CN114833849A - Explosion-proof robot - Google Patents
Explosion-proof robot Download PDFInfo
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- CN114833849A CN114833849A CN202210630265.4A CN202210630265A CN114833849A CN 114833849 A CN114833849 A CN 114833849A CN 202210630265 A CN202210630265 A CN 202210630265A CN 114833849 A CN114833849 A CN 114833849A
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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
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The present invention provides an explosion-proof robot, comprising: remote sensing operation car, supplementary trailer and wireless remote controller, remote sensing operation car pulling supplementary trailer motion, remote sensing operation car and wireless remote controller radio connection. The remote sensing operation car includes vehicle main part and arm, and supplementary trailer includes folding frame and explosion-proof bag, and folding frame is connected to vehicle main part detachably, and on folding frame was located to explosion-proof bag cover, the arm movable to explosion-proof bag top. Wherein, wireless remote controller includes: the utility model discloses a vehicle control system, including shell, operation response mainboard, vehicle control rod and arm control rod, the operation response mainboard is installed inside the shell, and vehicle control rod and arm control rod are connected to operation response mainboard electricity, are equipped with the subassembly that independently resets on the arm control rod. The explosion-proof robot can quickly and effectively process explosion sources with potential safety hazards, thereby striving for valuable emergency time and avoiding causing secondary explosion.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an explosion-proof robot.
Background
The explosion-proof robot is a movable robot controlled by using a wireless remote control technology, and is mainly used for replacing human beings to perform operation in dangerous environments such as flammable and explosive environments, radiation dangers and the like, for example: exploration, fire-fighting and fire-extinguishing, explosive removal or destruction and the like, and has the characteristics of all-weather uninterrupted, high-risk early warning and the like.
At present, the existing explosion-proof robot is mainly used for reconnaissance operation, and cannot rapidly and effectively process an explosion source with potential safety hazards, so that precious rescue time is easily lost. Moreover, since the explosion-proof robot is equipped with a battery, when an explosion occurs outside or a strong collision occurs, the internal battery is liable to self-ignite and self-explode, which is not favorable for controlling dangerous situations. For example, when the robot is used for anti-terrorism bomb removal, the conventional robot usually carries the bomb to a place far away from people, but the method takes a certain time, and if the bomb explodes in the period, the danger is caused, and even the storage battery of the robot is ignited, and secondary explosion is caused.
Therefore, how to design an explosion-proof robot to quickly and effectively process the explosion source with potential safety hazard so as to strive for valuable emergency time and avoid causing secondary explosion is a technical problem to be solved by technical personnel in the field.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an explosion-proof robot which can rapidly and effectively process an explosion source with potential safety hazards, thereby striving for valuable emergency time and avoiding secondary explosion.
The purpose of the invention is realized by the following technical scheme:
an explosion-proof robot, comprising: the remote sensing operation vehicle pulls the auxiliary trailer to move, and is in radio connection with the wireless remote controller;
the remote sensing operation car includes vehicle main part and arm, supplementary trailer is including folding frame and explosion-proof bag, vehicle main part detachably connects folding frame, explosion-proof bag cover is located on the folding frame, the arm is movable extremely explosion-proof bag top.
In one embodiment, the foldable frame comprises: the telescopic guardrail is connected with the main side frame and the auxiliary side frame, and a telescopic cylinder is arranged between the main side frame and the auxiliary side frame; one side of the explosion-proof bag is arranged on the main side frame, and the other side of the explosion-proof bag is arranged on the auxiliary side frame.
In one embodiment, the bag is a high strength ballistic resistant fibrous material.
In one embodiment, the remote sensing operation vehicle is provided with a searchlight and a camera, and the searchlight is erected on the mechanical arm and rotates along with the mechanical arm; the quantity of the cameras is multiple, part of the cameras are installed in the advancing direction of the remote sensing operation vehicle, and part of the cameras are fixedly arranged on the mechanical arm and rotate along with the mechanical arm.
In one embodiment, the wireless remote controller is provided with a hanging ring and a monitoring screen, and the monitoring screen is matched with the camera.
In one embodiment, the wireless remote control comprises: the vehicle control system comprises a shell, an operation induction main board, a vehicle control lever and a mechanical arm control lever, wherein the operation induction main board is installed inside the shell and is electrically connected with the vehicle control lever and the mechanical arm control lever;
be equipped with the subassembly that independently resets on the arm control rod, the subassembly that independently resets includes: the base plate covers the base, the deflection piece is rotatably arranged between the base plate and the base, a rotating rod is arranged on the deflection piece and penetrates through the base plate, and the tail end of the rotating rod is connected with the mechanical arm control lever;
the substrate is provided with a deflection limiting through hole, the deflection part is provided with a deflector rod, the deflector rod penetrates through the deflection limiting through hole, the first rotating part and the second rotating part are rotatably sleeved on the rotating rod, the deflector rod drives the first rotating part or the second rotating part to rotate, the substrate is provided with a limiting column, the first rotating part and the second rotating part are both abutted against the limiting column, and a reset elastic part is arranged between the first rotating part and the second rotating part;
the base plate is provided with a friction plate, the first rotating piece and the second rotating piece are both provided with one-way speed limiting pieces, and one end of each one-way speed limiting piece is abutted against the friction plate.
In one embodiment, the one-way speed limiting member comprises a fixed rod part and a friction rod part, the fixed rod part is mounted on the first rotating member, one end of the friction rod part is elastically hinged with one end of the fixed rod part, and the other end of the friction rod part abuts against the friction sheet.
In one embodiment, the deflection member is provided with a containing hole and a clamping stagnation nail, the clamping stagnation nail is contained in the containing hole in a sliding manner through the telescopic elastic member, and the base is provided with a reset groove matched with the clamping stagnation nail.
In one embodiment, the first rotating member comprises a rotating portion and a driving portion, the rotating portion is rotatably sleeved on the rotating rod, the driving portion is provided with a pushing groove and a limiting groove, the pushing groove is matched with the shifting rod, and the limiting groove is matched with the limiting column; the structure of the second rotating piece is the same as that of the first rotating piece.
In one embodiment, the elastic return element is a torsion spring, one end of the elastic return element is connected to the first rotating element, and the other end of the elastic return element is connected to the second rotating element.
In conclusion, the explosion-proof robot can rapidly and effectively process the explosion source with potential safety hazard after finding the explosion source, thereby striving for valuable emergency time and avoiding causing secondary explosion.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of an explosion-proof robot of the present invention;
FIG. 2 is a schematic illustration of the auxiliary trailer of FIG. 1;
FIG. 3 is a schematic illustration of the remotely sensed work vehicle of FIG. 1;
FIG. 4 is a schematic structural diagram of the wireless remote controller shown in FIG. 1;
FIG. 5 is a schematic structural view of the self-righting assembly of the present invention;
FIG. 6 is an exploded view of the autonomic reduction assembly shown in FIG. 5;
FIG. 7 is a schematic structural view of the first rotating member and the second rotating member shown in FIG. 6;
FIG. 8 is a schematic view showing the fitting relationship between the first rotating member, the second rotating member, the elastic return member and the one-way speed limiting member;
FIG. 9 is a schematic view of the state of the self-righting assembly during rotation;
fig. 10 is a schematic view (two) showing the state of the self-resetting unit during rotation.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the present invention provides an explosion-proof robot 10, which includes: remote sensing operation car 20, supplementary trailer 30 and wireless remote control 40, remote sensing operation car 20 pulls supplementary trailer 30 motion, and remote sensing operation car 20 is connected with wireless remote control 40 wireless electricity. As shown in fig. 2 and 3, the remote sensing work vehicle 20 includes a vehicle body 21 and a mechanical arm 22, the auxiliary trailer 30 includes a foldable frame 100 and an explosion-proof bag 200, the vehicle body 21 is detachably connected to the foldable frame 100, the explosion-proof bag 200 is sleeved on the foldable frame 100, and the mechanical arm 22 is movable above the explosion-proof bag 200.
In the present embodiment, as shown in fig. 2, the foldable carriage 100 includes: the main side frame 110, the assistant side frame 120 and the telescopic guardrail 130 are arranged on the main side frame 110, the rotatable pull rod 111 is arranged on the main side frame 110, the pull rod 111 is detachably connected with the vehicle body 21, the telescopic guardrail 130 is connected with the main side frame 110 and the assistant side frame 120, and the telescopic cylinder 140 is arranged between the main side frame 110 and the assistant side frame 120. And, one side of the explosion-proof bag 200 is provided on the main side frame 110, and the other side of the explosion-proof bag 200 is provided on the sub side frame 120. The folding frame 100 has two states of folding and unfolding, and when the remote sensing operation vehicle 20 pulls the folding frame 100 to move forwards, the folding frame 100 is in a folding state; when it is desired to eliminate explosives, the foldable carriage 100 is in an unfolded state. The specific working principle will be explained below.
Preferably, the bag 200 is made of a high strength ballistic resistant fibrous material (similar to prior art ballistic blankets). Meanwhile, a steel plate may be coated on the vehicle body 21, thereby enhancing the protective ability of the vehicle body 21 for the storage battery therein.
In the present embodiment, as shown in fig. 3, the remote sensing work vehicle 20 is provided with a searchlight 23 and a camera 24, and the searchlight 23 is mounted on the robot arm 22 and rotates with the robot arm 22. The number of the cameras 24 is multiple, wherein a part of the cameras 24 is arranged in the advancing direction of the remote sensing operation vehicle 20, and another part of the cameras 24 is fixedly arranged on the mechanical arm 22 and rotates along with the mechanical arm 22. Preferably, correspondingly, as shown in fig. 4, the wireless remote controller 40 is provided with a hanging ring 41 and a monitoring screen 42, wherein the monitoring screen 42 is matched with the camera 24, and the hanging ring 41 is used for being conveniently carried by an operator.
The following explains the main working principle of the explosion-proof robot 10 of the present invention with reference to the present embodiment:
when in use, in the initial state, the folding frame 100 is in a folding state, and the explosion-proof bag 200 is closed; in the event of a hazard (when a bomb is found), the operator controls the remotely piloted work vehicle 20 via the wireless remote control 40 to approach the bomb, during which time the camera 24 transmits images in real time to the monitor screen 42 so that the operator can learn of the scene. After the remotely sensed work vehicle 20 pulls the auxiliary trailer 30 to the vicinity of the bomb, the operator remotely controls the robot arm 22 to grab the bomb, and then controls the telescopic cylinder 140 to extend to move the sub-side frame 120 away from the main side frame 110, thereby changing the foldable frame 100 from the folded state to the unfolded state. At this time, the explosion-proof bag 200 is opened, the mechanical arm 22 throws the bomb into the explosion-proof bag 200, then the telescopic cylinder 140 retracts to cause the folding frame 100 to change into the folding state again, and then the explosion-proof bag 200 is closed again and wraps the bomb therein; next, the vehicle main body 21 is disconnected from the folding frame 100, and the remote sensing work vehicle 20 is quickly driven away from the folding frame 100 under the control of the wireless remote controller 40. Thus, the bomb can explode only in the explosion-proof bag 200, and the remote sensing work vehicle 20 is far away from the bomb, thereby avoiding the possibility of a secondary explosion of the battery in the vehicle main body 21.
It is noted that the conventional explosion-proof robot has a handling method of carrying the bomb to a place far away from the crowd, which takes a long time during which the bomb may explode at any time, thereby causing spontaneous combustion or explosion of the robot battery. The explosion-proof robot 10 of the present invention is handled by pulling the auxiliary trailer 30 to the vicinity of the bomb, then dropping the bomb into the explosion-proof bag 200 by the remotely sensed work vehicle 20, and then the remotely sensed work vehicle 20 is separated from the explosion-proof bag 200 by itself. Compared with the traditional explosion-removing method, the method of the invention directly pulls the explosion-proof bag 200 to the vicinity of the bomb, thereby greatly shortening the explosion-removing time; and the remote sensing operation vehicle 20 does not need to carry the bomb for a long time to run, so that the possibility of secondary explosion of the remote sensing operation vehicle 20 caused by bomb explosion can be greatly reduced.
In the actual use process, the designer also finds that in the explosion venting process, operators forget to reset the orientation of the mechanical arm 22 easily due to tension, so that the orientation of the mechanical arm 22 is inconsistent with the advancing direction of the remote sensing operation vehicle 20, and then collision occurs easily in the driving process. In order to facilitate the operation of the operator and reduce the possibility of collision of the mechanical arm 22, the wireless remote controller 40 is specially designed.
Specifically, as shown in fig. 4, the wireless remote controller 40 includes: the vehicle control system comprises a housing 43, an operation sensing main board (not shown), a vehicle control lever 44 and a mechanical arm control lever 45, wherein the operation sensing main board is installed inside the housing 43, the operation sensing main board is electrically connected with the vehicle control lever 44 and the mechanical arm control lever 45, the vehicle control lever 44 is used for controlling the driving direction of the vehicle body 21, and the mechanical arm control lever 45 is used for controlling the mechanical arm 22.
Further, the robot arm lever 45 is provided with an autonomous resetting unit 300, and as shown in fig. 5 and 6, the autonomous resetting unit 300 includes: a base 310, a base plate 320, a deflecting member 330, a first rotating member 340, and a second rotating member 350. The substrate 320 is covered on the base 310, the deflecting component 330 is rotatably disposed between the substrate 320 and the base 310, the deflecting component 330 is provided with a rotating rod 331, the rotating rod 331 is disposed through the substrate 320, and the end of the rotating rod 331 is connected to the mechanical arm control lever 45.
The substrate 320 is provided with a deflection limiting through hole 321, the deflection member 330 is provided with a shift lever 332, the shift lever 332 penetrates through the deflection limiting through hole 321, the first rotating member 340 and the second rotating member 350 are both rotatably sleeved on the rotating rod 331, and the shift lever 332 drives the first rotating member 340 or the second rotating member 350 to rotate. The substrate 320 is provided with a position-limiting post 322, the first rotating member 340 and the second rotating member 350 are both abutted against the position-limiting post 322, and a reset elastic member 360 is arranged between the first rotating member 340 and the second rotating member 350.
Furthermore, it is further contemplated that the robotic arm 22 cannot be steered too quickly during rotation, particularly during steering when grabbing a bomb, to prevent it from throwing the bomb. Therefore, the base plate 320 is further provided with a friction plate 323, the first rotating member 340 and the second rotating member 350 are both provided with one-way speed-limiting members 370, and one end of each one-way speed-limiting member 370 is abutted against the friction plate 323. The one-way speed limiter 370 can limit the rotation speed of the joystick 45 of the mechanical arm, so as to limit the steering speed of the mechanical arm 22, and the specific working principle will be described below.
In this embodiment, as shown in fig. 7, the first rotating member 340 includes a rotating portion 341 and a driving portion 342, the rotating portion 341 is rotatably sleeved on the rotating rod 331, the driving portion 342 is provided with a pushing groove 343 and a limiting groove 344, wherein the pushing groove 343 is matched with the shift lever 332, and the limiting groove 344 is matched with the limiting post 322. And the structure of the second rotating member 350 is the same as that of the first rotating member 340. Preferably, the elastic restoring member 360 has a torsion spring structure, one end of the elastic restoring member 360 is connected to the first rotating member 340, and the other end of the elastic restoring member 360 is connected to the second rotating member 350. Under the elastic force of the elastic restoring element 360, the first rotating element 340 and the second rotating element 350 are close to each other and both abut against the position-limiting post 322.
In this embodiment, as shown in fig. 8, the one-way speed limiting member 370 includes a fixed rod portion 371 and a friction rod portion 372, the fixed rod portion 371 is mounted on the first rotating member 340, one end of the friction rod portion 372 is elastically hinged to one end of the fixed rod portion 371, and the other end of the friction rod portion 372 abuts against the friction plate 323. Taking the first rotating member 340 as an example, when the first rotating member 340 rotates, the unidirectional speed-limiting member 370 thereon also rotates, during which the friction rod 372 and the friction plate 323 rub against each other, and if the unidirectional speed-limiting member 370 moves at a slower speed, the friction rod 372 can overcome the elastic force to perform an avoiding action when being stuck; however, if the movement speed of the one-way speed-limiting member 370 is too high, the friction rod 372 has not yet made an avoidance action when the clamping stagnation occurs, and the friction rod 372 is convenient for the friction plate 323 to be clamped, so that the first rotating member 340 cannot rotate. The specific operating principle will be explained below.
The operation of the self-righting assembly 300 of the present invention will be explained with reference to the above-mentioned structure:
when the operator rotates the mechanical arm lever 45, the rotating rod 331 rotates the deflecting member 330, and the driving lever 332 on the deflecting member 330 pushes the first rotating member 340 or the second rotating member 350 to rotate. Taking the left-handed rotation of the deflecting member 330 (as shown in fig. 9), the lever 332 thereon rotates counterclockwise (as shown in fig. 9) along the deflection-limiting hole 321 with the rotating rod 331 as the axis, and since the lever 332 abuts against the driving portion 342 of the first rotating member 340, the lever 332 pushes the first rotating member 340 to rotate counterclockwise. During this period, although the second rotating member 350 is acted by the restoring elastic member 360 to have a rotation tendency, since the second rotating member 350 is supported by the position-limiting post 322, the second rotating member 350 can only be kept at the current position, so that the first rotating member 340 and the second rotating member 350 gradually move away from each other (the included angle between the two increases), and the restoring elastic member 360 accumulates elastic potential energy;
when the operator releases the mechanical arm control lever 45, no external force is applied, the elastic potential energy of the reset elastic member 360 starts to be released, the first rotating member 340 reversely pushes the shift lever 332 under the elastic force of the reset elastic member 360, so as to urge the deflecting member 330 to return to the middle position, and the deflecting member 330 drives the mechanical arm control lever 45 through the rotating rod 331 during the period, so that the reset of the mechanical arm control lever 45 is realized, and the mechanical arm 22 is controlled to rotate to reset;
furthermore, the one-way speed-limiting member 370 limits the rotational speed of the first rotating member 340 or the second rotating member 350. Specifically, still taking the left turn of the deflecting member 330 as an example, when the deflecting member 330 rotates slowly, the first rotating member 340 rotates slowly counterclockwise (as shown in fig. 10), and the one-way speed limiting member 370 thereon also rotates along with the slow rotation; meanwhile, one end of the friction rod portion 372 rubs against the friction plate 323, at this time, the fixed rod portion 371 rotates counterclockwise, and the direction of the friction force applied to the friction rod portion 372 is opposite to the moving direction, so that the friction rod portion 372 tends to be closer to the friction plate 323 under the action of the friction force, that is, the friction rod portion 372 and the friction plate 323 are easily jammed. Because the friction rod part 372 is elastically hinged with the fixed rod part 371, when the friction rod part 372 is forced to approach the friction plate 323, the included angle between the friction rod part 372 and the fixed rod part 371 is increased, the friction rod part 372 is also subjected to elastic force, so that the friction rod part 372 can jump up and the fixed rod part 371 approaches, namely, the friction rod part 372 performs avoiding action, and when the deflection part 330 rotates slowly, the friction rod part 372 can generate reciprocating jumping, but does not prevent the first rotation part 340 from rotating;
when the operator suddenly rotates the mechanical arm operating lever 45, the deflecting piece 330 rapidly rotates, at this time, the friction rod portion 372 is close to the friction plate 323 under the action of friction force, and when the elastic force between the friction rod portion 372 and the fixed rod portion 371 does not act yet, the friction rod portion 372 is already blocked with the friction plate 323, and the friction force borne by the blocked friction rod portion 372 is greater than the elastic force, namely, the friction rod portion 372 cannot jump, and cannot make an avoiding action. Thus, the one-way speed limiting member 370 facilitates the locking of the friction plate 323, and the first rotating member 340 cannot rotate, so that the deflecting member 330 cannot rotate, i.e., the operator cannot continue to rotate the arm lever 45.
It should be noted that the one-way speed limiting member 370 can only limit the speed of the one-way rotation of the first rotating member 340 or the second rotating member 350. Taking the first rotating member 340 as an example, when the deflecting member 330 drives the first rotating member 340, the first rotating member 340 rotates counterclockwise (as shown in fig. 9), and as mentioned above, the one-way speed-limiting member 370 functions to limit the speed of the first rotating member 340; when the first rotating member 340 is reset to reverse, although the friction rod part 372 of the one-way speed limiting member 370 still contacts with the friction plate 323, the friction force applied to the friction rod part 372 makes the friction rod part have a tendency to be far away from the friction plate 323, so that the one-way speed limiting member 370 does not generate a speed limiting effect on the first rotating member 340 reset to reverse. The function of the one-way speed limiting member 370 on the second rotating member 350 is the same. The speed limit of the one-way speed limiting member 370 on the first rotating member 340 and the second rotating member 350 is actually to limit the rotation speed of the deflecting member 330, and thus the rotation speed of the arm lever 45.
It should be further noted that, in the present invention, the deflecting member 330 can only drive the first rotating member 340 to rotate counterclockwise, and the deflecting member 330 can only drive the second rotating member 350 to rotate clockwise. The deflection part 330 is matched with the first rotating part 340 and the second rotating part 350, so that the self-reset of the deflection part 330 and the mechanical arm operating lever 45 is realized, and the invention has the following advantages:
first, in cooperation with the elastic restoring member 360, the elastic restoring member 360 starts to accumulate elastic potential energy only after the first rotating member 340 or the second rotating member 350 rotates, and the elastic potential energy on the elastic restoring member 360 also disappears after the deflecting member 330 is restored. Thus, the reset elastic piece 360 has no stress when not in use, and can not deform under the long-term action of the stress, so that the situation of weakening the elastic force can not occur;
secondly, the larger the rotation angle of the first rotating member 340 or the second rotating member 350 is, the larger the reaction force of the reset elastic member 360 is, so that the deflecting member 330 needs to overcome a larger force to rotate, and the feedback transmitted to the hand of the operator is more obvious, thereby providing better tactile feedback and man-machine interaction for the operator;
thirdly, in cooperation with the one-way speed limiting member 370, since the deflecting member 330 can only drive the first rotating member 340 to rotate counterclockwise, the one-way speed limiting member 370 on the first rotating member 340 only needs to limit the speed of the first rotating member 340 at that time, and does not need to limit the speed of the first rotating member 340 which is reset in a reverse rotation manner. Similarly, the second rotating member 350 is restricted when driven by the deflecting member 330, but is not restricted when reset. This makes it possible to limit the rotational speed of the deflector 330 without limiting the speed of return of the deflector 330, thereby ensuring quick and stable return of the robot arm lever 45.
In one embodiment, the deflecting member 330 is provided with a receiving hole and a clamping pin 333, the clamping pin 333 is slidably received in the receiving hole through a flexible elastic member 334, and the base 310 is provided with a reset slot 311 engaged with the clamping pin 333. When the deflection member 330 is reset, the clamping pin 333 is just stuck in the reset slot 311, so the clamping pin 333 is clamped by the reset slot 311, and the deflection member 330 does not shake after reset. Moreover, when the deflecting member 330 starts to rotate, the clamping pin 333 needs to overcome the elastic force of the elastic member 334 to slide out of the reset slot 311, and at the moment of sliding out, the deflecting member 330 needs to overcome a large friction force, so that a significant jerking feeling is fed back to the operator. Thus, the engagement of the detention pegs 333 with the reset slots 311 both improves the stability of the deflector 330 after reset and provides better tactile feedback to the operator.
In conclusion, the explosion-proof robot 10 can rapidly and effectively process the found explosion source with potential safety hazard, thereby striving for valuable emergency time and avoiding causing secondary explosion.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An explosion-proof robot, comprising: the remote sensing operation vehicle pulls the auxiliary trailer to move, and is in radio connection with the wireless remote controller;
the remote sensing operation car includes vehicle main part and arm, supplementary trailer is including folding frame and explosion-proof bag, vehicle main part detachably connects folding frame, explosion-proof bag cover is located on the folding frame, the arm is movable extremely explosion-proof bag top.
2. The explosion-proof robot of claim 1, wherein the folding carriage comprises: the telescopic guardrail is connected with the main side frame and the auxiliary side frame, and a telescopic cylinder is arranged between the main side frame and the auxiliary side frame; one side of the explosion-proof bag is arranged on the main side frame, and the other side of the explosion-proof bag is arranged on the auxiliary side frame.
3. The explosion-proof robot as recited in claim 2, wherein the explosion-proof bag is a high strength ballistic fiber material.
4. The explosion-proof robot of claim 1, wherein the remotely sensed working vehicle is provided with a searchlight and a camera, and the searchlight is erected on the mechanical arm and rotates along with the mechanical arm; the quantity of the cameras is multiple, part of the cameras are installed in the advancing direction of the remote sensing operation vehicle, and part of the cameras are fixedly arranged on the mechanical arm and rotate along with the mechanical arm.
5. The explosion-proof robot as claimed in claim 4, wherein the wireless remote controller is provided with a hanging ring and a monitoring screen, and the monitoring screen is matched with the camera.
6. An explosion-proof robot as set forth in claim 1, wherein said wireless remote control comprises: the vehicle control system comprises a shell, an operation induction main board, a vehicle control lever and a mechanical arm control lever, wherein the operation induction main board is installed inside the shell and is electrically connected with the vehicle control lever and the mechanical arm control lever;
be equipped with the subassembly that independently resets on the arm control rod, the subassembly that independently resets includes: the base plate covers the base, the deflection piece is rotatably arranged between the base plate and the base, a rotating rod is arranged on the deflection piece and penetrates through the base plate, and the tail end of the rotating rod is connected with the mechanical arm control lever;
the substrate is provided with a deflection limiting through hole, the deflection part is provided with a deflector rod, the deflector rod penetrates through the deflection limiting through hole, the first rotating part and the second rotating part are rotatably sleeved on the rotating rod, the deflector rod drives the first rotating part or the second rotating part to rotate, the substrate is provided with a limiting column, the first rotating part and the second rotating part are both abutted against the limiting column, and a reset elastic part is arranged between the first rotating part and the second rotating part;
the base plate is provided with a friction plate, the first rotating piece and the second rotating piece are both provided with one-way speed limiting pieces, and one end of each one-way speed limiting piece is abutted against the friction plate.
7. The explosion-proof robot as claimed in claim 6, wherein the one-way speed-limiting member includes a fixed rod portion and a friction rod portion, the fixed rod portion is mounted on the first rotating member, one end of the friction rod portion is elastically hinged to one end of the fixed rod portion, and the other end of the friction rod portion abuts against the friction plate.
8. The explosion-proof robot as claimed in claim 6, wherein the deflecting member is provided with a receiving hole and a clamping stagnation nail, the clamping stagnation nail is slidably received in the receiving hole through a flexible elastic member, and the base is provided with a reset groove matched with the clamping stagnation nail.
9. The explosion-proof robot as claimed in claim 6, wherein the first rotating member includes a rotating portion and a driving portion, the rotating portion is rotatably sleeved on the rotating rod, the driving portion is provided with a pushing groove and a limiting groove, the pushing groove is engaged with the shift lever, and the limiting groove is engaged with the limiting post; the structure of the second rotating piece is the same as that of the first rotating piece.
10. The explosion-proof robot of claim 9, wherein the elastic restoring member is a torsion spring structure, one end of the elastic restoring member is connected to the first rotating member, and the other end of the elastic restoring member is connected to the second rotating member.
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