CN111102883A - Novel wireless remote control mine sweeping vehicle - Google Patents
Novel wireless remote control mine sweeping vehicle Download PDFInfo
- Publication number
- CN111102883A CN111102883A CN201911380940.7A CN201911380940A CN111102883A CN 111102883 A CN111102883 A CN 111102883A CN 201911380940 A CN201911380940 A CN 201911380940A CN 111102883 A CN111102883 A CN 111102883A
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- CN
- China
- Prior art keywords
- mine
- mine sweeping
- remote control
- sweeping vehicle
- arm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
- F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
- F41H11/18—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-impacting means for activating mines by the use of mechanical impulses, e.g. flails or stamping elements
Abstract
The invention discloses a novel wireless remote control mine sweeper, wherein a working arm of a mine sweeper is hinged in front of the mine sweeper and comprises a working arm, a protective cover, a supporting wheel and a chain hammer, a pitching oil cylinder is arranged on the working arm, the angle of the protective cover relative to the working arm is adjusted through the pitching oil cylinder, and the pitching oil cylinder is hinged between the mine sweeper and the working arm. The invention solves the problems of the prior mine sweeping mode and tool, such as the danger of manual mine clearance; the success rate of mechanical mine clearance is low, and potential safety hazards exist; the wireless remote control mine sweeping device has the disadvantages of insufficient maneuverability, immature control technology, short transmission distance, weak anti-interference capability and the like.
Description
Technical Field
The invention relates to a remote control mine sweeping vehicle and a mine sweeping device on the mine sweeping vehicle.
Background
Because of various wars and conflicts, a large number of land mines and unexploded shells are left around the world, various mine sweeping devices are vigorously researched and developed in various countries for solving the potential safety hazards of personnel life brought by numerous mine fields, and in order to avoid secondary personnel injury brought by the mine sweeping process, the wireless remote control mine sweeping vehicle becomes a contestant development pet, has the advantages of remote control, high-speed maneuvering, high mine sweeping efficiency, certain degree of intellectualization and the capacity of clearing residual mines and unexploded shells, and is an important index for measuring the advancement of the wireless remote control mine sweeping vehicle.
The front end of a mine sweeping vehicle is generally provided with a group of chain hammers through a working arm, and the rotary chain hammers are used for knocking the ground to carry out mine discharge, for example, the mine sweeping vehicle disclosed by CN 109373822A is provided with a chain hammer assembly at the front end of a vehicle body through a straight working arm, but the angle between the chain hammer assembly and the working arm cannot be adjusted, so that the distance between the center of the chain hammer assembly and the ground cannot be adjusted, the rotating radius of the chain hammer is fixed, and the hammering effect can be influenced when the terrain changes.
The mine sweeping vehicle mainly carries out mine clearing operation through a mine sweeping device arranged at the front end of a vehicle body, but residual mines and unexploded bombs which cannot be cleared or are inconvenient to clear by the front end mine sweeping device usually appear, and a mechanical arm needs to be arranged to complete certain operations. For example, CN 109373822 a discloses a mine sweeper, which has a gripping device mounted on the top of the vehicle, but this structure has the problem of too high center of gravity, and the gripping device is too high during operation, so that it needs to be extended for a long distance, and the front-end mine sweeper needs to be bypassed, so that the control difficulty is high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problems that the angle of the mine sweeping device of the existing mine removing vehicle cannot be adjusted and the design of a mechanical arm is unreasonable, the mine sweeping device with a new structure and the overall arrangement structure of the mine sweeping vehicle are provided.
The technical scheme of the invention is as follows:
the utility model provides a sweep thunder device, includes working arm, safety cover, supporting wheel and chain hammer, installs the every single move hydro-cylinder on the working arm, adjusts the angle of safety cover for the working arm through the every single move hydro-cylinder. The structure can keep the height of the rotation center of the chain hammer relative to the ground under different terrains.
The working arm is the shape of buckling, including horizontal segment and down section, and lift cylinder is installed to the horizontal segment below, and the section end and safety cover bottom of going down are articulated, and the every single move hydro-cylinder is adorned to the hinge between down section top and the safety cover back, and the safety cover passes through bracing piece installation supporting wheel, installs the chain hammer in the safety cover. The bending working arm can lower the center of gravity, and when an explosive explodes, most of the impact force is decomposed to the horizontal direction, so that the vehicle body is prevented from overturning.
The working arm of the mine sweeping device is hinged in front of the mine sweeping vehicle, and the pitching oil cylinder is hinged between the mine sweeping vehicle and the working arm.
The tail of the mine sweeper is provided with a mechanical arm which is provided with two sections and can be turned upwards to be in a scorpion tail shape to be built at the top of the mine sweeper.
The tail of the mine sweeping vehicle is provided with a mounting frame, a rotating device is mounted on the mounting frame, a mechanical large arm and a mechanical large arm motor are mounted at the upper end of the rotating device, a mechanical small arm and a mechanical small arm motor are mounted at the upper end of the mechanical large arm, and a rotating mechanism and a mechanical gripper are mounted at the end part of the mechanical small arm.
The mine sweeping vehicle is provided with a passage identification system, and the passage identification system loses identification according to the walking distance of the mine sweeping vehicle.
The passage identification system is arranged at the tail part of the mine sweeper through a mounting frame, a motor and an electric push rod are fixed on the mounting frame, the front end of the electric push rod extends into a guide rail, and an installation chute identification is placed on the guide rail and stacked in the chute.
The left side and the right side of the mounting frame are respectively provided with a sliding chute, the two electric push rods can reciprocate in the guide rail below the sliding chutes, and the marks at the bottom of the sliding chutes are pushed down from the guide rail when the electric push rods reciprocate each time.
The mine sweeping vehicle is provided with an electric and control system, a communication system, a power system and a hydraulic system, and is provided with a remote control platform.
The electric and control system receives a control signal sent by the remote control platform through the LTE technology and controls the mechanical arm, the mine sweeping device and the access identification system to work.
The invention has the beneficial effects that:
the invention aims to provide a novel wireless remote control mine sweeping vehicle, which is used for solving the problems of the existing mine sweeping mode and tool, such as the danger of manual mine removal; the success rate of mechanical mine clearance is low, and potential safety hazards exist; the wireless remote control mine sweeping device has the disadvantages of insufficient maneuverability, immature control technology, short transmission distance, weak anti-interference capability and the like. The novel wireless remote control mine sweeping vehicle provided by the invention adopts wireless remote operation control, so that the danger of manual mine removal is avoided; the compact overall layout and the light-weight design enable the device to have strong maneuverability and trafficability; by adopting the advanced fourth generation mobile communication technology (LTE), the penetration capability and the transmission distance of network signals are improved; the mine sweeping hammers are symmetrically distributed in a spiral array mode, the problem of rotary dynamic balance of the mine sweeping device is effectively solved, the mine sweeping area is fully covered, and the phenomenon of discharge leakage is avoided. The invention is superior to the existing mine sweeping tool and technology in both structure and control technology, and can better adapt to the mine sweeping working condition and excellently complete the mine sweeping operation.
The invention controls the vehicle to carry out mine sweeping and explosion removing work through remote operation, and is suitable for working conditions of battlefield mine field channel opening, unexplosive device removal, post-war mine field cleaning, anti-terrorism explosion removal and the like. The invention fully considers the loading and transporting and aerial throwing capabilities of the equipment on the aspect of appearance design, has compact appearance size and light weight design, has stronger maneuverability and trafficability, is suitable for loading and transporting the whole vehicle and delivering the vehicle at a long distance, and meets the requirement of modern battlefield combat equipment. The mine sweeping hammers of the mine sweeping device are symmetrically distributed in a spiral array mode, so that the problem of rotary dynamic balance of the mine sweeping device is effectively solved, a mine sweeping area is fully covered, and the phenomenon of missing discharge is avoided.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the minesweeping device.
Fig. 3 is a schematic view of a robot arm structure.
Fig. 4 is a schematic diagram of the identification system structure.
Detailed Description
Example (b):
the mechanism of this sweeping machine is as figure 1, includes: the mine sweeping device comprises mechanical arms 1-1, an electric and control system 1-2, a communication system 1-3, a power system 1-4, a hydraulic system 1-5, a passage identification system 1-6, a vehicle body covering part 1-7, a chassis 1-8 and a mine sweeping device assembly 1-9. A remote control platform is configured.
When the vehicle needs to be operated, a button or an operating handle is pressed down through the remote control platform, an instruction is sent to the electrical and control system 1-2 through the communication system 1-3, and an engine of the power system 1-4 is started according to the instruction, so that the vehicle obtains a power source; and then the vehicle is driven, the mine sweeping device is lifted, pitched and rotated, the mechanical arm rotates, clamped and the like according to other received instructions in the next step, so that the operations of sweeping mines, removing mines and the like of the machine are realized, the overall dimension of the whole vehicle is 5550 multiplied by 2400 multiplied by 1815 (mm), the weight is 5800kg, the related requirements of road transportation and air transportation are met, the trafficability of field operation is strong, and the maneuverability is good. The communication system adopts advanced fourth generation mobile communication technology (LTE), is greatly improved and optimized on the basis of 3GPP protocols, improves the penetration capability and transmission distance of network signals, and can realize 3 km long-distance transmission under the condition of obstacles according to actual tests.
In FIG. 1, a mechanical arm 1-1 is connected to a frame of a chassis 1-8, takes a frame mounting seat as a rotation center, and can realize 360-degree rotation through motor driving; the power system 1-4 comprises an engine, a radiator, a silencer, pipeline accessories and the like, is fixedly arranged on the chassis 1-8 frame and provides a power source for the vehicle; the chassis 1-8 are a vehicle bearing mechanism and a traveling mechanism, a traveling motor drives a driving wheel to rotate, and the driving wheel drives a track shoe to move forward, so that traveling action is realized; the mine sweeping device assembly 1-9 is connected to a frame of a chassis 1-8, the ground clearance of the mine sweeping device is adjusted through a lifting oil cylinder 3-2, and the inclination angle of the mine sweeping device and the ground is adjusted through a pitching oil cylinder 3-3, so that the mine sweeping device can be better attached to the ground, and the mine sweeping quality and efficiency are improved; the passage identification system 1-6 is fixed on the mechanical arm mounting frame, accurately identifies the mine sweeping track and guides follow-up vehicles and personnel.
Fig. 2 is a schematic structural diagram of a mine sweeping device assembly 1-9, which comprises a working arm 3-1, a lifting cylinder 3-2, a protective cover 3-5, a supporting wheel 3-4 and a chain hammer 3-6, wherein the working arm is provided with a pitching cylinder 3-3, the angle of the protective cover 3-5 relative to the working arm 3-1 is adjusted through the pitching cylinder 3-3, and the structure can maintain the height of the rotation center of the chain hammer 3-6 relative to the ground under different terrains. The mine sweeping device assembly is connected to the front end of a frame of a chassis 1-8, a working arm 3-1 is arranged at an upper hinge point, a lifting oil cylinder 3-2 is arranged at a lower hinge point, the ground clearance of the working arm 3-1 is adjusted through the expansion and contraction of the oil cylinder, a pitching oil cylinder 3-3 is connected with the working arm 3-1 and a protective cover, the front end mine sweeping device and the ground inclination angle are adjusted through the expansion and contraction of the oil cylinder, and the optimal mine sweeping position is adjusted according to the landform shape. The protective cover 3-5 is provided with supporting wheels 3-4 through supporting rods, chain hammers 3-6 are arranged in the protective cover 3-5, the supporting wheels 3-4 are in contact with the ground and used for supporting the mine sweeping device assembly to move forwards, and the chain hammers 3-6 are arranged in a spiral symmetrical array mode, so that the problem of rotary dynamic balance of the mine sweeping device is effectively solved, the mine sweeping area is fully covered, and the phenomenon of missing discharge is avoided.
The working arm 3-1 is bent and comprises a horizontal section and a descending section, a lifting oil cylinder 3-2 is arranged below the horizontal section, the tail end of the descending section is hinged with the bottom of a protective cover 3-5, and a pitching oil cylinder 3-3 is hinged between the top of the descending section and the back of the protective cover 3-5. The bending working arm 3-1 can lower the center of gravity, and when an explosive explodes, most of the impact force is decomposed to the horizontal direction, so that the vehicle body is prevented from overturning.
Fig. 3 shows a mechanical arm 1-1 arranged at the tail part of the mine sweeper, wherein the mechanical arm 1-1 is provided with two sections which can be turned upwards to form a scorpion tail shape and is laid on the top of the mine sweeper.
The tail part of the mine sweeping vehicle is provided with a mounting rack 2-5, a slewing device 2-4 is arranged on the mounting rack 2-5, the upper end of the slewing device 2-4 is provided with a mechanical big arm 2-3 and a mechanical big arm motor, the upper end of the mechanical big arm 2-3 is provided with a mechanical small arm 2-2 and a mechanical small arm motor, and the end part of the mechanical small arm is provided with a rotating mechanism and a mechanical gripper 2-1. The mechanical arm is connected to the mounting frame 2-5, the mounting frame 2-5 is fixed on a frame of the chassis 1-8, the slewing device 2-4 adjusts the left-right swinging of the mechanical arm, and the swinging angle can reach 180 degrees; the rear end of the mechanical big arm 2-3 is connected to the rotating device 2-4 and rotates along with the rotating device, and the pitching angle of the mechanical big arm 2-3 can be adjusted; the mechanical small arm 2-2 is connected to the front end of the mechanical big arm 2-3, rotates along with the mechanical small arm and can adjust the angle of the mechanical small arm; the mechanical gripper 2-1 is connected to the front end of the mechanical small arm, moves along with the mechanical small arm, can rotate 360 degrees per se and grips the unexploded cannonball and the unexploded device.
Fig. 4 shows a path identification system 1-6 installed on the mine sweeper, wherein the path identification system 1-6 drops the identification according to the walking distance of the mine sweeper.
The passage identification system is arranged on a 4-1 mounting frame, a chute 4-5 is fixed on the 4-1 mounting frame through a bolt, an identification 4-4 is placed in the chute 4-5, an electric push rod 4-2 is fixed on the mounting frame 4-1, and the push rod can freely slide in a guide rail 4-3.
The left side and the right side of the mounting frame are respectively provided with a sliding groove 4-5, when in mine sweeping operation, the control system outputs an electric signal to the electric push rod 4-2 according to the advancing distance of the vehicle, controls the electric push rod 4-2 to reciprocate in the guide rail 4-3 below the sliding groove 4-5, pushes down the mark 4-4 at the bottom of the sliding groove 4-5 from the guide rail every time of reciprocating, and forms a striking mark for the advancing track of the vehicle. Label 4-4 one-sided placement of 74 blocks, left and right totaling 158 blocks.
Claims (10)
1. The utility model provides a sweep thunder device, includes work arm, safety cover, supporting wheel and chain hammer, its characterized in that: the working arm is provided with a pitching oil cylinder, and the angle of the protective cover relative to the working arm is adjusted through the pitching oil cylinder.
2. A minesweeping device according to claim 1 wherein: the working arm is the shape of buckling, including horizontal segment and down section, and lift cylinder is installed to the horizontal segment below, and the section end and safety cover bottom of going down are articulated, and the every single move hydro-cylinder is adorned to the hinge between down section top and the safety cover back, and the safety cover passes through bracing piece installation supporting wheel, installs the chain hammer in the safety cover.
3. The utility model provides a novel wireless remote control mine sweeping vehicle, includes above-mentioned mine sweeping device, its characterized in that: the working arm of the mine sweeping device is hinged in front of the mine sweeping vehicle, and the pitching oil cylinder is hinged between the mine sweeping vehicle and the working arm.
4. The novel wireless remote control mine sweeping vehicle of claim 3, wherein: the tail of the mine sweeper is provided with a mechanical arm which is provided with two sections and can be turned upwards to be in a scorpion tail shape to be built at the top of the mine sweeper.
5. The novel wireless remote control mine sweeping vehicle of claim 4, wherein: the tail of the mine sweeping vehicle is provided with a mounting frame, a rotating device is mounted on the mounting frame, a mechanical large arm and a mechanical large arm motor are mounted at the upper end of the rotating device, a mechanical small arm and a mechanical small arm motor are mounted at the upper end of the mechanical large arm, and a rotating mechanism and a mechanical gripper are mounted at the end part of the mechanical small arm.
6. The novel wireless remote control mine sweeping vehicle according to any one of claims 3 to 5, wherein: the mine sweeping vehicle is provided with a passage identification system, and the passage identification system loses identification according to the walking distance of the mine sweeping vehicle.
7. The novel wireless remote control mine sweeping vehicle of claim 6, characterized in that: the passage identification system is arranged at the tail part of the mine sweeping vehicle through a mounting frame, a motor and an electric push rod are fixed on the mounting frame, the front end of the electric push rod extends into a guide rail, an installation chute is arranged on the guide rail, and the identification is stacked in the chute.
8. The novel wireless remote control mine sweeping vehicle of claim 7, wherein: the left side and the right side of the mounting frame are respectively provided with a sliding chute, the two electric push rods can reciprocate in the guide rail below the sliding chutes, and the marks at the bottom of the sliding chutes are pushed down from the guide rail when the electric push rods reciprocate each time.
9. The novel wireless remote control mine sweeping vehicle of claim 8, wherein: the mine sweeping vehicle is provided with an electric and control system, a communication system, a power system and a hydraulic system, and is provided with a remote control platform.
10. The novel wireless remote control mine sweeping vehicle of claim 9, wherein: the electric and control system receives a control signal sent by the remote control platform through the LTE technology and controls the mechanical arm, the mine sweeping device and the access identification system to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911380940.7A CN111102883A (en) | 2019-12-27 | 2019-12-27 | Novel wireless remote control mine sweeping vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911380940.7A CN111102883A (en) | 2019-12-27 | 2019-12-27 | Novel wireless remote control mine sweeping vehicle |
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| Publication Number | Publication Date |
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| CN111102883A true CN111102883A (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911380940.7A Pending CN111102883A (en) | 2019-12-27 | 2019-12-27 | Novel wireless remote control mine sweeping vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111750742A (en) * | 2020-07-03 | 2020-10-09 | 中信机电制造公司科研设计院 | Flail type mine sweeping device |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08320199A (en) * | 1995-05-25 | 1996-12-03 | Kiyoto Mogi | Mine exploder |
| JPH09311000A (en) * | 1996-05-23 | 1997-12-02 | Cap Top Eng:Kk | Mine disposing device |
| JPH11211397A (en) * | 1998-01-29 | 1999-08-06 | Toyo Constr Co Ltd | Land mine disposal device |
| JP2000097598A (en) * | 1998-09-24 | 2000-04-04 | Yasuhito Mogi | Land mine disposal device |
| US6619177B1 (en) * | 1999-09-01 | 2003-09-16 | Norwegian Demining Consortium As | Device; especially for clearing of land mines |
| JP2004301439A (en) * | 2003-03-31 | 2004-10-28 | Kiyoshi Amamiya | Land mine disposal device |
| JP2005282965A (en) * | 2004-03-30 | 2005-10-13 | Kiyoshi Amamiya | Mine disposal device |
| CN102721326A (en) * | 2012-05-29 | 2012-10-10 | 中国人民解放军南京军区司令部工程科研设计所 | Novel sweeping gear |
| CN108195231A (en) * | 2018-01-31 | 2018-06-22 | 成都梵辰科技有限公司 | A kind of more landform mine-clearing vehicles |
| CN109373822A (en) * | 2018-12-10 | 2019-02-22 | 山河智能装备股份有限公司 | A kind of mine-clearing vehicle |
| CN109974528A (en) * | 2018-11-02 | 2019-07-05 | 北京理工大学 | A kind of tracked remote-control MINE-NEUTRALIZATION SYSTEM |
-
2019
- 2019-12-27 CN CN201911380940.7A patent/CN111102883A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08320199A (en) * | 1995-05-25 | 1996-12-03 | Kiyoto Mogi | Mine exploder |
| JPH09311000A (en) * | 1996-05-23 | 1997-12-02 | Cap Top Eng:Kk | Mine disposing device |
| JPH11211397A (en) * | 1998-01-29 | 1999-08-06 | Toyo Constr Co Ltd | Land mine disposal device |
| JP2000097598A (en) * | 1998-09-24 | 2000-04-04 | Yasuhito Mogi | Land mine disposal device |
| US6619177B1 (en) * | 1999-09-01 | 2003-09-16 | Norwegian Demining Consortium As | Device; especially for clearing of land mines |
| JP2004301439A (en) * | 2003-03-31 | 2004-10-28 | Kiyoshi Amamiya | Land mine disposal device |
| JP2005282965A (en) * | 2004-03-30 | 2005-10-13 | Kiyoshi Amamiya | Mine disposal device |
| CN102721326A (en) * | 2012-05-29 | 2012-10-10 | 中国人民解放军南京军区司令部工程科研设计所 | Novel sweeping gear |
| CN108195231A (en) * | 2018-01-31 | 2018-06-22 | 成都梵辰科技有限公司 | A kind of more landform mine-clearing vehicles |
| CN109974528A (en) * | 2018-11-02 | 2019-07-05 | 北京理工大学 | A kind of tracked remote-control MINE-NEUTRALIZATION SYSTEM |
| CN109373822A (en) * | 2018-12-10 | 2019-02-22 | 山河智能装备股份有限公司 | A kind of mine-clearing vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111750742A (en) * | 2020-07-03 | 2020-10-09 | 中信机电制造公司科研设计院 | Flail type mine sweeping device |
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Application publication date: 20200505 |
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