CN114909955A - Barrier removing and fighting shooting track robot - Google Patents
Barrier removing and fighting shooting track robot Download PDFInfo
- Publication number
- CN114909955A CN114909955A CN202210538834.2A CN202210538834A CN114909955A CN 114909955 A CN114909955 A CN 114909955A CN 202210538834 A CN202210538834 A CN 202210538834A CN 114909955 A CN114909955 A CN 114909955A
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- CN
- China
- Prior art keywords
- mechanical arm
- shooting
- robot
- fighting
- crawler
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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
- F41H13/00—Means of attack or defence not otherwise provided for
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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
-
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A19/00—Firing or trigger mechanisms; Cocking mechanisms
- F41A19/58—Electric firing mechanisms
- F41A19/59—Electromechanical firing mechanisms, i.e. the mechanical striker element being propelled or released by electric means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses a barrier-removing and fighting shooting tracked robot, which comprises a wireless transceiving module, a wireless receiving and sending module and a control module, wherein the wireless transceiving module is used for receiving a remote control instruction and feeding back data of the real-time state of equipment; the man-machine interaction system is used for remotely controlling the robot control driving system, the machine gun shooting system and the mechanical arm system; a power supply system for supplying electrical energy; the robot control driving system is used for controlling the gun shooting system, the crawler driving system and the mechanical arm system; the machine gun shooting system is used for shooting enemies; the crawler driving system is used for controlling the crawler driving wheels to work; the mechanical arm system is used for removing obstacles and fighting, and provides a obstacle-removing and fighting shooting track robot aiming at the problem that the fighting capacity and the survival capability of fighters are seriously reduced under an extremely severe environment.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a crawler robot for obstacle clearing and fighting shooting.
Background
In the war, three military wars of sea, land and air are cooperated to fight, large-scale equipment and fighters required for the fight need to be transported emergently, and the situation that the large-scale equipment and the fighters cannot pass through due to the fact that obstacles arranged by enemies may be met on the road transported on the land is likely to happen, and at the moment, it is difficult to clear obstacles only by engineering soldiers.
The enemy remote attack generally adopts a remote shooting operation mode, the short-distance attack generally adopts a fighting operation mode, but the battle personnel are easy to injure and kill in the operation mode. In addition, under harsh environments, such as: in cold winter, the combat ability and viability of the fighter is greatly challenged in the absence of logistical supplies.
With the rapid development of computer technology and robot technology, if a robot which can remove obstacles and shoot enemies and enemy fighting at a long distance as people and at a short distance as well as the enemies can be invented to replace people to fight, the fighting capacity and the survival capacity can be greatly improved, and casualties can be reduced.
Disclosure of Invention
The invention provides a track robot for obstacle clearing and fighting shooting, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that: a track robot for removing obstacles and fighting shooting comprises
The wireless transceiving module is used for receiving a remote control instruction and feeding back data of the real-time state of the equipment;
the man-machine interaction system is used for remotely controlling the robot control driving system, the machine gun shooting system and the mechanical arm system;
a power supply system for supplying electrical energy;
the robot control driving system is used for controlling the gun shooting system, the crawler driving system and the mechanical arm system;
the machine gun shooting system is used for shooting enemies;
the crawler driving system is used for controlling the crawler driving wheels to work;
the mechanical arm system is used for removing obstacles and fighting.
Preferably, the human-computer interaction system comprises
The robot control panel is used for controlling the crawler belt driving system;
the mechanical arm control panel is used for controlling the mechanical arm system;
and the machine gun control panel is used for controlling a machine gun shooting system.
Preferably, power supply system includes battery, solar charging system and solar panel, solar panel is connected with solar charging system, solar charging system is connected with the battery, the battery provides the electric energy for wireless transceiver module, man-machine interaction system, machine gun shooting system, track actuating system and robotic arm system through robot control actuating system.
Preferably, the robot control drive system comprises a direct current power supply module, a single chip microcomputer minimum system, a direct current motor drive module and a servo motor drive module.
Preferably, the machine gun shooting system comprises a direct current motor and a machine gun shooting device, and the direct current motor controls the machine gun shooting device.
Preferably, the track driving system comprises a left direct current motor, a left track driving wheel, a right direct current motor and a right track driving wheel, the left direct current motor drives the left track driving wheel to drive the left track to move, and the right direct current motor drives the right track driving wheel to drive the right track to move.
Preferably, the mechanical arm system comprises a first left servo motor, a second left servo motor, a left mechanical arm, a first right servo motor, a second right servo motor, a right mechanical arm and a right mechanical arm, wherein the first left servo motor drives the left mechanical arm, the second left servo motor drives the left mechanical arm, the first right servo motor drives the right mechanical arm, and the second right servo motor drives the right mechanical arm.
The beneficial effect of adopting above technical scheme is:
1. the obstacle clearing and fighting shooting crawler robot adopts a crawler driving system, can perform action battle on mountainous regions or complex terrains, and has good trafficability and stability.
2. According to the obstacle clearing and fighting shooting track robot, the left mechanical arm, the right mechanical arm and the right mechanical arm are additionally arranged in front of the robot, so that obstacles on a road in front can be cleared, the robot and other combat vehicles can normally pass, the robot serves as an open-circuit pioneer, close-range attack and fighting can be carried out on enemies, and the close-range fighting capacity is improved.
3. According to the obstacle clearing and fighting shooting tracked robot, the machine gun shooting system is mounted at the top end of the robot, the machine gun shooting device is controlled by the direct current motor to shoot remotely, and the robot not only supports an autonomous operation mode, but also supports a remote control operation mode.
4. According to the obstacle clearing and fighting shooting track robot, the solar panel is mounted at the top of the robot, and a battery can be charged through the solar charging system in an environment with sufficient illumination.
Drawings
FIG. 1 is a block diagram of the control architecture of the obstacle clearing and fighting shooting crawler robot of the present invention;
wherein:
1. a wireless transceiver module; 2. a human-computer interaction system; 3. a power supply system; 4. a robot control drive system; 5. a machine gun shooting system; 6. a track drive system; 7. a robotic arm system;
21. a robot control panel; 22. the mechanical arm controls the panel; 23. a machine gun control panel;
31. a battery; 32. a solar charging system; 33. a solar panel;
41. a DC power supply module; 42. a single chip microcomputer minimum system; 43. a DC motor driving module; 44. a servo motor driving module;
51. a direct current motor; 52. a machine gun shooting device;
61. a left DC motor; 62. a left track drive wheel; 63. a right DC motor; 64. a right track drive wheel;
71. a first left servo motor; 72. a second left servo motor; 73. a first right servo motor; 74. a second right servo motor; 75. a left mechanical arm; 76. a left manipulator; 77. a right mechanical arm; 78. and a right manipulator.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
As shown in figure 1, the invention provides a barrier-removing and fighting shooting tracked robot, which aims at the problem that the fighting ability and the survival capability of fighters are seriously reduced under an extremely severe environment.
Specifically, as shown in FIG. 1, comprises
The wireless transceiving module 1 is used for receiving a remote control instruction and feeding back data of the real-time state of the equipment;
the man-machine interaction system 2 is used for remotely controlling the robot control driving system 4, the machine gun shooting system 5 and the mechanical arm system 7;
a power supply system 3 for supplying electric power;
the robot control driving system 4 is used for controlling a machine gun shooting system 5, a crawler driving system 6 and a mechanical arm system 7;
a machine gun shooting system 5 for shooting enemies;
the crawler driving system 6 is used for controlling the crawler driving wheels to work;
and the mechanical arm system 7 is used for clearing obstacles and fighting.
The human-computer interaction system 2 comprises
A robot control panel 21 for controlling the crawler drive system 6;
a robot arm control panel 22 for controlling the robot arm system 7;
and a gun control panel 23 for controlling the gun shooting system 5.
The power supply system 3 comprises a battery 31, a solar charging system 32 and a solar panel 33, the solar panel 33 is connected with the solar charging system 32, the solar charging system 32 is connected with the battery 31, and the battery 31 supplies electric energy to the wireless transceiver module 1, the man-machine interaction system 2, the gun shooting system 5, the crawler driving system 6 and the mechanical arm system 7 through the robot control driving system 4.
The robot control and drive system 4 comprises a direct current power supply module 41, a single chip microcomputer minimum system 42, a direct current motor drive module 43 and a servo motor drive module 44.
The direct current power supply module 41 is responsible for supplying power to the robot wireless transceiver module 1, the human-computer interaction system 2, the single-chip microcomputer minimum system 42, the direct current motor driving module 43 and the servo motor driving module 44.
The minimal system 42 of the single chip microcomputer contains the single chip microcomputer and programs running on the single chip microcomputer. The singlechip minimum system 42 receives a remote control instruction through the wireless transceiving module 1. The control instruction can also be received by the man-machine interaction system 2.
The singlechip minimum system 42 can control the direct current motor 51 through the direct current motor driving module 43 to drive the built-in mechanical rotating wheel of the machine gun shooting device 52 to continuously rotate, and then bullets can be continuously shot.
The machine gun shooting system 5 comprises a direct current motor 51 and a machine gun shooting device 52, the direct current motor 51 controls the machine gun shooting device 52, and a mechanical runner and a bullet shooting device are arranged in the machine gun shooting device 52 and can shoot bullets remotely to shoot enemies remotely.
The crawler driving system 6 comprises a left direct current motor 61, a left crawler driving wheel 62, a right direct current motor 63 and a right crawler driving wheel 64, the left direct current motor 61 drives the left crawler driving wheel 62 to drive the left crawler to move, the right direct current motor 63 drives the right crawler driving wheel 64 to drive the right crawler to move, and the crawler driving system 6 can drive the robot to move forward, backward, turn left and turn right.
The mechanical arm system 7 comprises a first left servo motor 71, a second left servo motor 72, a left mechanical arm 75, a left mechanical arm 76, a first right servo motor 73, a second right servo motor 74, a right mechanical arm 77 and a right mechanical arm 78, the first left servo motor 71 drives the left mechanical arm 75, the second left servo motor 72 drives the left mechanical arm 76, the first right servo motor 73 drives the right mechanical arm 77, and the second right servo motor 74 drives the right mechanical arm 78. The left servo motor I71 and the left servo motor II 72 respectively drive the left mechanical arm 75 and the left mechanical arm 76 to move in the horizontal direction; the right servo motor I73 and the right servo motor II 74 respectively drive the right mechanical arm 77 and the right mechanical arm 78 to move in the horizontal direction; and the device is used for mechanical arm obstacle clearing and close-range fighting.
The SCM minimum system 42 can control the left direct current motor 61 to drive the left crawler driving wheel 62 to rotate forward and backward and control the right direct current motor 63 to drive the right crawler driving wheel 64 to rotate forward and backward through the direct current motor driving module 43.
When the left crawler driving wheel 62 is controlled to positively drive and the right crawler driving wheel 64 is controlled to reversely rotate, the robot can rotate to the right, the right rotating angle is related to the time delay and the output driving torque of the motor, and in order to improve the rotating angle precision and the accuracy, the rotating time delay of each time is in direct proportion to the output torque of the motor and the rotating angle.
When the left track driving wheel 62 is controlled to positively drive and the right track driving wheel 64 is controlled to positively drive, the robot moves forward, and the rotating speed and the output torque of the motor are in direct proportion to the forward speed.
When the left track driving wheel 62 is controlled to reversely transmit and the right track driving wheel 64 reversely rotates, the robot moves backwards, and the rotating speed and the output torque of the motor are in direct proportion to the backward moving speed.
The SCM minimum system can control a first left servo motor 71, a second left servo motor 72, a first right servo motor 73 and a second right servo motor 74 through the servo motor driving module 44. The left servo motor one 71 can control the horizontal direction rotation motion of the left mechanical arm 75. The second left servo motor 72 can control the horizontal rotation of the left manipulator 76. The right servo motor one 73 can control the horizontal direction rotation motion of the right mechanical arm 77. The second right servo motor 74 can control the horizontal rotation of the right manipulator 78. The left mechanical arm 75 and the left mechanical arm 76 are matched with the right mechanical arm 77 and the right mechanical arm 78, so that road obstacle clearing can be achieved, smoothness of roads in marching is guaranteed, the roads serve as an open-circuit pioneer, and when in mountain combat, if enemies cannot shoot remotely, the enemies can be combated and eliminated in a short distance, and meanwhile, the enemies are prevented from approaching. The close range operational capability and the survival capability are improved. It can also fight enemies at close range.
1. The obstacle clearing and fighting shooting crawler robot adopts the crawler driving system 6, can perform action battle on mountainous regions or complex terrains, and has good trafficability and stability.
2. According to the obstacle clearing and fighting shooting track robot, the left mechanical arm 75, the left mechanical arm 76, the right mechanical arm 77 and the right mechanical arm 78 are additionally arranged in front of the robot, so that obstacles on a road in front can be cleared, the robot and other combat vehicles can normally pass conveniently, the robot serves as an open-circuit pioneer, close-range attack and fighting can be carried out with enemies, and the close-range fighting capacity is improved.
3. According to the obstacle clearing and fighting shooting track robot, the machine gun shooting system 5 is installed at the top end of the robot, the machine gun shooting device 52 is controlled through the direct current motor 51 to carry out remote shooting, and not only is an autonomous operation mode supported, but also a remote control operation mode is supported.
4. According to the obstacle clearing and fighting shooting tracked robot, the solar panel 33 is mounted at the top of the robot, and the battery 31 can be charged through the solar charging system 32 in an environment with sufficient illumination.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, but is intended to cover various insubstantial modifications of the invention based on the principles and technical solutions of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (7)
1. A barrier-removing and fighting shooting crawler robot is characterized in that: comprises that
The wireless transceiving module (1) is used for receiving a remote control instruction and feeding back data of the real-time state of the equipment;
the man-machine interaction system (2) is used for remotely controlling the robot control driving system (4), the gun shooting system (5) and the mechanical arm system (7);
a power supply system (3) for supplying electrical energy;
the robot control driving system (4) is used for controlling the machine gun shooting system (5), the track driving system (6) and the mechanical arm system (7);
a machine gun shooting system (5) for shooting enemies;
the crawler driving system (6) is used for controlling the crawler driving wheels to work;
a mechanical arm system (7) for removing obstacles and fighting.
2. A barrier clearing and fighting shooting tracked robot as claimed in claim 1, wherein: the human-computer interaction system (2) comprises
A robot control panel (21) for controlling the crawler drive system (6);
a robot arm manipulation panel (22) for controlling the robot arm system (7);
and the machine gun control panel (23) is used for controlling the machine gun shooting system (5).
3. A barrier clearing and fighting shooting tracked robot as claimed in claim 1, wherein: the solar energy charging system is characterized in that the power supply system (3) comprises a battery (31), a solar charging system (32) and a solar panel (33), the solar panel (33) is connected with the solar charging system (32), the solar charging system (32) is connected with the battery (31), and the battery (31) provides electric energy for the wireless transceiver module (1), the human-computer interaction system (2), the gun shooting system (5), the crawler driving system (6) and the mechanical arm system (7) through a robot control driving system (4).
4. A barrier clearing and fighting shooting tracked robot as claimed in claim 1, wherein: the robot control driving system (4) comprises a direct-current power supply module (41), a single-chip microcomputer minimum system (42), a direct-current motor driving module (43) and a servo motor driving module (44).
5. A barrier clearing and fighting shooting tracked robot as claimed in claim 1, wherein: the machine gun shooting system (5) comprises a direct current motor (51) and a machine gun shooting device (52), wherein the direct current motor (51) controls the machine gun shooting device (52).
6. A barrier clearing and fighting shooting tracked robot as claimed in claim 1, wherein: the crawler driving system (6) comprises a left direct current motor (61), a left crawler driving wheel (62), a right direct current motor (63) and a right crawler driving wheel (64), the left direct current motor (61) drives the left crawler driving wheel (62) to drive a left crawler to move, and the right direct current motor (63) drives the right crawler driving wheel (64) to drive a right crawler to move.
7. A barrier clearing and fighting shooting tracked robot as claimed in claim 1, wherein: the mechanical arm system (7) comprises a left servo motor I (71), a left servo motor II (72), a left mechanical arm (75), a left mechanical arm (76), a right servo motor I (73), a right servo motor II (74), a right mechanical arm (77) and a right mechanical arm (78), the left mechanical arm (75) is driven by the left servo motor I (71), the left mechanical arm (76) is driven by the left servo motor II (72), the right mechanical arm (77) is driven by the right servo motor I (73), and the right mechanical arm (78) is driven by the right servo motor II (74).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210538834.2A CN114909955A (en) | 2022-05-17 | 2022-05-17 | Barrier removing and fighting shooting track robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210538834.2A CN114909955A (en) | 2022-05-17 | 2022-05-17 | Barrier removing and fighting shooting track robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114909955A true CN114909955A (en) | 2022-08-16 |
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ID=82767968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210538834.2A Pending CN114909955A (en) | 2022-05-17 | 2022-05-17 | Barrier removing and fighting shooting track robot |
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| Country | Link |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8201649B2 (en) * | 2007-12-14 | 2012-06-19 | Foster-Miller, Inc. | Modular mobile robot |
| CN203460169U (en) * | 2013-07-31 | 2014-03-05 | 河北工程大学 | Obstacle removal rescue robot |
| CN104727360A (en) * | 2015-02-06 | 2015-06-24 | 开封大学 | Wrecker |
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
| CN106313069A (en) * | 2016-09-28 | 2017-01-11 | 陈文全 | Barrier-free battle robot |
| CN106871712A (en) * | 2017-03-29 | 2017-06-20 | 深圳市轻准科技有限公司 | Automatic firing firearms |
| CN214772018U (en) * | 2021-03-29 | 2021-11-19 | 屈健 | AR interaction explosive-handling robot |
| CN215505262U (en) * | 2021-04-12 | 2022-01-14 | 中安智慧(青岛)集团有限公司 | Intelligent fire-fighting robot with obstacle clearing function |
-
2022
- 2022-05-17 CN CN202210538834.2A patent/CN114909955A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8201649B2 (en) * | 2007-12-14 | 2012-06-19 | Foster-Miller, Inc. | Modular mobile robot |
| CN203460169U (en) * | 2013-07-31 | 2014-03-05 | 河北工程大学 | Obstacle removal rescue robot |
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
| CN104727360A (en) * | 2015-02-06 | 2015-06-24 | 开封大学 | Wrecker |
| CN106313069A (en) * | 2016-09-28 | 2017-01-11 | 陈文全 | Barrier-free battle robot |
| CN106871712A (en) * | 2017-03-29 | 2017-06-20 | 深圳市轻准科技有限公司 | Automatic firing firearms |
| CN214772018U (en) * | 2021-03-29 | 2021-11-19 | 屈健 | AR interaction explosive-handling robot |
| CN215505262U (en) * | 2021-04-12 | 2022-01-14 | 中安智慧(青岛)集团有限公司 | Intelligent fire-fighting robot with obstacle clearing function |
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