CN109434856A - A kind of bomb disposal robot - Google Patents
A kind of bomb disposal robot Download PDFInfo
- Publication number
- CN109434856A CN109434856A CN201811640392.2A CN201811640392A CN109434856A CN 109434856 A CN109434856 A CN 109434856A CN 201811640392 A CN201811640392 A CN 201811640392A CN 109434856 A CN109434856 A CN 109434856A
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- bomb
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- 230000007246 mechanism Effects 0.000 claims description 45
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000007788 liquid Substances 0.000 description 3
- 239000000758 substrate Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
A kind of bomb disposal robot, part is carried including base portion, bomb fixed part, bomb disengaging section, bomb part, it is characterized by: the sliding recess of the bomb fixed part is slidably mounted in the support plate of base portion, the rack gear above third gear and support plate is intermeshed；The arc groove of bomb disengaging section is slidably mounted on the ball above stepped ramp type cylinder, and the first internal gear and first gear are intermeshed；The groove that bomb part carries below the second Circular Plate of part is slidably mounted on second group of ball, and secondary annulus and second gear are intermeshed；Part collaborative work is carried by bomb fixed part, bomb disengaging section and bomb part to complete the automation disassembly of bomb; it improves work efficiency and increases safety; by the way that the bomb removed is put into bomb storeroom; it ensure that safety in transportational process, be conducive to protect personal safety.
Description
Technical field
The present invention relates to specialized robot technical field, in particular to a kind of bomb disposal robot.
Background technique
Special dismounting personnel are usually required when dismantling bomb to go to dismantle, due to being fraught with risks in disassembly process, one
Dismantle it is improper cause bomb blast, cause human life safe, therefore be badly in need of the machine that can automate disassembly bomb.
Summary of the invention
In view of the above-mentioned problems, passing through bomb fixed part, bomb disengaging section the present invention provides a kind of bomb disposal robot
Part collaborative work is carried with bomb part to complete the automation disassembly of bomb, is improved work efficiency and is increased safety,
By the way that the bomb removed is put into bomb storeroom, it ensure that safety in transportational process, be conducive to protect personal safety.
Technical solution used in the present invention is: a kind of bomb disposal robot, including base portion, bomb fixed part, fried
Play disengaging section, bomb part carries part, it is characterised in that: the sliding recess of the bomb fixed part is slidably mounted on
In the support plate of base portion, the rack gear above third gear and support plate is intermeshed；The arc groove of bomb disengaging section
It is slidably mounted on the ball above stepped ramp type cylinder, the first internal gear and first gear are intermeshed；Bomb part trucking department
The groove below the second Circular Plate divided is slidably mounted on second group of ball, and secondary annulus and second gear are intermeshed；
The base portion includes bottom plate, bomb storeroom, walking mechanism, the first steering engine, first hydraulic cylinder, baffle, support
Plate is equipped with bomb storeroom in substrate, and first hydraulic cylinder cylinder base is fixedly mounted on above bomb storeroom, piston
Boom end is fixedly connected with connecting plate above baffle, and barrier slides are mounted in the groove above bomb storeroom；First steering engine
Bottom is fixedly mounted on substrate, and motor shaft is fixedly connected with support plate, and face is equipped with dovetail groove and rack gear on the supporting plate；
The bomb fixed part includes stepped ramp type cylinder, sliding recess, ball, the first stepper motor, first gear, second
Stepper motor, second gear, third stepper motor, third gear, the first telescoping mechanism, the first telescoping mechanism top plate, the second liquid
Cylinder pressure, sliding shoe, third hydraulic cylinder, third hydraulic cylinder footstock, the second telescoping mechanism, the second steering engine, the second steering engine top plate, the 4th
Hydraulic cylinder, first connecting rod, the second connecting rod, clamping plate, stepped ramp type cylinder are a three rank stepped cylindricals, are equipped on step
The circumferentially ball of array；It is equipped with sliding recess among stepped ramp type cylinder, sliding block is equipped with inside sliding recess；First stepping
Motor side is fixedly mounted in the groove of stepped ramp type cylinder, and motor shaft is fixedly connected with first gear；Second stepper motor
Side is fixedly mounted in the groove above stepped ramp type cylinder, and motor shaft is fixedly connected with second gear；Third stepper motor
Side is fixedly mounted in the groove below stepped ramp type cylinder, and motor shaft is fixedly connected with third gear；First telescoping mechanism
It is fixedly mounted in the support plate below stepped ramp type cylinder, outboard end is equipped with the first telescoping mechanism top plate, in the first telescopic machine
Optical axis is equipped on the outside of structure top plate；Sliding shoe is slidably mounted on the optical axis on the outside of the first telescoping mechanism top plate；Second hydraulic cylinder cylinder
Body bottom is fixedly mounted on the inside of the first telescoping mechanism top plate, and piston rod end is fixedly connected with sliding shoe side plate；Third liquid
Cylinder pressure cylinder base is fixedly mounted on above sliding shoe, and piston rod end is fixedly connected with third hydraulic cylinder footstock, in third
Hydraulic cylinder footstock side is equipped with steering engine, and motor shaft is fixedly connected with the shaft above third hydraulic cylinder footstock by shaft coupling；
Circular hole below second telescoping mechanism is fixedly mounted in the rotation axis above third hydraulic cylinder footstock, on the outside of the second telescoping mechanism
Equipped with steering engine, motor shaft is fixedly connected with the rotation axis above third hydraulic cylinder footstock；The fixed peace of second steering engine top board undersurface
On the motor shaft of the second steering engine；4th hydraulic cylinder body bottom is fixedly mounted on the support plate on the outside of the second steering engine top plate
On, piston rod end is fixedly connected with first connecting rod；The connecting shaft of second connecting rod and first connecting rod rotates
Connection, is equipped with steering engine on the outside of first connecting rod, and steering engine is fixedly connected with the connecting shaft of first connecting rod；The connecting shaft of clamping plate
It is rotatably installed in the circular hole above the second connecting rod, is equipped with steering engine on the outside of the second connecting rod, above motor shaft and clamping plate
Connecting shaft is fixedly connected by shaft coupling；
The bomb fixed part include the first Circular Plate, the first internal gear, arc groove, the 5th hydraulic cylinder, third steering engine,
First attachment base, the 4th steering engine, the 6th hydraulic cylinder fixing seat, the 6th hydraulic cylinder, the 5th steering engine, the second attachment base, swivel plate, rotation
Rotating plate fixed plate, the 4th stepper motor, scissors sliding panel, scissors, the 4th gear, L-type plank, the 5th stepper motor, screwdriver,
Sleeve, the 5th gear are protected, arc groove is arranged below in the first Circular Plate, the first internal tooth is equipped on the inside of the first Circular Plate
Wheel；5th hydraulic cylinder body bottom is fixedly mounted on the outside of the first Circular Plate, the fixing seat of piston rod end and third steering engine
It is fixedly connected, third steering engine side is fixedly mounted on inside the fixing seat of third steering engine, and motor shaft is fixed with the first attachment base
Connection, the 4th steering engine side are fixedly mounted on the outside of the first attachment base, and the rotation axis of motor shaft and the first attachment base passes through connection
Axis device is fixedly connected；6th hydraulic cylinder fixing seat is fixedly mounted in the shaft of the first attachment base；6th hydraulic cylinder body bottom
It is fixedly mounted in the 6th hydraulic cylinder fixing seat, piston rod end is fixedly connected with fixed plate；The fixed peace in 5th steering engine bottom
In the fixed plate of the 6th hydraulic cylinder, motor shaft is fixedly connected with the second attachment base；It is equipped with and turns inside the second attachment base
Moving axis is equipped with steering engine on the outside of the second attachment base, inside the motor shaft and the second attachment base of the steering engine on the outside of the second attachment base
Rotation axis is fixedly connected；Circular hole below the swivel plate is fixedly mounted in the rotation axis inside the second attachment base, outside
End is fixedly connected with swivel plate fixed plate；Rack gear is equipped on the outside of swivel plate fixed plate；The fixed plate of 4th stepper motor is slided
Be mounted on above swivel plate fixed plate in groove, the 4th stepper motor motor shaft is fixedly connected with the 4th gear, the 4th gear with
The rack gear of swivel plate fixed plate is intermeshed；It is fixedly mounted below scissors sliding panel in the fixed plate of the 4th stepper motor,
It is equipped with hydraulic cylinder above, the hydraulic cylinder above scissors sliding panel is fixedly connected with scissors；L-type is equipped on the outside of another swivel plate
Plank, the 5th stepper motor side are fixedly mounted on the outside of L-type plank, and motor shaft passes through circular hole and screw above L-type plank
Knife is fixedly connected；It is equipped with rack gear on the outside of L-type plank, the motor shaft of the stepper motor on the outside of sleeve is protected to fix with the 5th gear
The rack gear of connection, the 5th gear and L-type plank is intermeshed；Protection sleeve is slidably mounted on screwdriver；It protects below sleeve
Plate is slidably mounted in the groove above L-type plank；
The bomb part trucking department point includes the second Circular Plate, secondary annulus, third telescoping mechanism, the 6th steering engine, the
Three attachment bases, the 7th steering engine, the 7th steering engine connecting shaft, the 7th hydraulic cylinder fixed plate, the 7th hydraulic cylinder, the 7th hydraulic cylinder top plate,
Ring groove is arranged below in the second Circular Plate in sucker, and secondary annulus is equipped on the inside of the second Circular Plate；Third telescoping mechanism
One end be fixedly mounted on the second Circular Plate lateral branch fagging, the other end is fixedly connected with the 6th steering engine, the 6th steering engine
Motor shaft is fixedly connected with third attachment base；7th steering engine connecting shaft is rotatably installed in the circular hole above third attachment base, the
Seven steering engines are fixedly mounted on the outside of third attachment base, and motor shaft is fixedly connected with the 7th steering engine connecting shaft by shaft coupling；The
Seven hydraulic cylinder fixed plates are fixedly mounted in the 7th steering engine connecting shaft, and position is inside third attachment base；7th hydraulic cylinder
Body bottom is fixedly mounted in seven hydraulic cylinder fixed plates, and piston rod end is fixedly connected with the 7th hydraulic cylinder top plate, the 7th
Sucker is equipped on the outside of hydraulic cylinder top plate.
Beneficial effects of the present invention: part is carried by bomb fixed part, bomb disengaging section and bomb part and is cooperateed with
It works to complete the automation of bomb disassembly, improves work efficiency and increase safety, by the way that the bomb removed to be put into
Bomb storeroom ensure that safety in transportational process, be conducive to protect personal safety.
Detailed description of the invention
Fig. 1, Fig. 2 are overall structure diagram of the invention.
Fig. 3, Fig. 4 are the structural schematic diagram of base portion of the invention.
Fig. 5, Fig. 6, Fig. 7, Fig. 8 are the structural schematic diagram of bomb fixed part of the invention.
Fig. 9, Figure 10, Figure 11, Figure 12 are the structural schematic diagram of bomb disengaging section of the invention.
Figure 13, Figure 14, Figure 15 are the structural schematic diagram that bomb part of the invention carries part.
Drawing reference numeral: 1- base portion, 2- bomb fixed part, 3- bomb disengaging section, 4- bomb part carry part,
101- bottom plate, 102- bomb storeroom, 103- walking mechanism, the first steering engine of 104-, 105- first hydraulic cylinder, 106- baffle,
107- support plate, 201- stepped ramp type cylinder, 202- sliding recess, 203- ball, the first stepper motor of 204-, the first tooth of 205-
Wheel, 206- second stepper motor, 207- second gear, 208- third stepper motor, 209- third gear, the first telescopic machine of 210-
Structure, the first telescoping mechanism of 211- top plate, 212- second hydraulic cylinder, 213- sliding shoe, 214- third hydraulic cylinder, 215- third are hydraulic
Cylinder footstock, the second telescoping mechanism of 216-, the second steering engine of 217-, the second steering engine of 218- top plate, the 4th hydraulic cylinder of 219-, 220- first
Connecting rod, the second connecting rod of 221-, 222- clamping plate, the first Circular Plate of 301-, the first internal gear of 302-, 303- arc groove,
The 5th hydraulic cylinder of 304-, 305- third steering engine, the first attachment base of 306-, the 4th steering engine of 307-, the 6th hydraulic cylinder fixing seat of 308-,
The 6th hydraulic cylinder of 309-, the 5th steering engine of 310-, the second attachment base of 311-, 312- swivel plate, 313- swivel plate fixed plate, 314-
Four stepper motors, 315- scissors sliding panel, 316- scissors, the 4th gear of 317-, 318-L template, the 5th stepper motor of 319-,
320- screwdriver, 321- protection sleeve, the 5th gear of 322-, the second Circular Plate of 401-, 402- secondary annulus, 403- third are stretched
Contracting mechanism, the 6th steering engine of 404-, 405- third attachment base, the 7th steering engine of 406-, the 7th steering engine connecting shaft of 407-, the 7th liquid of 408-
Cylinder pressure fixed plate, the 7th hydraulic cylinder of 409-, the 7th hydraulic cylinder top plate of 410-, 411- sucker.
Specific embodiment
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, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14,
Shown in Figure 15, a kind of bomb disposal robot, including base portion 1, bomb fixed part 2, bomb disengaging section 3, bomb part are removed
Transport part 4, it is characterised in that: the sliding recess 202 of the bomb fixed part 2 is slidably mounted on the support of base portion 1
On plate 107, the rack gear above third gear 209 and support plate 107 is intermeshed；The arc groove 303 of bomb disengaging section 3 is sliding
Dynamic to be mounted on the ball 203 above stepped ramp type cylinder 201, the first internal gear 302 is intermeshed with first gear 205；Bomb
The groove that part carries below the second Circular Plate 401 of part 4 is slidably mounted on second group of ball 203, secondary annulus 402
It is intermeshed with second gear 207；
The base portion 1 is hydraulic including bottom plate 101, bomb storeroom 102, walking mechanism 103, the first steering engine 104, first
Cylinder 105, baffle 106, support plate 107 are equipped with bomb storeroom 102,105 cylinder base of first hydraulic cylinder on bottom plate 101
It is fixedly mounted on above bomb storeroom 102, connecting plate is fixedly connected above with baffle 106 for piston rod end, and baffle 106 is sliding
It is dynamic to be mounted in the groove above bomb storeroom 102；First steering engine, 104 bottom is fixedly mounted on above bottom plate 101, motor
Axis is fixedly connected with support plate 107, and dovetail groove and rack gear are equipped on support plate 107；
The bomb fixed part 2 include stepped ramp type cylinder 201, sliding recess 202, ball 203, the first stepper motor 204,
First gear 205, second stepper motor 206, second gear 207, third stepper motor 208, third gear 209, first are flexible
Mechanism 210, the first telescoping mechanism top plate 211, second hydraulic cylinder 212, sliding shoe 213, third hydraulic cylinder 214, third hydraulic cylinder
Footstock 215, the second telescoping mechanism 216, the second steering engine 217, the second steering engine top plate 218, the 4th hydraulic cylinder 219, first connecting rod
220, the second connecting rod 221, clamping plate 222, stepped ramp type cylinder 201 are a three rank stepped cylindricals, are equipped on step in circle
The ball 203 of all arrays；It is equipped with sliding recess 202 among stepped ramp type cylinder 201, sliding block is equipped with inside sliding recess 202；
First stepper motor, 204 side is fixedly mounted in the groove of stepped ramp type cylinder 201, and motor shaft and first gear 205 are fixed
Connection；206 side of second stepper motor is fixedly mounted in the groove above stepped ramp type cylinder 201, motor shaft and the second tooth
Wheel 207 is fixedly connected；208 side of third stepper motor is fixedly mounted in the groove below stepped ramp type cylinder 201, motor shaft
It is fixedly connected with third gear 209；First telescoping mechanism 210 is fixedly mounted in the support plate below stepped ramp type cylinder 201,
Outboard end is equipped with the first telescoping mechanism top plate 211, and optical axis is equipped on the outside of the first telescoping mechanism top plate 211；Sliding shoe 213 slides
It is mounted on the optical axis in 211 outside of the first telescoping mechanism top plate；It is flexible that 212 cylinder base of second hydraulic cylinder is fixedly mounted on first
211 inside of mechanism top plate, piston rod end is fixedly connected with 213 side plate of sliding shoe；214 cylinder base of third hydraulic cylinder is fixed
It is mounted on above sliding shoe 213, piston rod end is fixedly connected with third hydraulic cylinder footstock 215, in third hydraulic cylinder footstock
215 sides are equipped with steering engine, and motor shaft is fixedly connected with the shaft above third hydraulic cylinder footstock 215 by shaft coupling；Second
Circular hole below telescoping mechanism 216 is fixedly mounted in the rotation axis above third hydraulic cylinder footstock 215, the second telescoping mechanism
216 outsides are equipped with steering engine, and motor shaft is fixedly connected with the rotation axis above third hydraulic cylinder footstock 215；Second steering engine top plate
218 bottom surfaces are fixedly mounted on the motor shaft of the second steering engine 217；4th hydraulic cylinder, 219 cylinder base is fixedly mounted on the second rudder
In the support plate in 218 outside of machine top plate, piston rod end is fixedly connected with first connecting rod 220；Second connecting rod
221 are rotatablely connected with the connecting shaft of first connecting rod 220, and steering engine, steering engine and the first company are equipped on the outside of first connecting rod 220
The connecting shaft of extension bar 220 is fixedly connected；The connecting shaft of clamping plate 222 is rotatably installed in the circular hole above the second connecting rod 221,
Steering engine is equipped on the outside of second connecting rod 221, motor shaft is fixedly connected with connecting shaft above clamping plate 222 by shaft coupling；
The bomb fixed part 2 includes the first Circular Plate 301, the first internal gear 302, arc groove 303, the 5th hydraulic cylinder
304, third steering engine 305, the first attachment base 306, the 4th steering engine 307, the 6th hydraulic cylinder fixing seat 308, the 6th hydraulic cylinder 309,
5th steering engine 310, the second attachment base 311, swivel plate 312, swivel plate fixed plate 313, the 4th stepper motor 314, scissors sliding
Plate 315, scissors 316, the 4th gear 317, L-type plank 318, the 5th stepper motor 319, screwdriver 320, protection sleeve 321, the
Arc groove 303 is arranged below in the first Circular Plate 301 in five gears 322, and the first internal tooth is equipped on the inside of the first Circular Plate 301
Wheel 302；5th hydraulic cylinder, 304 cylinder base is fixedly mounted on 301 outside of the first Circular Plate, piston rod end and third steering engine
305 fixing seat is fixedly connected, and 305 side of third steering engine is fixedly mounted on inside the fixing seat of third steering engine 305, motor shaft
Be fixedly connected with the first attachment base 306,307 side of the 4th steering engine is fixedly mounted on the outside of the first attachment base 306, motor shaft with
The rotation axis of first attachment base 306 is fixedly connected by shaft coupling；6th hydraulic cylinder fixing seat 308 is fixedly mounted on the first connection
In the shaft of seat 306；6th hydraulic cylinder, 309 cylinder base is fixedly mounted in the 6th hydraulic cylinder fixing seat 308, tailpiece of the piston rod
Portion is fixedly connected with fixed plate；5th steering engine, 310 bottom is fixedly mounted in the fixed plate of the 6th hydraulic cylinder 309, motor shaft
It is fixedly connected with the second attachment base 311；It is equipped with rotation axis inside the second attachment base 311, is equipped on the outside of the second attachment base 311
The motor shaft of steering engine, the steering engine in 311 outside of the second attachment base is fixedly connected with the rotation axis of 311 the inside of the second attachment base；It is described
Swivel plate 312 below circular hole be fixedly mounted in the rotation axis of the inside of the second attachment base 311, outer end is fixed with swivel plate
Plate 313 is fixedly connected；Rack gear is equipped on the outside of swivel plate fixed plate 313；The fixed plate of 4th stepper motor 314 is slidably mounted on
Swivel plate fixed plate 313 is above in groove, and 314 motor shaft of the 4th stepper motor is fixedly connected with the 4th gear 317, the 4th gear
317 are intermeshed with the rack gear of swivel plate fixed plate 313；Scissors sliding panel 315 is fixedly mounted on the 4th stepper motor 314 below
Fixed plate on, be equipped with hydraulic cylinder above, the hydraulic cylinder above scissors sliding panel 315 is fixedly connected with scissors 316；Another
L-type plank 318 is equipped on the outside of a swivel plate 312,319 side of the 5th stepper motor is fixedly mounted on 318 outside of L-type plank,
Motor shaft passes through L-type plank 318, and circular hole is fixedly connected with screwdriver 320 above；Rack gear, protection are equipped on the outside of L-type plank 318
The motor shaft of the stepper motor in 321 outside of sleeve is fixedly connected with the 5th gear 322, the 5th gear 322 and L-type plank 318
Rack gear intermeshing；Protection sleeve 321 is slidably mounted on screwdriver 320；Protection 321 lower panel of sleeve is slidably mounted on L-type
In groove above plank 318；
It includes the second Circular Plate 401, secondary annulus 402, third telescoping mechanism 403, that the bomb part, which carries part 4,
Six steering engines 404, third attachment base 405, the 7th steering engine 406, the 7th steering engine connecting shaft 407, the 7th hydraulic cylinder fixed plate 408,
Ring groove is arranged below in the second Circular Plate 401, second in seven hydraulic cylinders 409, the 7th hydraulic cylinder top plate 410, sucker 411
Secondary annulus 402 is equipped on the inside of Circular Plate 401；One end of third telescoping mechanism 403 is fixedly mounted on outside the second Circular Plate 401
In side support plate, the other end is fixedly connected with the 6th steering engine 404, and the motor shaft and third attachment base 405 of the 6th steering engine 404 are solid
Fixed connection；7th steering engine connecting shaft 407 is rotatably installed in the circular hole above third attachment base 405, the fixed peace of the 7th steering engine 406
Mounted in 405 outside of third attachment base, motor shaft is fixedly connected with the 7th steering engine connecting shaft 407 by shaft coupling；7th is hydraulic
Cylinder fixed plate 408 is fixedly mounted in the 7th steering engine connecting shaft 407, and position is in 405 the inside of third attachment base；7th hydraulic cylinder
409 cylinder bases are fixedly mounted in seven hydraulic cylinder fixed plates 408, and piston rod end and the 7th hydraulic cylinder top plate 410 are fixed
Connection is equipped with sucker 411 on the outside of the 7th hydraulic cylinder top plate 410.
Working principle of the present invention: machine reaches the place for placing bomb by walking mechanism 103, passes through bomb fixed part
2 third stepper motor 208, the first telescoping mechanism 210, second hydraulic cylinder 212, third hydraulic cylinder 214, third hydraulic cylinder footstock
215 side steering engines, the second telescoping mechanism 216 and the second steering engine 217 cooperate to adjust the position of clamping plate 222, pass through the 4th
Hydraulic cylinder 219,220 steering engine of first connecting rod and 221 steering engine of the second connecting rod drive clamping plate 222 to press from both sides bomb to cooperate
Firmly；It drives first gear 205 that bomb disengaging section 3 is driven to rotate by the first stepper motor 204 in next step, is dismantled by bomb
The 5th hydraulic cylinder 304, third steering engine 305, the 4th steering engine 307, the 6th hydraulic cylinder 309, the 5th steering engine 310 and second of part 3
The steering engine of attachment base 311 reaches suitable position to drive swivel plate 312 and then drive scissors 316 and screwdriver 320, passes through guarantor
The motor of pretective sleeve pipe 321 drives protection sleeve 321 that stubborn screw will be needed to cover, and drives spiral shell by the 5th stepper motor 319
Silk knife 320 screws down screw, by hydraulic cylinder above the 4th stepper motor 314 and scissors sliding panel 315 cooperate come
Scissors 316 is driven to complete to cut the work of line；Drive second gear 207 fried to drive by second stepper motor 206 in next step
It plays part and carries the rotation of part 4, pass through third telescoping mechanism 403, the 6th steering engine 404, the 7th rudder that bomb part carries part 4
Machine 406 and the 7th hydraulic cylinder 409 drive sucker 411 that some parts disassembled are sucked to cooperate, and after having torn open, lead to
It crosses the first steering engine 104 rotation drive support plate 107 and then drives the rotation of bomb fixed part 2 180 degree that bomb is put into bomb and deposit
It puts in place 102, is shunk by first hydraulic cylinder 105 and baffle 106 is driven to seal entrance.
Claims (5)
1. a kind of bomb disposal robot, including base portion (1), bomb fixed part (2), bomb disengaging section (3), bomb part
Carry part (4), it is characterised in that: the sliding recess (202) of the bomb fixed part (2) is slidably mounted on base portion
(1) in support plate (107), the rack gear of third gear (209) and support plate (107) above is intermeshed；Bomb disengaging section
(3) arc groove (303) is slidably mounted on the ball (203) of stepped ramp type cylinder (201) above, the first internal gear (302)
It is intermeshed with first gear (205)；Bomb part carries the groove of the second Circular Plate (401) of part (4) below and slides peace
On second group of ball (203), secondary annulus (402) and second gear (207) are intermeshed.
2. a kind of bomb disposal robot according to claim 1, it is characterised in that: the base portion (1) includes bottom plate
(101), bomb storeroom (102), walking mechanism (103), the first steering engine (104), first hydraulic cylinder (105), baffle (106),
Support plate (107) is equipped with bomb storeroom (102) above in bottom plate (101), the fixed peace of first hydraulic cylinder (105) cylinder base
Above mounted in bomb storeroom (102), connecting plate is fixedly connected above with baffle (106) for piston rod end, and baffle (106) is sliding
It is dynamic to be mounted in the groove of bomb storeroom (102) above；First steering engine (104) bottom is fixedly mounted on bottom plate (101) above,
Its motor shaft is fixedly connected with support plate (107), is equipped with dovetail groove and rack gear above in support plate (107).
3. a kind of bomb disposal robot according to claim 1, it is characterised in that: the bomb fixed part (2) includes
Stepped ramp type cylinder (201), sliding recess (202), ball (203), the first stepper motor (204), first gear (205), second
Stepper motor (206), second gear (207), third stepper motor (208), third gear (209), the first telescoping mechanism
(210), the first telescoping mechanism top plate (211), second hydraulic cylinder (212), sliding shoe (213), third hydraulic cylinder (214), third
Hydraulic cylinder footstock (215), the second telescoping mechanism (216), the second steering engine (217), the second steering engine top plate (218), the 4th hydraulic cylinder
(219), first connecting rod (220), the second connecting rod (221), clamping plate (222), stepped ramp type cylinder (201) are a three stage ranks
Cylinder is equipped with the ball (203) of circumferentially array on step；Sliding recess is equipped among stepped ramp type cylinder (201)
(202), sliding block is equipped with inside sliding recess (202)；First stepper motor (204) side is fixedly mounted on stepped ramp type cylinder
(201) in groove, motor shaft is fixedly connected with first gear (205)；Second stepper motor (206) side is fixedly mounted on
In the groove of stepped ramp type cylinder (201) above, motor shaft is fixedly connected with second gear (207)；Third stepper motor (208)
Side is fixedly mounted in the groove of stepped ramp type cylinder (201) below, and motor shaft is fixedly connected with third gear (209)；The
One telescoping mechanism (210) is fixedly mounted in the support plate of stepped ramp type cylinder (201) below, and outboard end is equipped with the first telescopic machine
Structure top plate (211) is equipped with optical axis on the outside of the first telescoping mechanism top plate (211)；It is flexible that sliding shoe (213) is slidably mounted on first
On optical axis on the outside of mechanism top plate (211)；Second hydraulic cylinder (212) cylinder base is fixedly mounted on the first telescoping mechanism top plate
(211) inside, piston rod end is fixedly connected with sliding shoe (213) side plate；The fixed peace of third hydraulic cylinder (214) cylinder base
Above mounted in sliding shoe (213), piston rod end is fixedly connected with third hydraulic cylinder footstock (215), on third hydraulic cylinder top
Seat (215) side is equipped with steering engine, motor shaft and the shaft of third hydraulic cylinder footstock (215) above and connects by the way that shaft coupling is fixed
It connects；The circular hole of second telescoping mechanism (216) below is fixedly mounted in the rotation axis of third hydraulic cylinder footstock (215) above, the
Steering engine is equipped on the outside of two telescoping mechanisms (216), the rotation axis of motor shaft and third hydraulic cylinder footstock (215) above is fixed to be connected
It connects；Second steering engine top plate (218) bottom surface is fixedly mounted on the motor shaft of the second steering engine (217)；4th hydraulic cylinder (219) cylinder body
Bottom is fixedly mounted in the support plate on the outside of the second steering engine top plate (218), and piston rod end and first connecting rod (220) are solid
Fixed connection；The connecting shaft of second connecting rod (221) and first connecting rod (220) is rotatablely connected, in first connecting rod
(220) outside is equipped with steering engine, and steering engine is fixedly connected with the connecting shaft of first connecting rod (220)；The connecting shaft of clamping plate (222) turns
It is dynamic to be mounted in the circular hole of the second connecting rod (221) above, be equipped with steering engine on the outside of the second connecting rod (221), motor shaft with
Connecting shaft is fixedly connected clamping plate (222) by shaft coupling above.
4. a kind of bomb disposal robot according to claim 1, it is characterised in that: the bomb fixed part (2) includes
First Circular Plate (301), the first internal gear (302), arc groove (303), the 5th hydraulic cylinder (304), third steering engine (305),
First attachment base (306), the 4th steering engine (307), the 6th hydraulic cylinder fixing seat (308), the 6th hydraulic cylinder (309), the 5th steering engine
(310), the second attachment base (311), swivel plate (312), swivel plate fixed plate (313), the 4th stepper motor (314), scissors are sliding
Movable plate (315), scissors (316), the 4th gear (317), L-type plank (318), the 5th stepper motor (319), screwdriver (320),
Sleeve (321), the 5th gear (322) are protected, arc groove (303) are arranged below in the first Circular Plate (301), in the first annulus
The first internal gear (302) are equipped on the inside of plate (301)；5th hydraulic cylinder (304) cylinder base is fixedly mounted on the first Circular Plate
(301) outside, piston rod end are fixedly connected with the fixing seat of third steering engine (305), the fixed peace in third steering engine (305) side
Inside the fixing seat of third steering engine (305), motor shaft is fixedly connected with the first attachment base (306), the 4th steering engine (307)
Side is fixedly mounted on the outside of the first attachment base (306), and the rotation axis of motor shaft and the first attachment base (306) passes through shaft coupling
It is fixedly connected；6th hydraulic cylinder fixing seat (308) is fixedly mounted in the shaft of the first attachment base (306)；6th hydraulic cylinder
(309) cylinder base is fixedly mounted in the 6th hydraulic cylinder fixing seat (308), and piston rod end is fixedly connected with fixed plate；
5th steering engine (310) bottom is fixedly mounted in the fixed plate of the 6th hydraulic cylinder (309), motor shaft and the second attachment base
(311) it is fixedly connected；It is equipped with rotation axis inside the second attachment base (311), steering engine is equipped on the outside of the second attachment base (311),
The motor shaft of steering engine on the outside of second attachment base (311) is fixedly connected with the rotation axis inside the second attachment base (311)；Described
The circular hole of swivel plate (312) below is fixedly mounted in the rotation axis inside the second attachment base (311), and outer end and swivel plate are solid
Fixed board (313) is fixedly connected；Rack gear is equipped on the outside of swivel plate fixed plate (313)；The fixed plate of 4th stepper motor (314) is sliding
Dynamic to be mounted on swivel plate fixed plate (313) above in groove, the 4th stepper motor (314) motor shaft and the 4th gear (317) are consolidated
Fixed connection, the rack gear intermeshing of the 4th gear (317) and swivel plate fixed plate (313)；Scissors sliding panel (315) is fixed below
It is mounted in the fixed plate of the 4th stepper motor (314), is equipped with hydraulic cylinder above, scissors sliding panel (315) above hydraulic
Cylinder is fixedly connected with scissors (316)；L-type plank (318) are equipped on the outside of another swivel plate (312), the 5th stepper motor
(319) side is fixedly mounted on the outside of L-type plank (318), and motor shaft passes through L-type plank (318) circular hole and screwdriver above
(320) it is fixedly connected；Rack gear, the motor shaft of the stepper motor on the outside of protection sleeve (321) are equipped on the outside of L-type plank (318)
It is fixedly connected with the 5th gear (322), the rack gear of the 5th gear (322) and L-type plank (318) is intermeshed；Protect sleeve
(321) it is slidably mounted on screwdriver (320)；Protection sleeve (321) lower panel is slidably mounted on L-type plank (318) above
In groove.
5. a kind of bomb disposal robot according to claim 1, it is characterised in that: the bomb part carries part (4)
Including the second Circular Plate (401), secondary annulus (402), third telescoping mechanism (403), the 6th steering engine (404), third connection
Seat (405), the 7th steering engine (406), the 7th steering engine connecting shaft (407), the 7th hydraulic cylinder fixed plate (408), the 7th hydraulic cylinder
(409), ring groove is arranged below in the second Circular Plate (401), second in the 7th hydraulic cylinder top plate (410), sucker (411)
Secondary annulus (402) are equipped on the inside of Circular Plate (401)；One end of third telescoping mechanism (403) is fixedly mounted on the second annulus
On plate (401) lateral branch fagging, the other end is fixedly connected with the 6th steering engine (404), the motor shaft of the 6th steering engine (404) and
Three attachment bases (405) are fixedly connected；7th steering engine connecting shaft (407) is rotatably installed in the circular hole of third attachment base (405) above
In, the 7th steering engine (406) is fixedly mounted on the outside of third attachment base (405), and motor shaft and the 7th steering engine connecting shaft (407) are logical
Shaft coupling is crossed to be fixedly connected；7th hydraulic cylinder fixed plate (408) is fixedly mounted in the 7th steering engine connecting shaft (407), position
Inside third attachment base (405)；7th hydraulic cylinder (409) cylinder base is fixedly mounted in seven hydraulic cylinder fixed plates (408),
Its piston rod end is fixedly connected with the 7th hydraulic cylinder top plate (410), and sucker is equipped on the outside of the 7th hydraulic cylinder top plate (410)
(411).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640392.2A CN109434856B (en) | 2018-12-29 | 2018-12-29 | Bullet removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640392.2A CN109434856B (en) | 2018-12-29 | 2018-12-29 | Bullet removing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109434856A true CN109434856A (en) | 2019-03-08 |
| CN109434856B CN109434856B (en) | 2021-10-29 |
Family
ID=65542286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811640392.2A Active CN109434856B (en) | 2018-12-29 | 2018-12-29 | Bullet removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109434856B (en) |
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| CN111923080A (en) * | 2020-08-10 | 2020-11-13 | 河南警察学院 | Multifunctional mechanical bionic hand for explosive-handling robot |
| CN113175850A (en) * | 2021-05-18 | 2021-07-27 | 蔡爱光 | Shell demolishs device |
| CN114313237A (en) * | 2022-02-17 | 2022-04-12 | 北京航天长城卫星导航科技有限公司 | Dismounting anti-terrorist robot based on unmanned aerial vehicle |
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| CN114313237B (en) * | 2022-02-17 | 2024-04-12 | 北京航天长城卫星导航科技有限公司 | Unmanned aerial vehicle-based dismounting anti-terrorism robot |
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Effective date of registration: 20211014 Address after: 264000 No. 267, South Street, Zhifu District, Yantai City, Shandong Province Applicant after: YANTAI JUNXING SPECIAL EQUIPMENT Co.,Ltd. Address before: Room 503, unit 4, building 35, Xinyuan community, zhaolingpu Town, Xinhua District, Shijiazhuang City, Hebei Province Applicant before: Ding Fenghai |
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