car of explosive-removal robot are by magnechuck with magnetic connection, can be at any time by active vehicle
Compartment is detached with follower car, and mechanical arm and noctovisor scan instrument are provided in active compartment, can to ambient enviroment into
Row investigation.
2. being equipped with sliding rail and sliding block on robot follower car, even if active compartment is withdrawn, follower car runs out of steam,
Mechanical arm can also forwards, backwards be moved left and right by sliding-rail sliding, when adjusting work at a distance from object.
3. there are four Universal pulleys for the installation of robot follower car bottom, when active compartment is turned, follower car also may be used
To follow active compartment to turn to together, overturn when follower car being avoided to turn.
The present invention is described in further details below with reference to accompanying drawings and embodiments.
Description of the drawings
Fig. 1 is a kind of separate type explosive-removal robot overall structure diagram of the present invention.
Fig. 2 is a kind of separate type explosive-removal robot active compartment and follower car structural schematic diagram of the present invention.
Fig. 3 is a kind of separate type explosive-removal robot follower car mechanical arm and robot manipulator structure schematic diagram of the present invention.
In figure：1, chassis；2, left crawler belt；3, right-hand track chiain；4, left motor；5, right motor；6, mechanical arm；7, manipulator；8、
Magnechuck；9, the second sliding rail；10, the second sliding block；11, the first sliding rail；12, the first sliding block；13, pulley；14, mechanical arm；
15, compartment；16, noctovisor scan instrument.
Specific implementation mode
Reach the technological means and effect that predetermined purpose is taken for the present invention is further explained, below in conjunction with attached drawing and reality
Example is applied to specific implementation mode, structure feature and its effect of the present invention, detailed description are as follows.
As shown in Figure 1 and Figure 2, a kind of separate type explosive-removal robot, including active compartment and follower car, active compartment with
Follower car is by magnechuck 8 with magnetic connection, and magnechuck 8 is fixedly connected by connecting rod with active compartment, active compartment
Including car body, mechanical arm 14 and noctovisor scan instrument 16, follower car includes compartment, mechanical arm 6 and manipulator 7；Compartment packet
Compartment 15, the pulley 13 for being fixed on car bottom, two group of first sliding rail 11 being fixed on compartment and the cooperation of the first sliding rail is included to connect
Two piece of first sliding block 12 connecing, the second sliding rail 9 for being mutually perpendicular to and being fixed on two piece of first sliding block with the first sliding rail 11, with the
The second sliding block 10 that two sliding rails are connected, mechanical arm 6 are fixed on the second sliding block 10, and manipulator 7 is installed on 6 end of mechanical arm
End.
Car body includes chassis 1, left crawler belt 2, right-hand track chiain 3, left motor 4 and right motor 5 in active compartment, and chassis 1 is by centre
Crossbeam and both sides track frame composition, left crawler belt 2 and right-hand track chiain 3 are separately mounted on the track frame of both sides, left crawler belt 2 and left motor 4
Linkage, right-hand track chiain 3 link with right motor 5, and control mechanism is provided on intermediate transverse girder.
In active compartment mechanical arm 14 include pedestal 14-2, be fixedly installed on pedestal 14-2 base electrical machinery 14-1,
The linking arm 14-3 that is connect with pedestal 14-2,14-4 is grabbed with the linking arm 14-3 manipulators connecting, pedestal 14-2 is fixedly installed in
On chassis 1.
As shown in figure 3, a kind of separate type explosive-removal robot follower car mechanical arm and robot manipulator structure schematic diagram, mechanical arm
6 include pedestal joint 6-3, shoulder joint 6-1, elbow joint 6-9 and wrist joint 6-12, and pedestal joint 6-3 includes and pedestal joint 6-3
The first connected driving motor 6-4, the base arm 6-2 being fixedly connected with pedestal joint 6-3；Shoulder joint 6-1 includes being fixed on bottom
The second driving motor 6-5, the large arm 6-6 being connect with base arm 6-2 on seat arm 6-2；Elbow joint 6-9 includes side plate 6-7, fixed
It fixes and connects with large arm 6-6 in the third driving motor 6-8 on side plate 6-7, the forearm 6-10 being connect with side plate 6-7, side plate 6-7
It connects；Wrist joint 6-12 includes the 4th driving motor 6-11 being fixed on forearm 6-10, manipulator 7 by wrist joint 6-12 with it is small
Arm 6-10 connections.
Active compartment and follower car by magnechuck 8 with magnetic connection, when needing machine man-hour, by active vehicle
Compartment drives follower car to enter working site.
During the motion, by controlling active compartment motor speed, the variable motion of robot may be implemented；Control
Left motor 4 and right motor 5, make that its speed is identical, direction is on the contrary, formation is differential, and active compartment is made to be rotated around fuselage axial line, complete
At turning；High-definition camera is housed, operator can control the direction of travel of robot at any time, when active vehicle in active compartment
When compartment is turned, during avoiding turning, the case where follower car overturns, sets the pulley 13 of follower car installation to
Universal pulley, to achieve the effect that steady trun.
After reaching working site, the power-off of magnechuck 8 makes magnetic force disappear, and follower car loses power, can not move, and works
Personnel pass through the first sliding-rail sliding and the second sliding-rail sliding adjusting mechanical arm and target object by camera object observing object
Distance, carry out explosive work, after distance adjusts suitable between mechanical arm and target, pass through and control the first driving motor 6-
4 driving pedestal joint 6-3 rotations, make mechanical arm face target object；The second driving motor 6-5 driving shoulder joint 6-1 is controlled to turn
It is dynamic, to control the pitching posture of large arm 6-6；The 6-8 driving elbow joint 6-9 rotations of third driving motor are controlled, it is small to control
The pitching posture of arm 6-10；By the mutual cooperation of shoulder joint 6-1 and elbow joint 6-9, mechanical arm large arm 6-6 and forearm 6- is adjusted
10 position makes the posture of mechanical arm closer to target object；Control the 4th driving motor 6-11 driving wrist joints 6-12
Rotation adjusts suitable angle, carries out explosive work to which control machinery hand 7 rotates.
While follower car carries out explosive work, active compartment can be arranged by noctovisor scan instrument 16 around
It looks into, when discovery can be with object, by mechanical arm 14 can determine whether that there is danger, and mechanical arm 14 can carry out letter
Single explosive work, the situation relatively low to some danger coefficients, mechanical arm can be handled, if it find that major safety risks,
Active car body is then controlled to reach from the place of motor vehicles bodies, and band is handled from motor vehicles bodies to dangerous destination, when explosive and
After the completion of investigating work, the staff scene of being allowed for access carries out follow-up work.
The foregoing examples are only illustrative of the present invention, does not constitute the limitation to protection scope of the present invention, all
Be with the present invention it is same or analogous design all belong to the scope of protection of the present invention within.
Claims (4)
1. a kind of separate type explosive-removal robot, including active compartment and follower car, it is characterised in that：The active compartment with from
Motor-car compartment passes through magnechuck（8）With magnetic connection, the magnechuck（8）It is fixedly connected with active compartment by connecting rod, institute
It includes car body, mechanical arm to state active compartment（14）And noctovisor scan instrument（16）；
The follower car includes mechanical arm（6）, manipulator（7）, compartment（15）, be fixed on the pulley of the car bottom
（13）, two group of first sliding rail being fixed on the compartment（11）And two piece of first sliding block that first sliding rail is connected
（12）And first sliding rail（11）The second sliding rail for being mutually perpendicular to and being fixed on two piece of first sliding block（9）And described second
The second sliding block that sliding rail is connected（10）, the mechanical arm（6）It is fixed on second sliding block（10）On, the manipulator
（7）It is installed on the mechanical arm（6）End.
2. a kind of separate type explosive-removal robot according to claim 1, it is characterised in that：The pulley（13）For universal cunning
Wheel, and quantity is at least four.
3. a kind of separate type explosive-removal robot according to claim 1, it is characterised in that：The car body includes chassis（1）、
Left crawler belt（2）, right-hand track chiain（3）, left motor（4）With right motor（5）, the chassis（1）By intermediate transverse girder and both sides track frame group
At the left crawler belt（2）And right-hand track chiain（3）It is separately mounted on the track frame of both sides, the left crawler belt（2）With the left motor
（4）Linkage, the right-hand track chiain（3）With the right motor（5）It links, control mechanism is provided on the intermediate transverse girder.
4. a kind of separate type explosive-removal robot according to claim 1, it is characterised in that：The active compartment and it is described from
It is mounted on high-definition camera on motor-car compartment, and is connect with control device by data channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611143302.XA CN108608432A (en) | 2016-12-13 | 2016-12-13 | A kind of separate type explosive-removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611143302.XA CN108608432A (en) | 2016-12-13 | 2016-12-13 | A kind of separate type explosive-removal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108608432A true CN108608432A (en) | 2018-10-02 |
Family
ID=63643306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611143302.XA Withdrawn CN108608432A (en) | 2016-12-13 | 2016-12-13 | A kind of separate type explosive-removal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108608432A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776739A (en) * | 2020-07-23 | 2020-10-16 | 黄瑞要 | Efficient commodity circulation letter sorting is with small-size intelligent arm |
| CN114541709A (en) * | 2020-11-25 | 2022-05-27 | 广东博智林机器人有限公司 | Wallboard installation robot |
-
2016
- 2016-12-13 CN CN201611143302.XA patent/CN108608432A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776739A (en) * | 2020-07-23 | 2020-10-16 | 黄瑞要 | Efficient commodity circulation letter sorting is with small-size intelligent arm |
| CN114541709A (en) * | 2020-11-25 | 2022-05-27 | 广东博智林机器人有限公司 | Wallboard installation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105465551B (en) | A kind of adaptive brace type pipeline detection robot of flexibility | |
| US9919753B2 (en) | Robotic mobile low-profile transport vehicle | |
| CN106170370B (en) | Remote control robot vehicle | |
| CN106863258B (en) | A kind of cable duct crusing robot | |
| CN205345098U (en) | Robot is exploded to planet wheel -track belt row | |
| CN108406726A (en) | A kind of wheel type movable machine explosive-removal robot | |
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN205394516U (en) | Patrol and examine robot under hazardous environment | |
| CN109176461A (en) | Wheel leg type barrier-surpassing robot | |
| CN107555160A (en) | Mechanical arm type Omni-mobile grasp handling machine | |
| CN104669275A (en) | Intelligent explosive ordnance disposal robot | |
| CN106363612A (en) | Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof | |
| DE102010027280A1 (en) | Robot integrated workplace | |
| CN109866936B (en) | Unmanned aerial vehicle landing and recovery integrated mobile platform based on six-degree-of-freedom series-parallel mechanism | |
| CN206416171U (en) | A kind of separable explosive-removal robot with shock-absorbing function | |
| CN108608432A (en) | A kind of separate type explosive-removal robot | |
| CN112415086B (en) | High-altitude metal pipeline flaw detection system based on teleoperation flying mechanical arm | |
| Tao et al. | A multi-unit serial inspection robot for power transmission lines | |
| CN107363851A (en) | Control device and robot system | |
| CN206123654U (en) | Vision -guided's omnidirectional movement double arm robot | |
| CN109193457B (en) | Line inspection robot for power transmission line along ground line | |
| CN107416062A (en) | The climbing robot and its detection method of a kind of restructural | |
| Okamoto et al. | Development of an autonomous robot for gas storage spheres inspection | |
| CN206416172U (en) | A kind of separate type explosive-removal robot | |
| CN108608433A (en) | A kind of separate type anti-terror explosive removing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181002 |
|
| WW01 | Invention patent application withdrawn after publication |