CN112247952A - Safe and reliable remote explosive disposal device - Google Patents

Safe and reliable remote explosive disposal device Download PDF

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Publication number
CN112247952A
CN112247952A CN202011173439.6A CN202011173439A CN112247952A CN 112247952 A CN112247952 A CN 112247952A CN 202011173439 A CN202011173439 A CN 202011173439A CN 112247952 A CN112247952 A CN 112247952A
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CN
China
Prior art keywords
mechanical arm
vehicle body
rotatably connected
base
arm
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Pending
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CN202011173439.6A
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Chinese (zh)
Inventor
徐昆
华卫星
郭广东
赵坤
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Anhui Aoyu Cnc Technology Co ltd
Army Service Academy of PLA
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Anhui Aoyu Cnc Technology Co ltd
Army Service Academy of PLA
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Application filed by Anhui Aoyu Cnc Technology Co ltd, Army Service Academy of PLA filed Critical Anhui Aoyu Cnc Technology Co ltd
Priority to CN202011173439.6A priority Critical patent/CN112247952A/en
Publication of CN112247952A publication Critical patent/CN112247952A/en
Pending legal-status Critical Current

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    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了一种安全可靠的远程排爆装置，包括车体，车体底部转动设有第一履带轮，第一履带轮远离车体一侧转动设有第二履带轮，第二履带轮两侧分别转动连接第一轴板一端和第二轴板一端，第一轴板另一端转动设有第四履带轮，第二轴板另一端转动设有第三履带轮，第二轴板一侧转动设有防倾倒装置，车体上端中部开设有收纳槽，收纳槽一端底部转动连接第一机械臂一端，第一机械臂另一端转动连接第二机械臂一端，第二机械臂另一端通过连接拴和连接块与第三机械臂转动连接，第三机械臂顶部固定设有红外摄像头，第三机械臂固定设有夹取装置，本发明能够达到稳定夹取爆炸物和防止在运送途中发生倾倒的效果。

Figure 202011173439

The invention discloses a safe and reliable remote explosive discharge device, comprising a vehicle body, a first crawler wheel is rotated at the bottom of the vehicle body, a second crawler wheel is rotated on the side of the first crawler wheel away from the vehicle body, and the second crawler wheel The two sides are respectively connected with one end of the first axle plate and one end of the second axle plate. The side rotation is provided with an anti-tipping device, and a storage slot is opened in the middle of the upper end of the vehicle body. The connecting bolt and the connecting block are rotatably connected with the third mechanical arm, the top of the third mechanical arm is fixedly provided with an infrared camera, and the third mechanical arm is fixedly provided with a clamping device. Dumping effect.

Figure 202011173439

Description

Safe and reliable remote explosive disposal device
Technical Field
The invention relates to the technical field of safe and reliable remote explosive disposal equipment, in particular to a safe and reliable remote explosive disposal device.
Background
The explosive disposal robot is a special equipment for disposing or destroying explosive suspicious objects by explosive disposal personnel, avoids unnecessary casualties, can be used for carrying out explosive disposal on various complex terrains, and is mainly used for replacing explosive disposal personnel to carry and transfer explosive suspicious objects and other harmful dangerous objects; explosive destroying devices are used for destroying bombs instead of explosive disposal personnel; the field security inspection personnel are replaced to carry out field investigation, and field images are transmitted in real time; a shotgun can be equipped to attack criminals; detection equipment can be arranged to detect dangerous places and dangerous articles, the explosion-removing robot has various used terrains, and some terrains are rugged and easily cause the phenomenon of toppling or side turning during the operation process of the explosion-removing robot; meanwhile, when the existing explosive disposal robot is used for explosive disposal operation, the position of the mechanical arm needs to be adjusted, so that the mechanical claw aims at explosive to be disposed, the vehicle body inevitably shakes during the adjustment of the mechanical arm to influence the accuracy of the explosive disposal operation, and therefore a safe and reliable remote explosive disposal device is provided for solving the problems.
Disclosure of Invention
The invention aims to provide a safe and reliable remote explosion removing device to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a safe and reliable remote explosion removing device comprises a vehicle body, wherein a first crawler wheel is rotatably arranged at the bottom of the vehicle body, a second crawler wheel is rotatably arranged at one side, away from the vehicle body, of the first crawler wheel, two sides of the second crawler wheel are respectively rotatably connected with one end of a first shaft plate and one end of a second shaft plate, the other end of the first shaft plate is rotatably provided with a fourth crawler wheel, the other end of the second shaft plate is rotatably provided with a third crawler wheel, one side of the second shaft plate is rotatably provided with an anti-tilting device, one side of the upper end of the vehicle body is fixedly provided with a wire guide rod, the upper end of the wire guide rod is fixedly provided with a receiving device, the middle part of the upper end of the vehicle body is provided with a containing groove, the bottom of one end of the containing groove is rotatably connected with one end of a first mechanical arm, the other end of the first mechanical, the infrared camera is fixedly arranged at the top of the third mechanical arm, and the clamping device is fixedly arranged on the third mechanical arm.
Preferably, a first crawler belt is sleeved on the first crawler wheels on the two sides of the vehicle body, and a second crawler belt is sleeved between the second crawler wheel and the fourth crawler wheel.
Preferably, the bottom of one end of the accommodating groove is rotated to be connected with one end of a first telescopic rod, the other end of the first telescopic rod is rotated to be connected with the middle of one end of the first mechanical arm, a second telescopic rod is arranged in the middle of one end of the second mechanical arm in a rotating mode, and one end, far away from the second mechanical arm, of the second telescopic rod is connected with the middle of one end of a third mechanical arm in a rotating mode.
Preferably, the anti-toppling device comprises a groove, a support rod and a support block, the groove is formed in one side of the second shaft plate, one end of the support rod is rotatably connected with the groove through a connecting shaft, a torsion spring is sleeved on the connecting shaft, a buffer groove is formed in the other end of the support rod, a guide rod is slidably arranged in the buffer groove, a limiting block is fixedly arranged at one end of the guide rod, the support block is fixedly arranged at the other end of the limiting block, and a spring is sleeved on the guide rod.
Preferably, the clamping device comprises a lead screw, a lifter, a first base, a first claw arm, a second claw arm and a second base, the lifter is fixedly arranged at the upper end of the first base, the first claw arm is arranged on the two sides of the lower end of the first base in a rotating mode, the second base is arranged at the lower end of the first base through the lead screw, the second claw arm is arranged on the two sides of the second base in a rotating mode, a stop block is fixedly arranged at one end of the second claw arm, one end of the first claw arm is connected with the middle of the second claw arm in a rotating mode, an air cylinder is fixedly arranged in the middle of the lower end of the second base, and a sucking disc is fixedly arranged at one end.
Preferably, the length and width of the third mechanical arm are equal to the width and length of the accommodating groove.
Compared with the prior art, the invention has the beneficial effects that: when the invention is used, when explosives are found, an operator controls the vehicle body to move forwards through the remote controller and transmits actual conditions of the site through the infrared camera and the receiving device, the operator sends corresponding instructions according to the conditions of the site, the receiving device receives the instructions and implements the instructions, when the vehicle body touches an obstacle, the first shaft plate rotates by taking the connecting shaft in the middle of the second track wheel as a rotating shaft, the fourth track wheel at one driving end of the first shaft plate is lifted, the second track connected between the second track wheel and the fourth track wheel crosses the obstacle and reaches the vicinity of the explosives, the mechanical arms are operated, the inclination angles of the first mechanical arm, the second mechanical arm and the third mechanical arm are adjusted through the first telescopic rod and the second telescopic rod, the clamping device at one end of the third mechanical arm clamps the explosives, the cylinder is controlled to operate, the suckers are used for sucking the explosives, control lift function, the lift drives the lead screw and rotates, the lead screw drives the second base and is close to first base, thereby it is tight to make first claw arm drive second claw arm clamp, the dog that second claw arm lower extreme set up is fixed the explosive both sides, when the automobile body both sides take place to incline, the anti-overturning device function of second shaft plate one side, can relieve the torsional spring that cup joints on the axle and produce great power to the bracing piece, make the bracing piece produce great power to ground, support the automobile body, the supporting shoe supports the automobile body both sides under the effect of guide bar and spring, prevent to take place to empty.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the anti-toppling device of the present invention;
fig. 3 is a schematic structural view of the gripping device of the present invention.
In the figure: the robot comprises a vehicle body 1, a first crawler wheel 2, a first shaft plate 3, a fourth crawler wheel 4, a second shaft plate 5, a third crawler wheel 6, a tilting prevention device 7, a second crawler belt 8, a first crawler belt 9, a wire guide rod 10, a receiving device 11, a receiving groove 12, a first mechanical arm 13, a first telescopic rod 14, a second mechanical arm 15, a second telescopic rod 16, a connecting bolt 17, a connecting block 18, a third mechanical arm 19, an infrared camera 20, a clamping device 21, a second crawler wheel 22, a lead screw 2101, a lifting machine 2102, a first base 2103, a first claw 2104, a second claw 5, a 2106 sucker, a second base 2107, a 2108 air cylinder, a 2109 stop block 701, a connecting shaft 702, a torsion spring 703, a support rod 704, a 705 buffer groove, a 706 guide rod, a limit block 707, a 708 spring and a 709 support block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a safe and reliable remote explosive disposal device comprises a vehicle body 1, wherein a first crawler wheel 2 is rotatably arranged at the bottom of the vehicle body 1, a second crawler wheel 22 is rotatably arranged at one side, away from the vehicle body 1, of the first crawler wheel 2, two sides of the second crawler wheel 22 are respectively rotatably connected with one end of a first shaft plate 3 and one end of a second shaft plate 5, the other end of the first shaft plate 3 is rotatably provided with a fourth crawler wheel 4, the other end of the second shaft plate 5 is rotatably provided with a third crawler wheel 6, one side of the second shaft plate 5 is rotatably provided with an anti-tipping device 7, one side of the upper end of the vehicle body 1 is fixedly provided with a wire guide rod 10, the upper end of the wire guide rod 10 is fixedly provided with a receiving device 11, the middle part of the upper end of the vehicle body 1 is provided with a receiving groove 12, the bottom of one end of the receiving groove 12 is rotatably connected with one end of a first mechanical arm 13, the other end, an infrared camera 20 is fixedly arranged at the top of the third mechanical arm 19, and a clamping device 21 is fixedly arranged on the third mechanical arm 19.
A first crawler belt 9 is sleeved on the first crawler wheels 2 at two sides of the vehicle body 1, and a second crawler belt 8 is sleeved between the second crawler wheel 22 and the fourth crawler wheel 4.
Accomodate groove 12 one end bottom and rotate and connect 14 one end of first telescopic link, the 14 other end of first telescopic link rotates with 13 one end middle parts of first arm and is connected, 15 one end middle parts of second arm rotate and are equipped with second telescopic link 16, the one end that second arm 15 was kept away from to second telescopic link 16 rotates with third arm one end middle part and is connected, 19 length size and the width size of third arm are equal with accomodate groove 12 width size and length size, the convenience is folded the arm and is accomodate.
The anti-toppling device 7 comprises a groove 701, a supporting rod 704 and a supporting block 709, the groove 701 is formed in one side of the second shaft plate 5, one end of the supporting rod 704 is rotatably connected with the groove 701 through a connecting shaft 702, a torsion spring 703 is sleeved on the connecting shaft 702, a buffering groove 705 is formed in the other end of the supporting rod 704, a guide rod 706 is slidably arranged in the buffering groove 705, a limiting block 707 is fixedly arranged at one end of the guide rod 706, the supporting block 709 is fixedly arranged at the other end of the limiting block 707, a spring 708 is sleeved on the guide rod 706, and the situation that toppling.
The clamping device 21 comprises a screw 2101, an elevator 2102, a first base 2103, a first claw arm 2104, a second claw arm 2105 and a second base 2107, the elevator 2102 is fixedly arranged at the upper end of the first base 2103, the first claw arm 2104 is rotatably arranged on two sides of the lower end of the first base 2103, the second base 2107 is arranged at the lower end of the first base 2103 through the screw 2101, the second claw arm 2105 is rotatably arranged on two sides of the second base 2107, a stop block 2109 is fixedly arranged at one end of the second claw arm 2105, one end of the first claw arm 2104 is rotatably connected with the middle of the second claw arm 2105, an air cylinder 2108 is fixedly arranged in the middle of the lower end of the second base 2107, and a suction cup 2106 is fixedly arranged at one end of the air cylinder 2108, so that explosives are stably clamped.
The working principle is as follows: when the invention is used, when an explosive is found, an operator controls the vehicle body 1 to move forwards through the remote controller and transmits actual conditions of the scene through the infrared camera 20 and the receiving device 11, the operator sends a corresponding command according to the conditions of the scene, the receiving device 11 receives the command and implements the command, when the vehicle body 1 touches an obstacle, the first shaft plate 3 rotates by taking a connecting shaft in the middle of the second track wheel 22 as a rotating shaft, the first shaft plate 3 drives the fourth track wheel 4 at one end to be lifted, when the second track 8 connected between the second track wheel 22 and the fourth track wheel 4 crosses the obstacle and reaches the vicinity of the explosive, the mechanical arm is operated, the inclination angles of the first mechanical arm 13, the second mechanical arm 15 and the third mechanical arm 19 are adjusted through the first telescopic rod 14 and the second telescopic rod 16, the explosive is clamped through the clamping device 21 at one end of the third mechanical arm 19, control cylinder 2108 operates, absorb the explosive through sucking disc 2106, control lift 2102 operation, lift 2102 drives the lead screw 2101 and rotates, lead screw 2101 drives second base 2107 and is close to first base 2103, thereby make first claw arm 2104 drive second claw arm 2105 and press from both sides tightly, dog 2109 that second claw arm 2105 lower extreme set up is fixed the explosive both sides, when automobile body 1 both sides take place to incline, the anti-overturning device 7 operation of second axle plate 5 one side, can alleviate torsional spring 703 that cup joints on the axle 702 and produce great power to bracing piece 704, make bracing piece 704 produce great power to ground, support automobile body 1, the supporting shoe 709 supports automobile body 1 both sides under the effect of guide bar 706 and spring 708, prevent to topple over.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1.一种安全可靠的远程排爆装置，包括车体（1），其特征在于：所述车体（1）底部转动设有第一履带轮（2），所述第一履带轮（2）远离车体（1）一侧转动设有第二履带轮（22），所述第二履带轮（22）两侧分别转动连接第一轴板（3）一端和第二轴板（5）一端，所述第一轴板（3）另一端转动设有第四履带轮（4），所述第二轴板（5）另一端转动设有第三履带轮（6），所述第二轴板（5）一侧转动设有防倾倒装置（7），所述车体（1）上端一侧固定设有导线杆（10），所述导线杆（10）上端固定设有接收装置（11），所述车体（1）上端中部开设有收纳槽（12），所述收纳槽（12）一端底部转动连接第一机械臂（13）一端，所述第一机械臂（13）另一端转动连接第二机械臂（15）一端，所述第二机械臂（15）另一端通过连接拴（17）和连接块（18）与第三机械臂（19）转动连接，所述第三机械臂（19）顶部固定设有红外摄像头（20），所述第三机械臂（19）固定设有夹取装置（21）。1. A safe and reliable remote explosive removal device, comprising a vehicle body (1), characterized in that: the bottom of the vehicle body (1) is rotatably provided with a first crawler wheel (2), the first crawler wheel (2) ) A second crawler wheel (22) is provided on the side away from the vehicle body (1) to rotate, and two sides of the second crawler wheel (22) are respectively rotatably connected to one end of the first axle plate (3) and the second axle plate (5) At one end, the other end of the first axle plate (3) is rotatably provided with a fourth crawler wheel (4), and the other end of the second axle plate (5) is rotatably provided with a third crawler wheel (6). An anti-tipping device (7) is provided on one side of the shaft plate (5) to rotate, a wire rod (10) is fixed on one side of the upper end of the vehicle body (1), and a receiving device (10) is fixed on the upper end of the wire rod (10). 11), a receiving groove (12) is formed in the middle of the upper end of the vehicle body (1), one end of the receiving groove (12) is rotatably connected to one end of the first mechanical arm (13), and the other end of the first mechanical arm (13) is rotatably connected. One end of the second mechanical arm (15) is rotatably connected to one end of the second mechanical arm (15), and the other end of the second mechanical arm (15) is rotatably connected to the third mechanical arm (19) through the connecting bolt (17) and the connecting block (18). An infrared camera (20) is fixed on the top of the mechanical arm (19), and a clamping device (21) is fixed on the third mechanical arm (19). 2.根据权利要求1所述的一种安全可靠的远程排爆装置，其特征在于：所述车体（1）两侧的第一履带轮（2）上套接设有第一履带（9），所述第二履带轮（22）与第四履带轮（4）之间套接设有第二履带（8）。2. A safe and reliable remote detonation removal device according to claim 1, characterized in that: the first crawler wheels (2) on both sides of the vehicle body (1) are sleeved with first crawler belts (9). ), a second crawler belt (8) is sleeved between the second crawler wheel (22) and the fourth crawler wheel (4). 3.根据权利要求1所述的一种安全可靠的远程排爆装置，其特征在于：所述收纳槽（12）一端底部转动连接第一伸缩杆（14）一端，所述第一伸缩杆（14）另一端与第一机械臂（13）一端中部转动连接，所述第二机械臂（15）一端中部转动设有第二伸缩杆（16），所述第二伸缩杆（16）远离第二机械臂（15）的一端与第三机械臂一端中部转动连接。3 . The safe and reliable remote detonation removal device according to claim 1 , wherein the bottom of one end of the receiving slot ( 12 ) is rotatably connected to one end of the first telescopic rod ( 14 ), and the first telescopic rod ( 14 ). 4 . 14) The other end is rotatably connected to the middle part of one end of the first mechanical arm (13), and the middle part of one end of the second mechanical arm (15) is rotatably provided with a second telescopic rod (16), and the second telescopic rod (16) is far away from the first One end of the second mechanical arm (15) is rotatably connected to the middle of one end of the third mechanical arm. 4.根据权利要求1所述的一种安全可靠的远程排爆装置，其特征在于：所述防倾倒装置（7）包括凹槽（701）、支撑杆（704）和支撑块（709），所述第二轴板（5）一侧开设有凹槽（701），所述支撑杆（704）一端通过连接轴（702）与凹槽（701）转动连接，所述连接轴（702）上套接设有扭簧（703），所述支撑杆（704）另一端开设有缓冲槽（705），所述缓冲槽（705）内滑动设有导棒（706），所述导棒（706）一端固定设有限位块（707），所述限位块（707）另一端固定设有支撑块（709），所述导棒（706）上套接设有弹簧（708）。4. A safe and reliable remote explosion-proof device according to claim 1, characterized in that: the anti-dumping device (7) comprises a groove (701), a support rod (704) and a support block (709), A groove (701) is formed on one side of the second shaft plate (5), and one end of the support rod (704) is rotatably connected to the groove (701) through a connecting shaft (702), and the connecting shaft (702) is rotatably connected to the groove (701). A torsion spring (703) is sleeved and provided with a torsion spring (703), the other end of the support rod (704) is provided with a buffer groove (705), and a guide rod (706) is slidably arranged in the buffer groove (705). ) is fixed with a limit block (707) at one end, a support block (709) is fixed with the other end of the limit block (707), and a spring (708) is sleeved on the guide rod (706). 5.根据权利要求1所述的一种安全可靠的远程排爆装置，其特征在于：所述夹取装置（21）包括丝杆（2101）、升降机（2102）、第一基座（2103）、第一爪臂（2104）、第二爪臂（2105）和第二基座（2107），所述第一基座（2103）上端固定设有升降机（2102），所述第一基座（2103）下端两侧转动设有第一爪臂（2104），所述第一基座（2103）下端通过丝杆（2101）设有第二基座（2107），所述第二基座（2107）两侧转动设有第二爪臂（2105），所述第二爪臂（2105）一端固定设有挡块（2109），所述第一爪臂（2104）一端与第二爪臂（2105）中部转动连接，所述第二基座（2107）下端中部固定设有气缸（2108），所述气缸（2108）一端固定设有吸盘（2106）。5. A safe and reliable remote detonation device according to claim 1, characterized in that: the gripping device (21) comprises a lead screw (2101), a lift (2102), and a first base (2103) , a first claw arm (2104), a second claw arm (2105) and a second base (2107), the upper end of the first base (2103) is fixed with a lift (2102), the first base ( 2103) A first claw arm (2104) is provided on both sides of the lower end, and a second base (2107) is provided at the lower end of the first base (2103) through a screw (2101), and the second base (2107) ) is rotated on both sides with a second claw arm (2105), one end of the second claw arm (2105) is fixed with a stopper (2109), and one end of the first claw arm (2104) is connected to the second claw arm (2105). ) is connected in rotation in the middle, a cylinder (2108) is fixed in the middle of the lower end of the second base (2107), and a suction cup (2106) is fixed at one end of the cylinder (2108). 6.根据权利要求1所述的一种安全可靠的远程排爆装置，其特征在于：所述第三机械臂（19）长度大小和宽度大小与收纳槽（12）宽度大小和长度大小相等。6 . The safe and reliable remote explosive removal device according to claim 1 , wherein the length and width of the third mechanical arm ( 19 ) are equal to the width and length of the receiving slot ( 12 ). 7 .
CN202011173439.6A 2020-10-28 2020-10-28 Safe and reliable remote explosive disposal device Pending CN112247952A (en)

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Application Number Priority Date Filing Date Title
CN202011173439.6A CN112247952A (en) 2020-10-28 2020-10-28 Safe and reliable remote explosive disposal device

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CN113752233A (en) * 2021-09-24 2021-12-07 张嘉家 Crawler-type robot with strong passing ability
CN114311010A (en) * 2021-12-16 2022-04-12 杭州申昊科技股份有限公司 Multifunctional manipulator of explosion-proof robot

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CN113752233A (en) * 2021-09-24 2021-12-07 张嘉家 Crawler-type robot with strong passing ability
CN114311010A (en) * 2021-12-16 2022-04-12 杭州申昊科技股份有限公司 Multifunctional manipulator of explosion-proof robot

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Application publication date: 20210122