CN108639280A - A kind of ground mine placement robot - Google Patents
A kind of ground mine placement robot Download PDFInfo
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- CN108639280A CN108639280A CN201810416435.2A CN201810416435A CN108639280A CN 108639280 A CN108639280 A CN 108639280A CN 201810416435 A CN201810416435 A CN 201810416435A CN 108639280 A CN108639280 A CN 108639280A
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- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Ocean & Marine Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
A kind of ground mine placement robot, including pedestal, four traveling wheels, four support sections, steering rudder part, sonar part, it is characterised in that：Four the first extension sleeve upper surfaces of four traveling wheels are fixedly connected with below four running gear fixed seats of pedestal respectively；Four the second extension sleeve upper surfaces of four support sections are fixedly connected with below four support section fixed seats of pedestal respectively；Detective path is come by using sonar, then direction is adjusted by the second steering engine of traveling wheel and the second stepper motor drives wheel movement in the sea, the dive of machine is controlled by the elongation of second hydraulic cylinder in next step, it drives propeller rotational that machine is promoted to advance in the sea by the first stepper motor in next step, drives deflecting plate rotation to control the direction of machine advance by third steering engine；So that machine is moved to the place for needing to place submarine mine, has achieved unmanned placement submarine mine, reduced the risk of personnel, and improved and placed efficiency.
Description
Technical field
The present invention relates to military equipment technical field, more particularly to a kind of ground mine places robot.
Background technology
Submarine mine when mounted, goes to dangerously exposed waters usually using warship and personnel selection is needed to place place, due to peace
The thunder that discharges water be easy to cause casualties in war, therefore be badly in need of it is a kind of can be with the machine of the unmanned installation submarine mine of remote control
Device.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of ground mines to place robot, road is detected by using sonar
Then diameter adjusts direction by the second steering engine of traveling wheel and the second stepper motor drives wheel movement in the sea, passes through in next step
Extending to control the dive of machine for second hydraulic cylinder, drives propeller rotational come pusher by the first stepper motor in next step
Device advances in the sea, drives deflecting plate rotation to control the direction of machine advance by third steering engine；Make machine be moved to need to pacify
Discharge water the place of thunder, has achieved unmanned placement submarine mine, has reduced the risk of personnel, and has improved and placed efficiency.
Technical solution used in the present invention is：A kind of ground mine places robot, including pedestal, four traveling wheels,
Four support sections turn to rudder part, sonar part, it is characterised in that：Four the first telescopics of four traveling wheels
Cylinder upper surface is fixedly connected with below four running gear fixed seats of pedestal respectively；Four of four support sections
Two extension sleeve upper surfaces are fixedly connected with below four support section fixed seats of pedestal respectively；The steering rudder part
Turn to behind the fixed part of rudder part be fixedly connected before the steering rudder partially supported plate of pedestal；The of the sonar part
It is fixedly connected above four extension sleeve lower faces and the sonar part fixed seat of pedestal；
The pedestal includes bottom plate, sonar part fixed seat, two submarine mine transmitting buckets, two the first stepper motors, two spiral shells
Revolve paddle, four support section fixed seats, four running gear fixed seats, two floating warehouse paddle holes, two floating warehouses, four supports
Plate, eight first hydraulic cylinders, eight slide plates, eight floating warehouse deck support plates, eight floating warehouse decks, four second hydraulic cylinders, two
A second hydraulic cylinder top plate, the first stepper motor fixed plate, turns to rudder partially supported plate at two mandrils, and the bottom plate is one
A rectangle plank, intermediate in the above to be equipped with sonar part fixed seat, sonar part fixed seat is each side in the above
If there are one submarine mines to emit bucket；Intermediate be equipped with turns to rudder partially supported plate before bottom plate；It is intermediate behind bottom plate to be equipped with first
Stepper motor fixed plate；Two first stepper motors are horizontal positioned, and bottom is respectively and fixedly installed to the first stepping electricity
Machine fixed plate subsequent both sides, motor shaft up and down are fixedly connected with two propeller centers respectively；At bottom plate following four angle
Place is respectively provided with a running gear fixed seat, and four support section fixed seats, described four support portions are arranged below in bottom plate
Divide the position of fixed seat respectively in the inside of four running gear fixed seats；It is respectively provided with two support plates on bottom plate or so two sides；
Eight slide plates in pairs, every group of dovetail for being slidably mounted on four support plate lateral surfaces by following sliding block respectively
In slot；The cylinder base of eight first hydraulic cylinders is respectively and fixedly installed to eight baffles of four support plate upper and lower sides
On, piston rod end is fixedly connected with the baffle of eight slide plate lateral surfaces respectively；It is respectively provided with one in eight slide plate lateral surfaces
Floating warehouse deck support plate；Eight floating warehouse decks are respectively and fixedly installed on the inside of eight floating warehouse deck support plates；Described
The side of two floating warehouses is respectively and fixedly installed in eight floating warehouse decks；It is respectively provided with a floating warehouse in two floating warehouse sides front
Paddle hole；The front end of two mandrils is fixedly connected with the piston inside two floating warehouses respectively, and its rear end is respectively with two
It is fixedly connected before a second hydraulic cylinder top plate；Four second hydraulic cylinders in pairs, every group of second hydraulic cylinder
Cylinder base is respectively and fixedly installed to behind floating warehouse, and piston rod end is fixedly connected with before second hydraulic cylinder top plate respectively；
The traveling wheel is fixed including the first extension sleeve, the first telescopic rod, third hydraulic cylinder, the first steering engine, the first steering engine
Plate, the first steering engine connecting shaft, the second steering engine connecting rod, the second steering engine, the second stepper motor, the second stepper motor fixed plate, wheel
The upper end of stroma, wheel, wheel connecting shaft, first extension sleeve be fixedly mounted on running gear fixed seat in the following,
Its lower face is equipped with groove；The first telescopic rod upper end is slidably mounted in the groove of the first extension sleeve lower face,
Its lower face is equipped with groove；The cylinder base of the third hydraulic cylinder is fixedly mounted on the baffle of the first extension sleeve lateral surface
On, piston rod end is fixedly connected with the baffle of the first telescopic rod lateral surface；The first steering engine connecting shaft rotational installation
In the circular hole on the first telescopic rod lower face groove two sides；The second steering engine connecting rod is fixedly mounted on the connection of the first steering engine
On axis, position is in the groove of the first telescopic rod lower face；It is equipped with the first steering engine fixed plate in the first telescopic rod lateral surface；Institute
The first steering engine stated is horizontal positioned, and side is fixedly mounted on the first steering engine fixed plate in the following, its motor shaft and the first steering engine connect
Spindle is fixedly connected；Second steering engine is horizontal positioned, and bottom is fixedly mounted on the second steering engine connecting rod lateral surface,
Motor shaft is fixedly connected with Wheel housings medial surface；The wheel connecting shaft is rotatably installed in the circular hole of Wheel housings upper and lower side
In；The wheel is fixedly mounted in wheel connecting shaft, and position is in Wheel housings；The second stepping is equipped on Wheel housings
Motor fixing plate；Second stepper motor is placed straight down, and side is fixedly mounted on the second stepper motor fixed plate
Lateral surface, motor shaft is fixedly connected with wheel connecting shaft；
The support section includes the second extension sleeve, third extension sleeve, third telescopic rod, the 4th hydraulic cylinder, the 5th liquid
Cylinder pressure, third telescopic rod top plate, the upper surface of second extension sleeve be fixedly mounted on support section fixed seat in the following,
It is equipped with groove below；The upper end of the third extension sleeve is slidably mounted in the groove of the second extension sleeve lower face,
It is equipped with groove in its lower face；4th hydraulic cylinder obtains the gear that cylinder base is fixedly mounted on the second extension sleeve lateral surface
On plate, piston rod end is fixedly connected with the baffle of third extension sleeve lateral surface；The upper surface of the third telescopic rod
It is slidably mounted in the groove of third extension sleeve lower face, is fixedly connected above lower face and third telescopic rod top plate；Institute
The cylinder base for the 5th hydraulic cylinder stated is fixedly mounted on the baffle of third extension sleeve lateral surface, piston rod end and the
The baffle of three telescopic rod lateral surfaces is fixedly connected；
The steering rudder part includes deflecting plate, turns to rudder part fixed part, third steering engine, deflecting plate fixed seat, third
Steering engine fixed plate is fixedly connected with turning to behind the steering rudder part fixed part before rudder partially supported plate, at it
Front is equipped with groove；The rear end of the deflecting plate fixed seat, which is fixedly mounted on, turns to rudder part fixed part front end groove both sides
Shaft on, position is turning in the groove of rudder part fixed part front end, is fixedly connected behind front end face and deflecting plate；
It turns to and is equipped with third steering engine fixed plate above the fixed part of rudder part；The third steering engine is placed straight down, and side is solid
Before third steering engine fixed plate, motor shaft is fixed with the shaft for turning to rudder part fixed part front end groove both sides for Dingan County
Connection；
The sonar part includes the 4th extension sleeve, the 4th telescopic rod, the 6th hydraulic cylinder, sonar, and the described the 4th is flexible
The lower face of sleeve is fixedly mounted on above the fixed seat of sonar part, is equipped with groove in the above；Under 4th telescopic rod
End is slidably mounted in the groove of the 4th extension sleeve upper surface, is fixedly connected below end face and sonar thereon；Described the 6th
The cylinder base of hydraulic cylinder is fixedly mounted on the baffle on the 4th extension sleeve left side, and piston rod end is left with the 4th telescopic rod
The baffle in face is fixedly connected.
Beneficial effects of the present invention：Detective path is come by using sonar, is then adjusted by the second steering engine of traveling wheel
Direction and the second stepper motor drive wheel movement in the sea, are controlled under machine by the elongation of second hydraulic cylinder in next step
It is latent, it drives propeller rotational that machine is promoted to advance in the sea by the first stepper motor in next step, passes through third steering engine band turn
The direction that machine advances is controlled to plate rotation；So that machine is moved to the place for needing to place submarine mine, has achieved unmanned
Submarine mine is placed, reduces the risk of personnel, and improve placement efficiency.
Description of the drawings
Fig. 1, Fig. 2, Fig. 3 are the overall structure diagram of the present invention.
Fig. 4, Fig. 5, Fig. 6, Fig. 7 are the structural schematic diagram of the pedestal of the present invention.
Fig. 8, Fig. 9 are the structural schematic diagram of the traveling wheel of the present invention.
Figure 10 is the structural schematic diagram of the support section of the present invention.
Figure 11 is the structural schematic diagram for turning to rudder part of the present invention.
Figure 12 is the structural schematic diagram of the sonar part of the present invention.
Drawing reference numeral：1- pedestals, 2- traveling wheels, 3- support sections, 4- turn to rudder part, 5- sonars part, 101- bottom plates,
102- sonars part fixed seat, 103- submarine mines transmitting bucket, the first stepper motors of 104-, 105- propellers, 106- support sections are solid
Reservation, 107- running gears fixed seat, 108- floating warehouses paddle hole, 109- floating warehouses, 110- support plates, 111- first hydraulic cylinders,
112- slide plates, 113- floating warehouse decks support plate, 114- floating warehouses deck, 115- second hydraulic cylinders, 116- second hydraulic cylinders top plate,
117- mandrils, the first stepper motors of 118- fixed plate, 119- turn to rudder partially supported plate, the first extension sleeves of 201-, 202- the
One telescopic rod, 203- thirds hydraulic cylinder, the first steering engines of 204-, the first steering engines of 205- fixed plate, the first steering engines of 206- connecting shaft,
The second steering engines of 207- connecting rod, the second steering engines of 208-, the second stepper motors of 209-, the second stepper motors of 210- fixed plate, 211-
Wheel housings, 212- wheels, 213- wheels connecting shaft, the second extension sleeves of 301-, 302- thirds extension sleeve, 303- thirds are flexible
Bar, the 4th hydraulic cylinders of 304-, the 5th hydraulic cylinders of 305-, 306- third telescopic rods top plate, 401- deflecting plates, 402- turn to rudder part
Fixed part, 403- thirds steering engine, 404- deflecting plates fixed seat, 405- third steering engines fixed plate, the 4th extension sleeves of 501-,
The 4th telescopic rods of 502-, the 6th hydraulic cylinders of 503-, 504- sonars.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Yi Zhonghai
Bottom water thunder places robot, including the traveling wheel 2, four of pedestal 1, four support section 3, steering rudder part 4, sonar part 5,
It is characterized in that：Four 201 upper surfaces of the first extension sleeve of four traveling wheels 2 respectively with four running parts of pedestal 1
Point fixed seat 107 is fixedly connected below；Four 301 upper surfaces of the second extension sleeve of four support sections 3 respectively with
Four support section fixed seats 106 of pedestal 1 are fixedly connected below；The steering rudder part fixed part for turning to rudder part 4
119 front of steering rudder partially supported plate behind 402 with pedestal 1 is divided to be fixedly connected；4th telescopic of the sonar part 5
501 lower faces of cylinder are fixedly connected above with the sonar part fixed seat 102 of pedestal 1；
The pedestal 1 includes bottom plate 101, sonar part fixed seat 102, two submarine mine transmitting buckets, 103, two the first stepping electricity
104, two, machine, 105, four, the propeller floating warehouse of running gear fixed seat 107, two of support section fixed seat 106, four passes in and out
108, two, water hole, 112, eight, the slide plate floating warehouse deck of first hydraulic cylinder 111, eight of support plate 110, eight of floating warehouse 109, four
116, two, the second hydraulic cylinder top plate mandril of second hydraulic cylinder 115, two of floating warehouse deck 114, four of support plate 113, eight
117, the first stepper motor fixed plate 118, steering rudder partially supported plate 119, the bottom plate 101 is a rectangle plank,
Intermediate in the above to be equipped with sonar part fixed seat 102, fixed seat 102 left and right sides in sonar part is respectively provided with one in the above
Submarine mine emits bucket 103；It is equipped among 101 front of bottom plate and turns to rudder partially supported plate 119；It is intermediate behind bottom plate 101 to be equipped with
First stepper motor fixed plate 118；Two first stepper motors 104 are horizontal positioned, and bottom is respectively and fixedly installed to
First stepper motor fixed plate 118 subsequent both sides, motor shaft up and down are fixedly connected with two 105 centers of propeller respectively；
It is respectively provided with a running gear fixed seat 107 at 101 following four angle of bottom plate, four support portions are arranged below in bottom plate 101
Point fixed seat 106, the positions of described four support section fixed seats 106 is respectively in four running gear fixed seats 107
Side；It is respectively provided with two support plates 110 on 101 or so two sides of bottom plate；In pairs, every group leads to eight slide plates 112 respectively
Sliding block below crossing is slidably mounted in the dovetail groove of four 110 lateral surfaces of support plate；Eight first hydraulic cylinders 111
Cylinder base is respectively and fixedly installed on eight baffles of four 110 upper and lower sides of support plate, piston rod end respectively with eight
The baffle of 112 lateral surface of slide plate is fixedly connected；It is respectively provided with a floating warehouse deck support plate 113 in eight 112 lateral surfaces of slide plate；Institute
The eight floating warehouse decks 114 stated are respectively and fixedly installed to eight 113 insides of floating warehouse deck support plate；Two floating warehouses 109
Side be respectively and fixedly installed in eight floating warehouse decks 114；Two 109 side fronts of floating warehouse be respectively provided with a floating warehouse into
Apopore 108；The front end of two mandrils 117 is fixedly connected with the piston inside two floating warehouses 109 respectively, its rear end point
It is not fixedly connected with before two second hydraulic cylinder top plates 116；Four second hydraulic cylinders 115 in pairs, every group
The cylinder base of second hydraulic cylinder 115 is respectively and fixedly installed to behind floating warehouse 109, piston rod end respectively with second hydraulic cylinder
116 front of top plate is fixedly connected；
The traveling wheel 2 include the first extension sleeve 201, the first telescopic rod 202, third hydraulic cylinder 203, the first steering engine 204,
First steering engine fixed plate 205, the first steering engine connecting shaft 206, the second steering engine connecting rod 207, the second steering engine 208, the second stepping electricity
Machine 209, the second stepper motor fixed plate 210, Wheel housings 211, wheel 212, wheel connecting shaft 213, first telescopic
The upper end of cylinder 201 is fixedly mounted on running gear fixed seat 107 in the following, being equipped with groove in its lower face；Described first is flexible
202 upper end of bar is slidably mounted in the groove of 201 lower face of the first extension sleeve, and groove is equipped in its lower face；Described
The cylinder base of three hydraulic cylinders 203 is fixedly mounted on the baffle of 201 lateral surface of the first extension sleeve, piston rod end and the
The baffle of one telescopic rod, 202 lateral surface is fixedly connected；The first steering engine connecting shaft 206 is rotatably installed in the first telescopic rod
In the circular hole of 202 lower faces groove two sides；The second steering engine connecting rod 207 is fixedly mounted on the first steering engine connecting shaft 206
On, position is in the groove of 202 lower face of the first telescopic rod；It is fixed equipped with the first steering engine in 202 lateral surface of the first telescopic rod
Plate 205；First steering engine 204 is horizontal positioned, and side is fixedly mounted on the first steering engine fixed plate 205 in the following, its motor
Axis is fixedly connected with the first steering engine connecting shaft 206；Second steering engine 208 is horizontal positioned, and bottom is fixedly mounted on second
On 207 lateral surface of steering engine connecting rod, motor shaft is fixedly connected with 211 medial surface of Wheel housings；213 turns of the wheel connecting shaft
It is dynamic to be mounted in the circular hole of 211 upper and lower side of Wheel housings；The wheel 212 is fixedly mounted in wheel connecting shaft 213, position
It sets in Wheel housings 211；The second stepper motor fixed plate 210 is equipped on Wheel housings 211；Second stepper motor
209 place straight down, and side is fixedly mounted on the lateral surface of the second stepper motor fixed plate 210, motor shaft and wheel
Connecting shaft 213 is fixedly connected；
The support section 3 includes the second extension sleeve 301, third extension sleeve 302, third telescopic rod 303, the 4th hydraulic pressure
The upper surface of cylinder 304, the 5th hydraulic cylinder 305, third telescopic rod top plate 306, second extension sleeve 301 is fixedly mounted on
Support section fixed seat 106 in the following, be equipped with groove in its lower section；The upper end of the third extension sleeve 302 is slidably mounted on
In the groove of second extension sleeve, 301 lower face, groove is equipped in its lower face；4th hydraulic cylinder 304 obtains cylinder body bottom
Portion is fixedly mounted on the baffle of 301 lateral surface of the second extension sleeve, piston rod end and 302 lateral surface of third extension sleeve
Baffle be fixedly connected；The upper surface of the third telescopic rod 303 is slidably mounted on the recessed of 302 lower face of third extension sleeve
In slot, lower face is fixedly connected above with third telescopic rod top plate 306；The cylinder base of 5th hydraulic cylinder 305 is solid
Dingan County is on the baffle of 302 lateral surface of third extension sleeve, the baffle of piston rod end and 303 lateral surface of third telescopic rod
It is fixedly connected；
The steering rudder part 4 is solid including deflecting plate 401, steering rudder part fixed part 402, third steering engine 403, deflecting plate
Reservation 404, third steering engine fixed plate 405, behind the steering rudder part fixed part 402 with turn to rudder partially supported plate
119 fronts are fixedly connected, and groove is equipped in the front；The rear end of the deflecting plate fixed seat 404 is fixedly mounted on steering rudder
In the shaft of 402 front end groove both sides of part fixed part, position is turning in 402 front end groove of rudder part fixed part,
It is fixedly connected behind its front end face and deflecting plate 401；Turning to third steering engine fixed plate is equipped with above rudder part fixed part 402
405；The third steering engine 403 is placed straight down, and side is fixedly mounted on 405 front of third steering engine fixed plate, electricity
Arbor is fixedly connected with the shaft for turning to 402 front end groove both sides of rudder part fixed part；
The sonar part 5 includes the 4th extension sleeve 501, the 4th telescopic rod 502, the 6th hydraulic cylinder 503, sonar 504, institute
The lower face for the 4th extension sleeve 501 stated is fixedly mounted on above sonar part fixed seat 102, is equipped with groove in the above；
4th telescopic rod, 502 lower end is slidably mounted in the groove of 501 upper surface of the 4th extension sleeve, thereon end face and sonar
504 are fixedly connected below；The cylinder base of 6th hydraulic cylinder 503 is fixedly mounted on 501 left side of the 4th extension sleeve
On baffle, piston rod end is fixedly connected with the baffle on 502 left side of the 4th telescopic rod.
Operation principle of the present invention：The present invention is controlled first by the second steering engine 208 of 2 part of traveling wheel turn to when in use
It is rotated with the second stepper motor 209 to drive wheel to advance, so that machine is moved in the sea, then pass through the first stepping of pedestal 1
Motor 104 rotates to drive the rotation forces machine of propeller 105 to advance, while the elongation of second hydraulic cylinder 115 is floating to drive
Piston movement inside storehouse 109 makes the dive of the water suction control machine of floating warehouse 109, passes through the elongation of the 6th hydraulic cylinder 503 in next step
Using 504 detective path of sonar and the detector for avoiding enemy, to pass through the first stepper motor 104 and third steering engine in next step
403 rotation makes 401 close fit of propeller 105 and deflecting plate, control machine be moved to the place for needing to discharge submarine mine, under
One step emits the elongation of the hydraulic cylinder below bucket 103 by submarine mine to control the release of submarine mine, passes through 105 He of propeller in next step
401 close fit of deflecting plate, the machine that control releases submarine mine are moved to shallow sea side, pass through second hydraulic cylinder 115 in next step
Contraction makes floating warehouse 109 drain, and machine floats, and is risen in next step by the elongate support of the 4th hydraulic cylinder 304, the 5th hydraulic cylinder 305
Machine drives the second steering engine connecting rod 207 to be rotated by 90 °, wheel 212 is made to touch ground by the first steering engine 204 in next step；
So that wheel 212 is supported vehicle body by the contraction of the 4th hydraulic cylinder 304, the 5th hydraulic cylinder 305 in next step and machine is made by wheel 212
Device reaches home.
Claims (2)
1. a kind of ground mine places robot, including pedestal（1）, four traveling wheels（2）, four support sections（3）, turn to rudder
Part（4）, sonar part（5）, it is characterised in that：Four traveling wheels（2）Four the first extension sleeves（201）Upper end
Face respectively with pedestal（1）Four running gear fixed seats（107）It is fixedly connected below；Four support sections（3）'s
Four the second extension sleeves（301）Upper surface respectively with pedestal（1）Four support section fixed seats（106）It is fixed below to connect
It connects；The steering rudder part（4）Steering rudder part fixed part（402）Below with pedestal（1）Steering rudder part support
Plate（119）Front is fixedly connected；The sonar part（5）The 4th extension sleeve（501）Lower face and pedestal（1）Sonar
Part fixed seat（102）It is fixedly connected above；
The pedestal（1）Including bottom plate（101）, sonar part fixed seat（102）, two submarine mines emit bucket（103）, two
One stepper motor（104）, two propellers（105）, four support section fixed seats（106）, four running gear fixed seats
（107）, two floating warehouse paddle holes（108）, two floating warehouses（109）, four support plates（110）, eight first hydraulic cylinders
（111）, eight slide plates（112）, eight floating warehouse deck support plates（113）, eight floating warehouse decks（114）, four second hydraulic cylinders
（115）, two second hydraulic cylinder top plates（116）, two mandrils（117）, the first stepper motor fixed plate（118）, turn to rudder portion
Branch's fagging（119）, the bottom plate（101）It is a rectangle plank, it is intermediate in the above to be equipped with sonar part fixed seat
（102）, sonar part fixed seat in the above（102）The left and right sides is respectively provided with a submarine mine transmitting bucket（103）；In bottom plate
（101）It is equipped among front and turns to rudder partially supported plate（119）；In bottom plate（101）Intermediate first stepper motor that is equipped with is consolidated below
Fixed board（118）；Two first stepper motors（104）Horizontal positioned, bottom is respectively and fixedly installed to the first stepping electricity
Machine fixed plate（118）It is subsequent up and down both sides, motor shaft respectively with two propellers（105）Center is fixedly connected；In bottom plate
（101）A running gear fixed seat is respectively provided at following four angle（107）, in bottom plate（101）Four support portions are arranged below
Divide fixed seat（106）, four support section fixed seats（106）Position respectively in four running gear fixed seats
（107）Inside；In bottom plate（101）Left and right two sides is respectively provided with two support plates（110）；Eight slide plates（112）Two-by-two
One group, every group is slidably mounted on four support plates by following sliding block respectively（110）In the dovetail groove of lateral surface；Described eight
A first hydraulic cylinder（111）Cylinder base be respectively and fixedly installed to four support plates（110）On eight baffles of upper and lower sides,
Piston rod end respectively with eight slide plates（112）The baffle of lateral surface is fixedly connected；In eight slide plates（112）Lateral surface is respectively provided with
One floating warehouse deck support plate（113）；Eight floating warehouse decks（114）It is respectively and fixedly installed to eight floating warehouse deck supports
Plate（113）Inside；Two floating warehouses（109）Side be respectively and fixedly installed to eight floating warehouse decks（114）In；At two
Floating warehouse（109）Side front is respectively provided with a floating warehouse paddle hole（108）；Two mandrils（117）Front end difference
With two floating warehouses（109）Internal piston is fixedly connected, its rear end respectively with two second hydraulic cylinder top plates（116）Before consolidate
Fixed connection；Four second hydraulic cylinders（115）In pairs, every group of second hydraulic cylinder（115）Cylinder base it is solid respectively
Dingan County is mounted in floating warehouse（109）Below, piston rod end respectively with second hydraulic cylinder top plate（116）Front is fixedly connected；
The traveling wheel（2）Including the first extension sleeve（201）, the first telescopic rod（202）, third hydraulic cylinder（203）, first
Steering engine（204）, the first steering engine fixed plate（205）, the first steering engine connecting shaft（206）, the second steering engine connecting rod（207）, the second rudder
Machine（208）, the second stepper motor（209）, the second stepper motor fixed plate（210）, Wheel housings（211）, wheel（212）, wheel
Connecting shaft（213）, first extension sleeve（201）Upper end be fixedly mounted on running gear fixed seat（107）In the following,
Its lower face is equipped with groove；First telescopic rod（202）Upper end is slidably mounted on the first extension sleeve（201）Lower face
In groove, groove is equipped in its lower face；The third hydraulic cylinder（203）Cylinder base be fixedly mounted on the first telescopic
Cylinder（201）On the baffle of lateral surface, piston rod end and the first telescopic rod（202）The baffle of lateral surface is fixedly connected；It is described
The first steering engine connecting shaft（206）It is rotatably installed in the first telescopic rod（202）In the circular hole on lower face groove two sides；Described
Two steering engine connecting rods（207）It is fixedly mounted on the first steering engine connecting shaft（206）On, position is in the first telescopic rod（202）Lower end
In the groove in face；In the first telescopic rod（202）Lateral surface is equipped with the first steering engine fixed plate（205）；First steering engine（204）
Horizontal positioned, side is fixedly mounted on the first steering engine fixed plate（205）In the following, its motor shaft and the first steering engine connecting shaft
（206）It is fixedly connected；Second steering engine（208）Horizontal positioned, bottom is fixedly mounted on the second steering engine connecting rod（207）
On lateral surface, motor shaft and Wheel housings（211）Medial surface is fixedly connected；The wheel connecting shaft（213）It is rotatably installed in
Wheel housings（211）In the circular hole of upper and lower side；The wheel（212）It is fixedly mounted on wheel connecting shaft（213）On, position
In Wheel housings（211）In；In Wheel housings（211）It is equipped with the second stepper motor fixed plate above（210）；The second stepping electricity
Machine（209）It places straight down, side is fixedly mounted on the second stepper motor fixed plate（210）Lateral surface, motor shaft
With wheel connecting shaft（213）It is fixedly connected；
The support section（3）Including the second extension sleeve（301）, third extension sleeve（302）, third telescopic rod（303）、
4th hydraulic cylinder（304）, the 5th hydraulic cylinder（305）, third telescopic rod top plate（306）, second extension sleeve（301）'s
Upper surface is fixedly mounted on support section fixed seat（106）In the following, being equipped with groove in its lower section；The third extension sleeve
（302）Upper end be slidably mounted on the second extension sleeve（301）In the groove of lower face, groove is equipped in its lower face；It is described
The 4th hydraulic cylinder（304）It obtains cylinder base and is fixedly mounted on the second extension sleeve（301）On the baffle of lateral surface, piston rod
End and third extension sleeve（302）The baffle of lateral surface is fixedly connected；The third telescopic rod（303）Upper surface sliding
Mounted on third extension sleeve（302）In the groove of lower face, lower face and third telescopic rod top plate（306）It is fixed above to connect
It connects；5th hydraulic cylinder（305）Cylinder base be fixedly mounted on third extension sleeve（302）On the baffle of lateral surface,
Its piston rod end and third telescopic rod（303）The baffle of lateral surface is fixedly connected；
The steering rudder part（4）Including deflecting plate（401）, turn to rudder part fixed part（402）, third steering engine（403）、
Deflecting plate fixed seat（404）, third steering engine fixed plate（405）, the steering rudder part fixed part（402）Behind with turn
To rudder partially supported plate（119）Front is fixedly connected, and groove is equipped in the front；The deflecting plate fixed seat（404）After
End, which is fixedly mounted on, turns to rudder part fixed part（402）In the shaft of front end groove both sides, position is solid in steering rudder part
Determine part（402）In the groove of front end, front end face and deflecting plate（401）It is fixedly connected below；Turning to rudder part fixed part
（402）It is equipped with third steering engine fixed plate above（405）；The third steering engine（403）It places straight down, peace is fixed in side
Mounted in third steering engine fixed plate（405）Front, motor shaft and steering rudder part fixed part（402）Front end groove both sides turn
Axis is fixedly connected.
2. a kind of ground mine according to claim 1 places robot, it is characterised in that：The sonar part（5）
Including the 4th extension sleeve（501）, the 4th telescopic rod（502）, the 6th hydraulic cylinder（503）, sonar（504）, the described 4th stretches
Contracting sleeve（501）Lower face be fixedly mounted on sonar part fixed seat（102）Above, it is equipped with groove in the above；Described
4th telescopic rod（502）Lower end is slidably mounted on the 4th extension sleeve（501）In the groove of upper surface, end face and sonar thereon
（504）It is fixedly connected below；6th hydraulic cylinder（503）Cylinder base be fixedly mounted on the 4th extension sleeve（501）
On the baffle on the left side, piston rod end and the 4th telescopic rod（502）The baffle on the left side is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416435.2A CN108639280A (en) | 2018-05-03 | 2018-05-03 | A kind of ground mine placement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416435.2A CN108639280A (en) | 2018-05-03 | 2018-05-03 | A kind of ground mine placement robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108639280A true CN108639280A (en) | 2018-10-12 |
Family
ID=63748882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810416435.2A Pending CN108639280A (en) | 2018-05-03 | 2018-05-03 | A kind of ground mine placement robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108639280A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140279A (en) * | 2022-08-16 | 2022-10-04 | 广东海洋大学 | Novel underwater gliding robot |
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|---|---|---|---|---|
| CN107190685A (en) * | 2017-06-19 | 2017-09-22 | 韩登银 | A kind of robot of picture track marking lines |
| CN107520562A (en) * | 2017-10-18 | 2017-12-29 | 胡景棋 | One kind promptly welds car for steamer leak |
| CN107576225A (en) * | 2017-10-21 | 2018-01-12 | 孟凡星 | A kind of multi-functional ground and amphibious military operations robot |
| CN107651188A (en) * | 2017-09-26 | 2018-02-02 | 孟凡星 | A kind of military anti-transport ship unmanned plane |
| CN107671874A (en) * | 2017-11-20 | 2018-02-09 | 韩朝锋 | A kind of seabed mine locating robot |
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2018
- 2018-05-03 CN CN201810416435.2A patent/CN108639280A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107190685A (en) * | 2017-06-19 | 2017-09-22 | 韩登银 | A kind of robot of picture track marking lines |
| CN107651188A (en) * | 2017-09-26 | 2018-02-02 | 孟凡星 | A kind of military anti-transport ship unmanned plane |
| CN107520562A (en) * | 2017-10-18 | 2017-12-29 | 胡景棋 | One kind promptly welds car for steamer leak |
| CN107576225A (en) * | 2017-10-21 | 2018-01-12 | 孟凡星 | A kind of multi-functional ground and amphibious military operations robot |
| CN107671874A (en) * | 2017-11-20 | 2018-02-09 | 韩朝锋 | A kind of seabed mine locating robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140279A (en) * | 2022-08-16 | 2022-10-04 | 广东海洋大学 | Novel underwater gliding robot |
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