CN110465955A - It is a kind of based on pneumatic obstacle detouring explosive-removal robot - Google Patents
It is a kind of based on pneumatic obstacle detouring explosive-removal robot Download PDFInfo
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- CN110465955A CN110465955A CN201910664451.8A CN201910664451A CN110465955A CN 110465955 A CN110465955 A CN 110465955A CN 201910664451 A CN201910664451 A CN 201910664451A CN 110465955 A CN110465955 A CN 110465955A
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- pneumatic
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- explosive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of based on pneumatic obstacle detouring explosive-removal robot, and bottom panel side fixes caterpillar drive and wheel driving device, the fixed arm apparatus in top respectively；The wheel oscillating cylinder of caterpillar drive is respectively arranged at the quadrangle of bottom plate, the rotation of wheel oscillating cylinder drive connection bar, and wheel, wheel and crawler belt engagement is respectively set in the both ends of connecting rod；At least four symmetrically arranged wheel driving devices are arranged in the middle part of bottom plate, first connector one end of wheel driving device is fixed on bottom plate, the other end fixes two thin cylinders, and thin cylinder connects rotating wheel oscillating cylinder by the second connector, and rotating wheel oscillating cylinder is drivingly connected rotating wheel.Structure of the invention is compact, adapt to can ability and obstacle climbing ability be strong, freedom degree is more, clean, explosion-proof performance is good.
Description
Technical field
The present invention relates to robotic technology field, especially a kind of compact-sized, adaptation energy ability and obstacle climbing ability are by force, certainly
, cleaning more by degree, explosion-proof performance are good based on pneumatic obstacle detouring explosive-removal robot.
Background technique
In face of complicated landform, such as smooth landform, heavy road condition and the road conditions there are barrier, how to make machine
Device people can adapt to various terrains be robot indispensability one of ability.Chinese patent CN106314577A, CN109436112A,
CN108594820A proposes crawler type obstacle crossing robot, but obstacle climbing ability is limited by track wheel size while also being use up
The movement in single direction can be carried out, adaptability is poor.
Mecanum wheel due to having the ability of horizontal and vertical movement simultaneously, Chinese patent CN206579402U,
CN208355667U, CN206088035U, CN109501885A, CN104325857A are all made of Mecanum wheel and devise difference
Carriage device, when merely transversely moving, only in running order there are two wheel, but adaptability and load capacity are not
By force.
Need it is a kind of it is compact-sized, adapt to can ability and obstacle climbing ability be strong, freedom degree is more, clean, the base that explosion-proof performance is good
In pneumatic obstacle detouring explosive-removal robot.
Summary of the invention
The object of the present invention is to provide it is a kind of it is compact-sized, adapt to can ability and obstacle climbing ability are strong, freedom degree is more, cleaning,
Explosion-proof performance is good based on pneumatic obstacle detouring explosive-removal robot.
It is a kind of based on pneumatic obstacle detouring explosive-removal robot, comprising:
Bottom plate, the bottom panel side fix caterpillar drive and wheel driving device, the fixed arm apparatus in top respectively；
The wheel oscillating cylinder of the caterpillar drive is respectively arranged at the quadrangle of bottom plate, and the wheel oscillating cylinder drives
Wheel, the wheel and crawler belt engagement is respectively set in dynamic connecting rod rotation, the both ends of the connecting rod；
The middle part of the bottom plate is arranged at least four symmetrically arranged wheel driving devices, and the of the wheel driving device
A connection piece one end is fixed on bottom plate, and the other end fixes two thin cylinders, and the thin cylinder is connected by the second connector
Switch through driving wheel oscillating cylinder, the rotating wheel oscillating cylinder is drivingly connected rotating wheel；
The arm apparatus is followed successively by first segment arm apparatus, second segment arm apparatus and gripper from top to bottom, and described
First pneumatic muscles of one section of arm apparatus and first support bar lower end are rotatably connected with bottom plate respectively, and upper end is fixedly attached to
First connecting plate, first connecting plate are rotatably connected the second pneumatic muscles and second support bar respectively, and described second is pneumatic
Muscle and second support bar are respectively fixedly connected with to the second connecting plate, and multi-joint gas is arranged between the bottom plate and the second connecting plate
Dynamic muscle, second connecting plate top are rotatably connected straight line cylinder and third support rod, the straight line cylinder and third branch
Strut top is rotatably connected on third connecting plate, fixes gripper on the third connecting plate.
The bottom plate is U-shaped, opening up.
Two rotating wheel oscillating cylinders of wheel driving device mirror settings each other.
The wheel oscillating cylinder is fixed at the center of connecting rod.
First connector is L shape, is vertically fixed on bottom plate, transversely and horizontally stretches out.
The quantity of first pneumatic muscles is three or more, and the first support bar is located in the first pneumatic muscles
Portion, the quantity of second pneumatic muscles are three or more, and the second support bar is located at the middle part of the second pneumatic muscles.
The quantity of the multi-joint pneumatic muscle is three or more, and upper end is distributed in the periphery of the second connecting plate, lower end point
Cloth is in the outside of the first pneumatic muscles.
The straight line cylinder quantity is two, is distributed in the side of third support rod.
After the cylinder individually connects pneumatic operated valve, it is separately connected computer, the cylinder and pneumatic valve group are controlled at crawler belt
Device after the rotating wheel oscillating cylinder individually connects pneumatic operated valve, is separately connected computer, and the rotating wheel oscillating cylinder is gentle
Valve group is moved into wheel control device, first pneumatic muscles, the second pneumatic muscles and multi-joint pneumatic muscle individually connect gas
After dynamic valve, it is separately connected computer, first pneumatic muscles, the second pneumatic muscles and multi-joint pneumatic muscle and pneumatic valve group
At arm control device.
The computer is separately connected crawler belt control device by using Modbus or CAN bus, wheel control device and
Arm control device.
Bottom panel side of the present invention fixes caterpillar drive and wheel driving device, the fixed arm apparatus in top respectively；It carries out
Wheel oscillating cylinder with driving device is respectively arranged at the quadrangle of bottom plate, the rotation of wheel oscillating cylinder drive connection bar, connection
Wheel, wheel and crawler belt engagement is respectively set in the both ends of bar；The symmetrically arranged wheel driving of middle part setting at least four of bottom plate
First connector one end of device, wheel driving device is fixed on bottom plate, and the other end fixes two thin cylinders, thin cylinder
Rotating wheel oscillating cylinder is connected by the second connector, rotating wheel oscillating cylinder is drivingly connected rotating wheel；Arm apparatus from it is lower to
On be followed successively by first segment arm apparatus, second segment arm apparatus and gripper, the first pneumatic muscles of first segment arm apparatus and
One support rod lower end is rotatably connected with bottom plate respectively, and upper end is fixedly attached to the first connecting plate, and the first connecting plate can turn respectively
The second pneumatic muscles of dynamic connection and second support bar, the second pneumatic muscles and second support bar are respectively fixedly connected with to the second connection
Plate, between bottom plate and the second connecting plate be arranged multi-joint pneumatic muscle, the second connecting plate top be rotatably connected straight line cylinder and
Third support rod, straight line cylinder and third support rod top are rotatably connected on third connecting plate, fixed on third connecting plate
Gripper.Structure of the invention is compact, adapt to can ability and obstacle climbing ability be strong, freedom degree is more, clean, explosion-proof performance is good.
The beneficial effects of the present invention are:
1. the present invention drives driving wheel using connecting rod in caterpillar drive system, it is further driven to crawler belt rotation, Ke Yishi
When adjust the height of crawler belt as needed, adapt to different terrain or upward, downward obstacle detouring；
2. caterpillar drive system may be implemented using eight wheel arrangement composition wheel drive systems in the present invention, wheel drives
Horizontal and vertical or transverse direction in the free switching and wheel drive system of system operating mode, longitudinal movement mode are cut
It changes；
3. the present invention is had using multilayer mixed connection pneumatic muscles, cylinder, pneumatic clamper composition system simultaneously, flexibility is good, it is empty to occupy
Between small, High power output the advantages that, the present invention can be used for the fields such as obstacle detouring, explosive, rescue.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of bottom plate of the present invention and caterpillar drive；
Fig. 3 is the structural schematic diagram of bottom plate of the present invention and wheel driving device；
Fig. 4 is the structural schematic diagram of arm apparatus of the present invention；
Fig. 5 is the structural schematic diagram of first segment arm apparatus of the present invention；
Fig. 6 is the structural schematic diagram of second segment arm apparatus of the present invention；
Fig. 7 is the structural schematic diagram of horizontal movement of the present invention；
Fig. 8 is the structural schematic diagram that the present invention climbs initial position upwards；
Fig. 9 is the structural schematic diagram that the present invention climbs course location upwards；
Figure 10 is the structural schematic diagram that the present invention climbs final position upwards；
Figure 11 is the structural schematic diagram that the present invention climbs downwards initial position；
Figure 12 is the structural schematic diagram that the present invention climbs downwards course location；
In figure: 1, bottom plate, 2, caterpillar drive, 3, wheel driving device, 4, arm apparatus, 5, wheel oscillating cylinder,
6, connecting rod, 7, wheel, 8, crawler belt, the 9, first connector, 10, thin cylinder, the 11, second connector, 12, rotating wheel swing gas
Cylinder, 13, rotating wheel, 14, first segment arm apparatus, 15, second segment arm apparatus, 16, gripper, the 17, first pneumatic muscles, 18,
First support bar, the 19, first connecting plate, the 20, second pneumatic muscles, 21, second support bar, the 22, second connecting plate, 23, more passes
Save pneumatic muscles, 24, third support rod, 25, straight line cylinder, 26, third connecting plate.27, computer, 28, crawler belt control device,
29, wheel control device, 30, arm control device.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
It is a kind of based on pneumatic obstacle detouring explosive-removal robot, comprising: bottom plate 1,1 side of bottom plate respectively fix caterpillar drive
2 and wheel driving device 3, the fixed arm apparatus 4 in top；The wheel oscillating cylinder 5 of caterpillar drive 2 is respectively arranged at bottom plate
1 quadrangle, the rotation of 5 drive connection bar 6 of wheel oscillating cylinder, wheel 7, wheel 7 and crawler belt 8 is respectively set in the both ends of connecting rod 6
Engagement；At least four symmetrically arranged wheel driving devices 3, the first connector of wheel driving device 3 is arranged in the middle part of bottom plate 1
9 one end are fixed on bottom plate 1, and the other end fixes two thin cylinders 10, and thin cylinder 10 is turned by the connection of the second connector 11
Driving wheel oscillating cylinder 12, rotating wheel oscillating cylinder 12 are drivingly connected rotating wheel 13；Arm apparatus 4 is followed successively by first segment from top to bottom
Arm apparatus 14, second segment arm apparatus 15 and gripper 16, the first pneumatic muscles 17 of first segment arm apparatus 14 and first
18 lower end of strut is rotatably connected with bottom plate 1 respectively, and upper end is fixedly attached to the first connecting plate 19, and the first connecting plate 19 respectively can
It is rotatablely connected the second pneumatic muscles 20 and second support bar 21, the second pneumatic muscles 20 and second support bar 21 are respectively fixedly connected with
To the second connecting plate 22, multi-joint pneumatic muscle 23 is set, and 22 top of the second connecting plate can between bottom plate 1 and the second connecting plate 22
It is rotatablely connected straight line cylinder 25 and third support rod 24, straight line cylinder 25 can be rotated with 24 top of third support rod and connect in third
On plate 26, gripper 16 is fixed on third connecting plate 26.
Bottom plate 1 is U-shaped, opening up.Two rotating wheel oscillating cylinders 12 of wheel driving device 3 mirror settings each other.
Wheel oscillating cylinder 5 is fixed at the center of connecting rod 6.First connector 9 is L shape, is vertically fixed on bottom plate 1, lateral water
It is flattened go out.The quantity of first pneumatic muscles 17 is three or more, and first support bar 18 is located at the middle part of the first pneumatic muscles 17, the
The quantity of two pneumatic muscles 20 is three or more, and second support bar 21 is located at the middle part of the second pneumatic muscles 20.Multi-joint pneumatic
The quantity of muscle 23 is three or more, and upper end is distributed in the periphery of the second connecting plate 22, and lower end is distributed in the first pneumatic muscles 17
Outside.25 quantity of straight line cylinder is two, is distributed in the side of third support rod 24.
Cylinder 5 individually after connection pneumatic operated valve, is separately connected computer 27, cylinder 5 and pneumatic valve group are at crawler belt control device
28, rotating wheel oscillating cylinder 12 individually after connection pneumatic operated valve, is separately connected computer 27, rotating wheel oscillating cylinder 12 and pneumatic operated valve
Wheel control device 29, the first pneumatic muscles 17 are formed, the second pneumatic muscles 20 and multi-joint pneumatic muscle 23 individually connect gas
After dynamic valve, it is separately connected computer 27, the first pneumatic muscles 17, the second pneumatic muscles 20 and multi-joint pneumatic muscle 23 and pneumatic
Valve group is at arm control device 30.Computer 27 is separately connected crawler belt control device 28 by using Modbus or CAN bus, wheel
Sub- control device 29 and arm control device 30.
5 cylinder body of wheel oscillating cylinder and cylinder rod are fixedly connected with 1 connecting rod 6 of bottom plate respectively, and wheel 7 and connecting rod 6 can
Rotation connection.First connector, 9 both ends are fixedly connected with the cylinder body of bottom plate 1 and thin cylinder 10 respectively, 9 both ends of the first connector
Respectively with the cylinder rod of thin cylinder 10, the cylinder body of rotating wheel oscillating cylinder 12 is fixedly connected, and rotating wheel 13 and rotating wheel are swung
The cylinder rod of cylinder 12 is fixedly connected.Thin cylinder 10 drives the first connector 9, the second connector 11, rotating wheel oscillating cylinder
12 and about 13 rotating wheel move along a straight line, rotating wheel oscillating cylinder 12 drive rotating wheel 13 rotate.Four groups of thin cylinders 10, second
Connector 11, rotating wheel oscillating cylinder 12 and rotating wheel 13 are located at the quadrangle of bottom plate 1, form a Mecanum trolley,
Four groups of thin cylinders 10 of mirror image, the second connector 11, rotating wheel oscillating cylinder 12 and rotating wheel 13 are located at bottom plate 1 each other
Quadrangle, form the direction of motion of another two groups of Mecanum trolley of Mecanum trolley just on the contrary, cross ought be needed simultaneously
When to longitudinal movement, it is thus only necessary to by adjusting thin cylinder 10 height make wherein one group of Mecanum trolley be in
The contact condition on ground, as longitudinal direction, still it is only necessary to adjust the steering of oscillating cylinder for outward movment inward；If thin-walled
Cylinder makes two groups of Mecanum trolleies with ground face contact, then can have stronger load capacity and ground simultaneously with transverse movement
Face contact provides biggish frictional force.
Arm apparatus 4 is followed successively by first segment arm apparatus 14, second segment arm apparatus 15 and gripper 16 from top to bottom, and first
Pneumatic muscles 17 and the second pneumatic muscles 20 distinguish coaxially connected, the first pneumatic muscles 17, the second pneumatic muscles 20 and multi-joint
Pneumatic muscles 23 form muscle group, rotational motion of the driving arm apparatus 4 around tri- directions X, Y, Z.Second connecting plate, 22 top can
It is rotatablely connected straight line cylinder 25 and third support rod 24, straight line cylinder 25 can be rotated with 24 top of third support rod and connect in third
On plate 26, gripper 16 is fixed on third connecting plate 26.Straight line cylinder 25 and third support rod 24 drive third connecting plate 26, gripper
16 around tri- directions X, Y, Z rotational motion.Gripper 16 then has rotation about the z axis and the straight line clamping movement of X or Y-direction.
When caterpillar drive 2 does not work, only by Mecanum trolley and ground face contact.It is upward with caterpillar drive 2
With downward obstacle detouring step explanation.When upward obstacle detouring step, crawler belt 8 is contacted with step first, after starting climbing, wheel oscillating cylinder
5 drive connecting rod 6, and connecting rod 6 drives wheel 7, and wheel 7 drives crawler belt 8, and final crawler belt 8 is climbed upwards.Downward obstacle detouring is first
Adjustment direction, other are opposite with upward obstacle detouring.
For the normal operation for guaranteeing system, the first connector 9 has to be larger than the height of rotating wheel 13 in the height of Z-direction.
Cylinder 5 individually after connection pneumatic operated valve, is separately connected computer 27, cylinder 5 and pneumatic valve group are at crawler belt control device 28, rotating wheel
Oscillating cylinder 12 individually after connection pneumatic operated valve, is separately connected computer 27, rotating wheel oscillating cylinder 12 and pneumatic valve group are at wheel
Control device 29, the first pneumatic muscles 17, the second pneumatic muscles 20 and multi-joint pneumatic muscle 23 individually after connection pneumatic operated valve, divide
Not Lian Jie computer 27, the first pneumatic muscles 17, the second pneumatic muscles 20 and multi-joint pneumatic muscle 23 and pneumatic valve group are at hand
Arm control device 30.Computer 27 is separately connected crawler belt control device 28, wheel control dress by using Modbus or CAN bus
Set 29 and arm control device 30.Caterpillar drive 2 is further controlled respectively, and wheel driving device 3 and arm apparatus 4 carry out
Movement.
Joint of robot and whole pose may be implemented by controlling the cylinder and pneumatic muscles in each joint in the present invention
Control may be implemented the work such as the movement of complicated landform, obstacle detouring, explosive, and accurate TRAJECTORY CONTROL may be implemented, the present invention
Possess the incomparable advantage of other Pneumatic joint-robots.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of based on pneumatic obstacle detouring explosive-removal robot characterized by comprising
Caterpillar drive (2) and wheel driving device (3) are fixed in bottom plate (1), bottom plate (1) side respectively, and top is fixed
Arm apparatus (4)；
The wheel oscillating cylinder (5) of the caterpillar drive (2) is respectively arranged at the quadrangle of bottom plate (1), and the wheel is swung
Cylinder (5) drive connection bar (6) rotation, the both ends of the connecting rod (6) are respectively set wheel (7), the wheel (7) and crawler belt
(8) it engages；
At least four symmetrically arranged wheel driving devices (3), the wheel driving device is arranged in the middle part of the bottom plate (1)
(3) the first connector (9) one end is fixed on bottom plate (1), and the other end fixes two thin cylinders (10), the thin cylinder
(10) by the second connector (11) connection rotating wheel oscillating cylinder (12), the rotating wheel oscillating cylinder (12), which is drivingly connected, to be turned
Driving wheel (13)；
The arm apparatus (4) is followed successively by first segment arm apparatus (14), second segment arm apparatus (15) and gripper from top to bottom
(16), the first pneumatic muscles (17) of the first segment arm apparatus (14) and first support bar (18) lower end respectively with bottom plate
(1) it is rotatably connected, upper end is fixedly attached to the first connecting plate (19), and first connecting plate (19) is rotatably connected respectively
Two pneumatic muscles (20) and second support bar (21), second pneumatic muscles (20) and second support bar (21) are fixed respectively to be connected
It is connected to the second connecting plate (22), multi-joint pneumatic muscle (23) is set between the bottom plate (1) and the second connecting plate (22), it is described
Second connecting plate (22) top is rotatably connected straight line cylinder (25) and third support rod (24), the straight line cylinder (25) and
Three support rods (24) top is rotatably connected on third connecting plate (26), fixes gripper on the third connecting plate (26)
(16)。
2. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that the bottom plate (1)
It is opening up for U-shaped.
3. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that the wheel driving
Two rotating wheel oscillating cylinders (12) of device (3) mirror settings each other.
4. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that the wheel is swung
Cylinder (5) is fixed at the center of connecting rod (6).
5. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that first connection
Part (9) is L shape, is vertically fixed on bottom plate (1), transversely and horizontally stretches out.
6. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that described first is pneumatic
The quantity of muscle (17) is three or more, and the first support bar (18) is located at the middle part of the first pneumatic muscles (17), described the
The quantity of two pneumatic muscles (20) is three or more, and the second support bar (21) is located at the middle part of the second pneumatic muscles (20).
7. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that the multi-joint gas
The quantity of dynamic muscle (23) is three or more, and upper end is distributed in the periphery of the second connecting plate (22), and it is pneumatic that lower end is distributed in first
The outside of muscle (17).
8. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that the straight line cylinder
(25) quantity is two, is distributed in the side of third support rod (24).
9. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that the cylinder (5)
Individually after connection pneumatic operated valve, be separately connected computer (27), the cylinder (5) and pneumatic valve group at crawler belt control device (28),
The rotating wheel oscillating cylinder (12) individually after connection pneumatic operated valve, is separately connected computer (27), the rotating wheel oscillating cylinder
(12) and pneumatic valve group is at wheel control device (29), first pneumatic muscles (17), the second pneumatic muscles (20) He Duoguan
After saving pneumatic muscles (23) independent connection pneumatic operated valve, it is separately connected computer (27), first pneumatic muscles (17), the second gas
Dynamic muscle (20) and multi-joint pneumatic muscle (23) and pneumatic valve group are at arm control device (30).
10. according to claim 1 a kind of based on pneumatic obstacle detouring explosive-removal robot, which is characterized in that the computer
(27) it is separately connected crawler belt control device (28) by using Modbus or CAN bus, wheel control device (29) and arm control
Device (30) processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664451.8A CN110465955B (en) | 2019-07-23 | 2019-07-23 | Obstacle-crossing and explosion-removing robot based on pneumatics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664451.8A CN110465955B (en) | 2019-07-23 | 2019-07-23 | Obstacle-crossing and explosion-removing robot based on pneumatics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110465955A true CN110465955A (en) | 2019-11-19 |
| CN110465955B CN110465955B (en) | 2020-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910664451.8A Expired - Fee Related CN110465955B (en) | 2019-07-23 | 2019-07-23 | Obstacle-crossing and explosion-removing robot based on pneumatics |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390938A (en) * | 2020-05-07 | 2020-07-10 | 嘉兴学院 | Pneumatic explosive-handling robot system |
| CN114134789A (en) * | 2021-12-06 | 2022-03-04 | 北京中海兴达建设有限公司 | Transmission device and equipment for road and bridge exploration |
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| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
| CN107127740A (en) * | 2017-06-23 | 2017-09-05 | 嘉兴学院 | Floating system based on pneumatic muscles Yu cylinder series-parallel connection |
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| CN208411898U (en) * | 2018-05-03 | 2019-01-22 | 赵贵森 | A kind of full landform self-propelled multi power source output device |
| CN109398513A (en) * | 2018-12-10 | 2019-03-01 | 嘉兴学院 | A kind of pneumatic robot system adapting to complicated landform |
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| CN111390938A (en) * | 2020-05-07 | 2020-07-10 | 嘉兴学院 | Pneumatic explosive-handling robot system |
| CN114134789A (en) * | 2021-12-06 | 2022-03-04 | 北京中海兴达建设有限公司 | Transmission device and equipment for road and bridge exploration |
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