CN108608433A - A kind of separate type anti-terror explosive removing robot - Google Patents
A kind of separate type anti-terror explosive removing robot Download PDFInfo
- Publication number
- CN108608433A CN108608433A CN201611143305.3A CN201611143305A CN108608433A CN 108608433 A CN108608433 A CN 108608433A CN 201611143305 A CN201611143305 A CN 201611143305A CN 108608433 A CN108608433 A CN 108608433A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- car
- fixed
- compartment
- sliding rail
- 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- Withdrawn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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of separate type anti-terror explosive removing robots, including active compartment and follower car, active compartment includes car body, mechanical arm, noctovisor scan instrument and control cabinet, and control cabinet is fixed on the car body, and mechanical arm and noctovisor scan instrument are installed on control cabinet；Follower car includes mechanical arm, manipulator, compartment, the pulley for being fixed on car bottom, the connection ring for being fixed on carriage side, is fixed on two on compartment group of first sliding rail, two piece of first sliding block being connected with the 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 the second sliding rail, mechanical arm is fixed on the second sliding block, and manipulator is installed on mechanical arm tail end；Active compartment and follower car are mechanically connected by mechanical arm and connection ring；Active compartment of the present invention is mechanically to connect with follower car, can detach, organize work simultaneously at any time, 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 anti-terror explosive removing 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 anti-terror explosive removing robot, including active compartment and follower car, the active compartment and follower car are logical
It crosses and is mechanically connected, the active compartment includes car body, mechanical arm, noctovisor scan instrument and control cabinet, the control cabinet
It fixes on the car body, the mechanical arm and noctovisor scan instrument are installed on the control cabinet；
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；
The carriage side is also fixedly connected with connection ring, and the active compartment and follower car pass through mechanical arm and connection ring
Mechanical connection.
As the further explanation of the present invention, the mechanical arm includes pedestal, the bottom that is fixedly installed on the pedestal
Seat motor, the linking arm being connect with the pedestal, the manipulator being connect with the linking arm are grabbed, and the pedestal is fixedly installed in institute
It states on control cabinet, the active compartment catches the connection ring to connect with follower car by the mechanical paw.
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, the control cabinet be fixed on it is described in
Between on crossbeam.
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.
As the further explanation of the present invention, the pulley is Universal pulley, and quantity is at least four.
Beneficial effects of the present invention：
1. the active compartment of explosive-removal robot is mechanically connect with follower car by mechanical arm and connection ring, can be at any time
The noctovisor scan instrument that active compartment is detached with follower car, and is arranged in active compartment can carry out ambient enviroment
Investigation, two compartments work at the same time the working efficiency for improving explosive-removal robot.
2. being equipped with sliding rail and sliding block on robot follower car, even if active compartment is left, 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 anti-terror explosive removing robot overall structure diagram of the present invention.
Fig. 2 is a kind of separate type anti-terror explosive removing robot active compartment and follower car structural schematic diagram of the present invention.
Fig. 3 is a kind of separate type anti-terror explosive removing robot follower car mechanical arm and the robot manipulator structure signal of the present invention
Figure.
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、
Connection ring；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；17, control cabinet；6-1, shoulder joint；6-2, base arm；6-3, pedestal joint；6-4, first
Driving motor；6-5, the second driving motor；6-6, large arm；6-7, side plate；6-8, third driving motor；6-9, elbow joint；6-10、
Forearm；6-11, the 4th driving motor；6-12, wrist joint；14-1, base electrical machinery；14-2, pedestal；14-3, linking arm；14-4、
Mechanical paw.
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, including active compartment and follower car, active compartment and follower car mechanically connect
It connecing, active compartment includes car body, mechanical arm 14, noctovisor scan instrument 16 and control cabinet 17, and control cabinet 17 is fixed on the car body,
Mechanical arm 14 and noctovisor scan instrument 16 are installed on control cabinet 17；Follower car includes mechanical arm 6, manipulator 7, compartment
15, be fixed on the pulley 13 of car bottom, two group of first sliding rail 11 being fixed on compartment, be connected with the first sliding rail two
The first sliding block of block 12, 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 and the second sliding rail
The second sliding block 10 being connected, mechanical arm 6 are fixed on the second sliding block 10, and manipulator 7 is installed on 6 end of mechanical arm；Actively
Compartment and follower car are mechanically connected by mechanical arm 14 and connection ring 8.
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, the pedestal 14-2 fixes peace
Loaded on chassis 1.
As shown in figure 3, a kind of separate type anti-terror explosive removing robot follower car mechanical arm and robot manipulator structure schematic diagram, machine
Tool arm 6 includes pedestal joint 6-3, shoulder joint 6-1, elbow joint 6-9 and wrist joint 6-12, and pedestal joint 6-3 includes being closed with pedestal
Save 6-3 connected the first driving motor 6-4, the base arm 6-2 being fixedly connected with pedestal joint 6-3；Shoulder joint 6-1 includes fixing
In the second driving motor 6-5 on base arm 6-2, the large arm 6-6 being connect with base arm 6-2；Elbow joint 6-9 includes side plate 6-7,
The third driving motor 6-8 being fixed on side plate 6-7, the forearm 6-10 being connect with side plate 6-7, side plate 6-7 are fixed with large arm 6-6
Connection；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
Forearm 6-10 connections.
Active compartment and follower car are connected by mechanical paw 14-4 and connection ring 8, and mechanical paw 14-4 catches connection
Ring 8, and follower car is driven to move together, when needing machine man-hour, drive follower car to enter work by active compartment
Scene.
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, control machinery paw 14-4 decontrols connection ring 8, and follower car is lost power, can not be moved,
Staff passes through the first sliding-rail sliding and the second sliding-rail sliding adjusting mechanical arm and target by camera object observing object
The distance of object carries out explosive work, after distance adjusts suitable between mechanical arm and target, passes through control the first driving electricity
Machine 6-4 driving pedestal joint 6-3 rotations, make mechanical arm face target object；Control the second driving motor 6-5 driving shoulder joint 6-
1 rotation, 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, to control
The pitching posture of forearm 6-10；By the mutual cooperation of shoulder joint 6-1 and elbow joint 6-9, mechanical arm large arm 6-6 and forearm are adjusted
The position of 6-10 makes the posture of mechanical arm closer to target object；Control the 4th driving motor 6-11 driving wrist joints 6-
12 rotations adjust suitable angle, carry 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 (5)
1. a kind of separate type anti-terror explosive removing robot, including active compartment and follower car, it is characterised in that：The active compartment
It is mechanically connected with follower car, the active compartment includes car body, mechanical arm（14）, noctovisor scan instrument（16）
And control cabinet（17）, the control cabinet（17）It fixes on the car body, the mechanical arm（14）And noctovisor scan instrument（16）Peace
Loaded on the control cabinet（17）On；
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；
The carriage side is also fixedly connected with connection ring（8）, the active compartment and follower car pass through mechanical arm（14）
And connection ring（8）Mechanical connection.
2. a kind of separate type anti-terror explosive removing robot according to claim 1, it is characterised in that：The mechanical arm（14）
Including pedestal（14-2）, be fixedly installed in the pedestal（14-2）On base electrical machinery（14-1）And the pedestal（14-2）Even
The linking arm connect（14-3）And the linking arm（14-3）The manipulator of connection is grabbed（14-4）, the pedestal（14-2）Fixed peace
Loaded on the control cabinet（17）On, the active compartment and follower car pass through the mechanical paw（14-4）Catch the connection
Ring（8）Connection.
3. a kind of separate type anti-terror explosive removing 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 crawler belt
Frame forms, 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 electricity
Machine（4）Linkage, the right-hand track chiain（3）With the right motor（5）Linkage, the control cabinet（17）It is fixed on the intermediate transverse girder
On.
4. a kind of separate type anti-terror explosive removing robot according to claim 1, it is characterised in that：The active compartment and institute
It states and is mounted on high-definition camera on follower car, and connect with control device by data channel.
5. a kind of separate type anti-terror explosive removing robot according to claim 1, it is characterised in that：The pulley（13）It is ten thousand
To pulley, and quantity is at least four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611143305.3A CN108608433A (en) | 2016-12-13 | 2016-12-13 | A kind of separate type anti-terror explosive removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611143305.3A CN108608433A (en) | 2016-12-13 | 2016-12-13 | A kind of separate type anti-terror explosive removing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108608433A true CN108608433A (en) | 2018-10-02 |
Family
ID=63657810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611143305.3A Withdrawn CN108608433A (en) | 2016-12-13 | 2016-12-13 | A kind of separate type anti-terror explosive removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108608433A (en) |
-
2016
- 2016-12-13 CN CN201611143305.3A patent/CN108608433A/en not_active Withdrawn
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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 |