CN115464671B

CN115464671B - Synchronous transmission's explosive ordnance disposal robot

Info

Publication number: CN115464671B
Application number: CN202211416819.7A
Authority: CN
Inventors: 林勇; 王建国; 张晨昱
Original assignee: Purple Square Technology Co ltd
Current assignee: Purple Square Technology Co ltd
Priority date: 2022-11-11
Filing date: 2022-11-11
Publication date: 2023-05-02
Anticipated expiration: 2042-11-11
Also published as: CN115464671A

Abstract

The invention discloses a synchronous transmission explosive-handling robot, which comprises a bracket, wherein the bracket is movably arranged on a working plane; the protective screen is arranged on the bracket and used for safety protection; the synchronous transmission unit is arranged on the bracket, the first end of the synchronous transmission unit is positioned at the rear of the protective screen, and the second end of the synchronous transmission unit is positioned at the front of the protective screen; a control mechanical arm connected to the first end of the synchronous transmission unit in a transmission way so as to mechanically move along with the action of an operator; the explosion-discharging mechanical arm is connected to the second end of the synchronous transmission unit in a transmission manner so as to synchronously move with the control mechanical arm through the synchronous transmission unit. The synchronous transmission explosive removing robot realizes synchronous motion of the control mechanical arm and the explosive removing mechanical arm by utilizing the synchronous transmission unit, so that the real intention of an operator is transmitted to the explosive removing mechanical arm by the control mechanical arm, which is equivalent to generating a synchronous virtual operator in front, and the personnel safety of the operator can be effectively protected by utilizing the protective screen on the premise of ensuring the explosive removing effect.

Description

Synchronous transmission's explosive ordnance disposal robot

Technical Field

The invention relates to a synchronous transmission explosive-handling robot, and belongs to the technical field of manipulators.

Background

At present, the mode of manually removing suspected explosives mainly comprises the following three modes: first, the operator wears the explosive-handling suit, and zero distance is opposite to the explosive surface, and after the explosive outer wrapper is broken through the handheld tool, the circuit line is found and removed. Secondly, an explosive removing robot is adopted, remote control is carried out until the explosive is in front, and the tool is carried by a remote control mechanical arm to remove. Thirdly, an lengthened explosion venting rod is adopted to dismount the bomb a few meters away from the explosive.

Wherein, the first mode and the third mode both require close contact of the operator with the explosive, thereby causing great threat to the life safety of the operator. In the second mode, the operator is far away from the site, and can only shoot explosives through a camera carried on the robot, so that the visual effect is not visual and unreal; moreover, the mechanical arm is controlled by a remote control or remote sensing mode, time delay is asynchronous, disassembly and assembly operations cannot be accurately executed and are incoherent, and the users cannot arrive at hand. Moreover, remote control has no touch and auditory sense, and the abnormal conditions encountered when the explosive is dismantled can be missed, so that correct countermeasures cannot be timely carried out, and the failure of dismantling the bomb and even detonation are often caused.

In the Chinese patent with the patent number ZL 202110416024.5, a following type explosive-handling robot and a control method are disclosed, which are used for solving the technical problem of difficult operation of the explosive-handling robot. Wherein, this explosive ordnance disposal robot includes: the information acquisition device is used for acquiring gesture information generated when the arms of the human body move; the analysis device is used for generating control information mapped with the human arm motion through the human arm kinematic model according to the gesture information; the teleoperation manipulator is used for executing control information so as to finish the action mapped with the human arm motion; and the transmission device is used for realizing information transmission among the information acquisition device, the analysis device and the teleoperation manipulator. When dangerous goods are handled, an operator only needs to simulate and remove dangerous goods through the information acquisition device at another place, and the teleoperation manipulator is used for mapping arm movements of the operator in real time. Therefore, the operation difficulty of the teleoperation manipulator is reduced, and accidents caused by misoperation are avoided.

Disclosure of Invention

The invention aims to provide a synchronous transmission explosive-handling robot.

In order to achieve the technical purpose, the invention adopts the following technical scheme:

a synchro-driven explosive-handling robot, comprising:

a bracket movably placed on the working plane;

the protective screen is arranged on the bracket and used for safety protection;

the synchronous transmission unit is arranged on the bracket, a first end of the synchronous transmission unit is positioned at the rear of the protective screen, and a second end of the synchronous transmission unit is positioned at the front of the protective screen;

a control mechanical arm connected to the first end of the synchronous transmission unit in a transmission way so as to mechanically move along with the action of an operator;

the explosion venting mechanical arm is connected to the second end of the synchronous transmission unit in a transmission manner so as to synchronously move with the control mechanical arm through the synchronous transmission unit.

Preferably, the synchronous transmission unit comprises a plurality of steel wire rope mechanisms which are respectively arranged along a plurality of degrees of freedom and are mutually independent;

the steel wire rope mechanism comprises a driving steel wire rope, a driven steel wire rope and a synchronous pulley block, wherein the driving steel wire rope is wound on the synchronous pulley block, and two ends of the driving steel wire rope are connected with the control mechanical arm; the driven steel wire rope is wound on the synchronous pulley block, and two ends of the driven steel wire rope are connected with the explosion-discharging mechanical arm, so that the movement direction of the control mechanical arm is consistent with that of the explosion-discharging mechanical arm.

Preferably, the synchronous transmission unit further comprises a plurality of bevel gear steering mechanisms, wherein the bevel gear steering mechanisms are respectively arranged along a plurality of degrees of freedom and are mutually independent;

the bevel gear steering mechanism comprises a driving bevel gear set, a driven bevel gear set and a steering wire rope, a mechanical grab handle is arranged at the end part of the control mechanical arm, and a mechanical gripper is arranged at the end part of the explosion venting mechanical arm; the mechanical grab handle is rotationally connected with the driving bevel gear set, the mechanical grab handle is rotationally connected with the driven bevel gear set, and the steering wire rope is connected between the driving bevel gear set and the driven bevel gear set, so that the rotation direction of the mechanical grab handle is consistent with that of the mechanical grab handle.

Wherein preferably, the synchronous drive unit further comprises a ratchet locking mechanism comprising:

the control handle is arranged on the bracket;

the first locking ratchet wheels are arranged on one side of the synchronous pulley block so as to be clamped with or separated from the synchronous pulley block;

the second locking ratchet wheels are arranged on one side of the driving bevel gear set so as to be clamped with or separated from the driving bevel gear set;

the second ends of the locking steel wire ropes respectively bypass the plurality of first locking ratchet wheels and the plurality of second locking ratchet wheels and are elastically connected to the bracket; the control handle drives the locking steel wire rope to move, so that the first locking ratchet wheel is driven to be clamped with the synchronous pulley block, and the second locking ratchet wheel is driven to be clamped with the driving bevel gear set.

Wherein preferably the shield is made of a transparent explosion-proof material.

The front end of the protective screen is preferably provided with a monitoring unit for monitoring the action of the explosion-discharging mechanical arm and observing the appearance structure of suspected explosives;

the rear end of the protective screen is provided with a display screen, and the display screen is connected with the monitoring unit and is used for receiving the monitoring data of the monitoring unit and displaying pictures.

Preferably, the explosive-handling robot further comprises an X-ray inspection instrument, and the X-ray inspection instrument is placed at the front end of the protective screen so that the explosive-handling mechanical arm can take the X-ray inspection instrument and conduct X-ray scanning.

Wherein preferably, the explosive-handling robot further comprises a tool box, wherein the tool box is arranged at the front end of the protective screen, and a plurality of explosion-proof special tools are arranged in the tool box for the explosive-handling mechanical arm to take.

Preferably, the control mechanical arm and the explosion-discharging mechanical arm are two, wherein one control mechanical arm is connected with one explosion-discharging mechanical arm through the synchronous transmission unit so as to realize synchronous movement; the other control mechanical arm is connected with the other explosion-discharging mechanical arm through the synchronous transmission unit so as to realize synchronous movement.

Wherein preferably the synchronous drive unit is replaced by an electronic synchronous unit; the electronic synchronization unit is in communication connection with the control mechanical arm so as to receive electronic signals transmitted by the mechanical control part; the electronic synchronization unit is also in communication connection with the explosion-discharging mechanical arm and transmits the electronic signal to the explosion-discharging mechanical arm so that the control mechanical arm and the explosion-discharging mechanical arm synchronously move.

Compared with the prior art, the invention has the following technical effects:

1. the synchronous motion of the control mechanical arm and the explosion-discharging mechanical arm is realized by utilizing the synchronous transmission unit, so that the real intention of an operator is transmitted to the explosion-discharging mechanical arm by the control mechanical arm, which is equivalent to generating a synchronous virtual operator in front, and the personal safety of the operator can be effectively protected by utilizing the protective screen on the premise of ensuring the explosion-discharging effect.

2. An operator can directly observe the explosive and the operation track of the operator through the explosion-proof bulletproof glass, and can also observe the close-range image shot by the monitoring unit at the front end through the display screen, so that fine explosion-proof operation is performed.

3. An operator can use the X-ray inspection instrument and the tool box to play a good auxiliary role in the explosion-discharging work.

4. The two control mechanical arms are matched with the two explosion-discharging mechanical arms to realize double-arm collaborative explosion-discharging, so that the applicability of the synchronous transmission explosion-discharging robot is improved.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a synchronous transmission explosive-handling robot according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a control mechanical arm and an explosion venting mechanical arm swinging synchronously in a left-right direction in a first embodiment of the present invention;

fig. 3 is a schematic structural diagram of a control mechanical arm and an explosion venting mechanical arm moving synchronously in a vertical direction in a first embodiment of the present invention;

FIG. 4 is a schematic diagram showing a transmission structure of a wire rope mechanism according to a first embodiment of the present invention;

FIG. 5 is a schematic diagram of the multi-groove synchronous pulley of FIG. 4;

FIG. 6 is a schematic view showing a transmission structure of a bevel gear steering mechanism in a first embodiment of the present invention;

FIG. 7 is a schematic diagram showing the synchronous control of a mechanical grab handle and a mechanical gripper according to a first embodiment of the present invention;

fig. 8 is a schematic diagram of the overall structure of a synchronous transmission explosive-handling robot according to a third embodiment of the present invention.

Detailed Description

The technical contents of the present invention will be described in detail with reference to the accompanying drawings and specific examples.

< first embodiment >

Fig. 1 shows a synchronous transmission explosive-handling robot according to a first embodiment of the present invention, which includes a bracket 1, a protective screen 2, a synchronous transmission unit 3, a control mechanical arm 4 and an explosive-handling mechanical arm 5. Wherein the bracket 1 is movably placed on a working plane; the protective screen 2 is arranged on the bracket 1 for safety protection; the synchronous transmission unit 3 is arranged on the bracket 1, a first end (i.e. an end A in fig. 1) of the synchronous transmission unit 3 is positioned at the rear of the protective screen 2, and a second end (i.e. an end B in fig. 1) of the synchronous transmission unit 3 is positioned at the front of the protective screen 2; the control mechanical arm 4 is connected to the first end of the synchronous transmission unit 3 in a transmission way so as to mechanically move along with the action of an operator; the explosion venting mechanical arm 5 is connected with the second end of the synchronous transmission unit 3 in a transmission way so as to synchronously move with the control mechanical arm 4 through the synchronous transmission unit 3.

Referring to fig. 2 and 3, when the operator operates the control arm 4 to swing back and forth or move up and down, the mechanical control section 4 transmits a force to the explosion venting mechanical arm 5 through the synchronous transmission unit 3, so that the explosion venting mechanical arm 5 performs the same action. Therefore, when an operator performs explosion venting operation, the operator can stand behind the protective screen 2 to control the mechanical arm 4, so that the explosion venting mechanical arm 5 positioned in front performs the same action to vent suspected explosives. In the process, the operator is positioned behind the protective screen 2, so that the protective screen 2 isolates the operator from suspected explosives, and the explosion-proof clothes are matched to carry out safety protection on the operator, thereby realizing the explosion-proof working mode of the protective screen and greatly improving the safety of explosion-proof work.

As shown in fig. 4, in the above-described embodiment, specifically, the synchronous transmission unit 3 includes a plurality of wire rope mechanisms 31, and the plurality of wire rope mechanisms 31 are respectively arranged in a plurality of degrees of freedom directions and are independent from each other. In this embodiment, the wire rope mechanism 31 includes a driving wire rope 311, a driven wire rope 312, and a synchronizing pulley block 313. As shown in fig. 5, the synchronizing pulley block 313 has four multi-groove synchronizing pulleys 3130, and each multi-groove synchronizing pulley 3130 has at least a driving groove 3131 and a driven groove 3132, but is not limited to a two-groove structure, and may have three or more grooves in other embodiments. The driving steel wire rope 311 is wound in a driving groove 3131 of the multi-groove synchronous pulley 3130, and two ends of the driving steel wire rope are connected with the control mechanical arm 4; similarly, the driven wire rope 312 is wound in the driven groove 3132 of the multi-groove synchronous pulley 3130, and both ends of the driven wire rope 312 are connected with the explosion venting mechanical arm 5, so that the movement direction of the control mechanical arm 4 is consistent with that of the explosion venting mechanical arm 5.

Taking the left-right freedom direction as an example, when the control mechanical arm 4 tilts to the left, the driving steel wire rope 311 is pulled to move to the left, so as to drive the multi-groove synchronous pulley 3130 to rotate anticlockwise; when the multi-groove synchronous pulley 3130 rotates counterclockwise, the driven steel wire rope 312 is driven to move leftward, and the explosion venting mechanical arm 5 is driven to move leftward. Therefore, the synchronous movement process of the control mechanical arm 4 and the explosion venting mechanical arm 5 in the direction of one degree of freedom is realized. It can be understood that in other degrees of freedom directions, the working principle of the wire rope mechanism 31 is the same, but the final regulation and control directions are different, so that the multiple degrees of freedom directions are combined, and the multiple-angle synchronous movement of the control mechanical arm 4 and the explosion-discharging mechanical arm 5 can be realized by utilizing the multiple wire rope mechanisms 31, so that various angle and position requirements in the explosion-discharging process can be met.

As shown in fig. 6, in the above-described embodiment, the synchronous transmission unit 3 further includes a plurality of bevel gear steering mechanisms 32, and the plurality of bevel gear steering mechanisms 32 are respectively arranged in a plurality of degrees of freedom directions and are independent of each other. In this embodiment, the bevel gear steering mechanism 32 includes a driving bevel gear set 321, a driven bevel gear set 322 and a steering wire rope 323, as shown in fig. 1, the end of the control mechanical arm 4 is provided with a mechanical grab handle 6, and the end of the explosion venting mechanical arm 5 is provided with a mechanical gripper 7. The mechanical grab handle 6 is rotationally connected with the driving bevel gear set 321, the mechanical gripper 7 is rotationally connected with the driven bevel gear set 322, and the steering wire rope 323 is connected between the driving bevel gear set 321 and the driven bevel gear set 322, so that the rotation directions of the mechanical grab handle 6 and the mechanical gripper 7 are consistent.

Specifically, in the above-described embodiment, the drive bevel gear set 321 includes a center drive bevel gear 3211, an upper drive bevel gear 3212, and a lower drive bevel gear 3213. Wherein, the center drive bevel gear 3211 is disposed along the X direction such that the axis of the center drive bevel gear 3211 is parallel to the X direction, the upper drive bevel gear 3212 is disposed along the Y direction and engaged above the center drive bevel gear 3211, and the lower drive bevel gear 3213 is disposed along the Y direction and engaged below the center drive bevel gear 3211. In the present embodiment, a drive grooved pulley 3214 is provided above the upper drive bevel gear 3212 and below the lower drive bevel gear 3213. Similarly, the driven bevel gear set 322 includes a center driven bevel gear 3221, an upper driven bevel gear 3222, and a lower driven bevel gear 3223, and driven grooved pulleys 3224 are provided above the upper driven bevel gear 3222 and below the lower driven bevel gear 3223. The steering wire rope 323 includes a first steering wire rope 3231 and a second steering wire rope 3232, the first steering wire rope 3231 being wound around the driving grooved pulley 3214 above the upper driving bevel gear 3212 and the driven grooved pulley 3224 below the lower driven bevel gear 3223 to rotate the lower driven bevel gear 3223 by the upper driving bevel gear 3212; similarly, a second steering wire rope 3232 is wound around the driving grooved pulley 3214 below the lower driving bevel gear 3213 and the driven grooved pulley 3224 above the upper driven bevel gear 3222 to rotate the upper driven bevel gear 3222 via the lower driving bevel gear 3213.

In the following, the clockwise rotation of the central drive bevel gear 3211 will be taken as an example, and when the central drive bevel gear 3211 rotates clockwise, the lower drive bevel gear 3213 is driven to rotate counterclockwise, thereby pulling the second steering wire 3232 to drive the upper driven bevel gear 3222 to rotate counterclockwise. When the upper driven bevel gear 3222 rotates counterclockwise, the center driven bevel gear 3221 is driven to rotate clockwise, so that the rotation direction and rotation angle of the center drive bevel gear 3211 are the same as those of the center driven bevel gear 3221. In this process, the center driven bevel gear 3221 rotates clockwise to drive the lower driven bevel gear 3223 to rotate clockwise, thereby pulling the first steering wire rope 3231 to drive the upper driving bevel gear 3212 to rotate clockwise, so as to form a motion cycle. Thereby, the above-described bevel gear steering mechanism 32 enables the rotation direction and rotation angle of the center drive bevel gear 3211 and the center driven bevel gear 3221 to be the same, and the center drive bevel gear 3211 is used to connect with the mechanical grab 6, and the center driven bevel gear 3221 is used to connect with the mechanical grab 7, so that synchronous movement of the mechanical grab 6 and the mechanical grab 7 can be achieved. Therefore, after the explosion venting mechanical arm 5 is moved to a rough position (initial adjustment) by the control mechanical arm 4, the mechanical gripper 7 is controlled to precisely move (fine adjustment) by the mechanical grab handle 6, so that a secondary regulation control mode is formed, and the explosion venting effect can be effectively improved.

Further, in the above-described embodiment, the synchronous transmission unit 3 further includes the ratchet locking mechanism including the control handle, the plurality of first locking ratchet wheels, and the plurality of second locking ratchet wheels. Wherein the control handle is arranged on the bracket 1. The first locking ratchet is disposed at one side of the synchronous pulley block 313 to be engaged with or separated from the synchronous pulley block 313. The second locking ratchet wheel is disposed at one side of the driving bevel gear set 321, so as to be engaged with or separated from the driving bevel gear set 321. One end of the locking wire rope is connected with the control handle, and the second end of the locking wire rope bypasses the plurality of first locking ratchet wheels and the plurality of second locking ratchet wheels respectively and is elastically connected to the bracket 1. The locking steel wire rope is driven to move through the control handle, so that the locking steel wire rope is switched between a working state and a non-working state, when the locking steel wire rope is in the working state, the first locking ratchet wheel is clamped with the synchronous pulley block, the second locking ratchet wheel is clamped with the driving bevel gear set, the whole synchronous transmission unit 3 is locked, and at the moment, the positions of all transmission parts are relatively fixed, so that an operator can rest slightly. When the locking steel wire rope is in a non-working state, the first locking ratchet wheel is separated from the synchronous pulley block, and the second locking ratchet wheel is separated from the driving bevel gear set so as to perform normal transmission. It can be understood that in this embodiment, the connection control structure of the control handle, the plurality of first locking ratchet wheels and the plurality of second locking ratchet wheels is a more common structure in the field, and in this embodiment, the mechanism is only applied to the synchronous transmission unit to realize the locking function of the synchronous transmission unit 3, so as to improve the convenience of use of the explosion-proof robot with synchronous transmission.

In the above embodiment, the mechanical grip 6 is similar to that of pliers, and the mechanical gripper 7 is similar to a claw, as shown in fig. 7. Thus, the opening and closing of the mechanical handle 6 can be synchronously influenced, and the operations such as grasping, holding, clamping, shearing, cutting, pulling, lifting and the like can be realized. When the mechanical grab handle 6 is opened, the mechanical grab handle 7 is driven to synchronously open by the same angle, and when the mechanical grab handle 6 is closed, the mechanical grab handle 7 is driven to synchronously close; and when the mechanical grab handle 6 rotates, the mechanical grab handle 7 is driven to rotate by the same angle. Therefore, when the mechanical gripper 7 is controlled to grip an article through the mechanical gripper 6, the mechanical gripper 7 cannot be closed again to a certain extent (due to the influence of the article), at this time, the mechanical gripper 6 cannot be closed again, so that an operator can clearly feel the tightness of the gripping of the mechanical gripper 7 through the touch transmitted by the mechanical gripper 6, and the operator is facilitated to perform explosion venting work.

As shown in fig. 1, in the above embodiment, the protective screen 2 is preferably made of a transparent explosion-proof material, such as bullet-proof glass. The explosion-proof glass made of transparent materials is adopted to manufacture the protective screen 2, so that an operator can intuitively observe the action of the front explosion-proof mechanical arm 5 through the glass and observe the appearance structure of suspected explosives. Thus, the explosion-proof operation is facilitated, and in other embodiments, the protective screen 2 may be made of an opaque explosion-proof material, and may be selected adaptively according to actual needs.

< second embodiment >

As shown in fig. 1, on the basis of the first embodiment, the front end of the protection screen 2 of the synchronously driven explosive-removing robot provided by the second embodiment of the present invention is provided with a monitoring unit 8 for monitoring the action of the explosive-removing mechanical arm 5 and observing the appearance structure of suspected explosives. And, the rear end of the protective screen 2 is provided with a display screen 9, and the display screen 9 is connected with the monitoring unit 8 for receiving the monitoring data of the monitoring unit 8 and displaying pictures.

Therefore, the explosion venting mechanical arm 5 can be monitored through the monitoring unit 8 and the display screen 9, so that the protective screen 2 can be made of an opaque explosion-proof material. It can be understood that the monitoring unit 8 may be mounted on the explosion venting mechanical arm 5 (as shown in fig. 1), so as to perform mobile monitoring along with the explosion venting mechanical arm 5, and may also be mounted on the support 1, so as to perform monitoring at a fixed position, where the specific mounting position may be determined according to the monitoring requirement, and is not limited herein specifically. In addition, the number of the monitoring units 8 is not limited to one, and a plurality of monitoring units 8 (for example, a plurality of cameras) can be installed at the same time to shoot pictures from a plurality of angles, so that the monitoring effect is improved, and the missing of a more hidden position is avoided. In addition, it can be appreciated that the interval of the monitoring units 8 is adjustable, so that an operator can zoom in on the display screen 9 in a close range to observe the object, and the image can be more clearly observed after zooming in, thereby assisting the operator in fine explosion-discharging operation.

In addition, in this embodiment, the synchronously driven explosive ordnance disposal robot further comprises an X-ray inspection device 10, and the X-ray inspection device 10 is placed at the front end of the protective screen 2, so that the explosive ordnance disposal mechanical arm 5 can take the X-ray inspection device 10 and perform X-ray scanning. Therefore, when the internal structure of the explosive is required to be judged, an operator can directly operate the explosion-removing mechanical arm 5 at the front end to remove the portable X-ray inspection instrument 10 from the bracket 1 for X-ray fluoroscopy, and a perspective image is displayed on the display screen 9 behind the protective screen 2.

In addition, in the above embodiment, the synchronously driven explosion venting robot further includes a tool box 20, the tool box 20 is disposed at the front end of the protective screen 2, and a plurality of explosion-proof special tools are disposed in the tool box 20 for the explosion venting mechanical arm 5 to take. Specifically, the tool box 20 is placed in a knife, a saw, a clamp, a scissors, a hammer, a screwdriver, a flashlight and the like, and an operator can control the mechanical gripper 7 on the front end explosion venting mechanical arm 5 to grasp and use according to the needs.

Except for the above-mentioned structure, the other structures of this embodiment are the same as those of the first embodiment, and will not be described here again.

< third embodiment >

As shown in fig. 8, the third embodiment of the present invention provides a synchronous transmission explosive-handling robot, which is different from the first embodiment in that the control mechanical arm 4 and the explosive-handling mechanical arm 5 are two.

Specifically, one of the control mechanical arms 4 is connected with one of the explosion venting mechanical arms 5 through the synchronous transmission unit 3 so as to realize synchronous movement; the other control mechanical arm 4 is connected with the other mechanical explosion venting 5 arm through the synchronous transmission unit 3 so as to realize synchronous movement. Therefore, by installing the two control mechanical arms 4, the distance between the two control mechanical arms 4 is the same as the width of the shoulder of a common adult, so that an operator can control the left control mechanical arm 4 through the left hand and control the right control mechanical arm 4 through the right hand, and double-arm collaborative explosion venting is realized.

For example: when cutting the carton, one mechanical gripper 7 is required to grasp (or hold) the carton body, and the other mechanical gripper 7 is required to cut by a cutter. Also for example: when the explosive circuit is removed, one mechanical gripper 7 is required to separate other wires, and the other mechanical gripper 7 clamps to cut off the connecting wire.

< fourth embodiment >

On the basis of the first embodiment, in the synchro-driven explosive-handling robot provided by the fourth embodiment of the present invention, the synchro-driven unit 3 is replaced with an electronic synchro-unit.

Specifically, the electronic synchronization unit is in communication connection with the control mechanical arm 4, so as to receive the electronic signal transmitted by the mechanical control part 4; the electronic synchronization unit is also in communication connection with the explosion venting mechanical arm 5 and transmits an electronic signal to the explosion venting mechanical arm 5 so as to enable the control mechanical arm 4 and the explosion venting mechanical arm 5 to synchronously move. It will be appreciated that, with the advancement of technology, the front-end explosion venting mechanical arm 5 and the back-end control mechanical arm 4 may be electronically synchronized without a physical synchronization mechanism. Specifically, by adding sensors on the rear-end control mechanical arm 4 and the mechanical grab handle 6, information such as displacement, angle, speed and the like is measured in real time and is transmitted to a processor on the front-end explosion venting mechanical arm 5 through wireless or wired communication, and the processor controls a motor to drive the front-end explosion venting mechanical arm 5 to stretch and rotate and the grab to open and close by utilizing the information of the sensors.

Compared with the first embodiment, the present embodiment can reduce noise caused by mechanical transmission to reduce interference to an operator, however, this transmission mode requires signal transmission, so there is a case of action delay, and since the mechanical grip 7 and the mechanical grip 6 do not have direct mechanical transmission, the grip strength of the mechanical grip 7 cannot be fed back to the operator, and the touch feeling is lost.

It will be appreciated that the present embodiment has advantages and disadvantages as compared with the first embodiment, and can be adaptively selected according to different usage situations. Except for the above-mentioned structure, the other structures of this embodiment are the same as those of the first embodiment, and will not be described here again.

In summary, the synchronous transmission explosive ordnance disposal robot provided by the embodiment of the invention has the following beneficial effects:

1. the synchronous motion of the control mechanical arm 4 and the explosion venting mechanical arm 5 is realized by utilizing the synchronous transmission unit 3, so that the real intention of an operator is transmitted to the explosion venting mechanical arm 5 by the control mechanical arm 4, which is equivalent to generating a synchronous virtual operator in front, and the personal safety of the operator can be effectively protected by utilizing the protective screen 2 on the premise of ensuring the explosion venting effect.

2. The operator can observe the explosive and the operation track of the operator directly through the explosion-proof bulletproof glass, and can observe the close-range image shot by the monitoring unit 8 at the front end through the display screen 9, so that the fine explosion-proof operation is performed.

3. The operator can use the X-ray inspection apparatus 10 and the tool box 20 to assist the explosive discharge work well.

4. The two control mechanical arms 4 can be matched with the two explosion venting mechanical arms 5 to realize double-arm collaborative explosion venting, so that the applicability of the synchronous transmission explosion venting robot is improved.

The invention provides a synchronous transmission explosive-handling robot. Any obvious modifications to the present invention, without departing from the spirit thereof, would constitute an infringement of the patent rights of the invention and would take on corresponding legal liabilities.

Claims

1. The utility model provides a synchronous drive's explosive ordnance disposal robot which characterized in that includes:

a bracket movably placed on the working plane;

the explosion venting mechanical arm is connected with the second end of the synchronous transmission unit in a transmission way so as to synchronously move with the control mechanical arm through the synchronous transmission unit;

the synchronous transmission unit further comprises a plurality of bevel gear steering mechanisms which are respectively arranged along the directions of a plurality of degrees of freedom and are mutually independent;

2. The synchro-driven explosive-handling robot of claim 1, wherein the synchro-driven unit comprises a plurality of wire rope mechanisms, the plurality of wire rope mechanisms being arranged along a plurality of degrees of freedom and being independent of each other;

3. The synchromesh explosion venting robot of claim 2, wherein the synchromesh transmission unit further comprises a ratchet locking mechanism comprising:

the control handle is arranged on the bracket;

the first end of the locking steel wire rope is connected with the control handle, and the second end of the locking steel wire rope bypasses the first locking ratchet wheel and the second locking ratchet wheel respectively and is elastically connected to the bracket; the control handle drives the locking steel wire rope to move, so that the first locking ratchet wheel is driven to be clamped with the synchronous pulley block, and the second locking ratchet wheel is driven to be clamped with the driving bevel gear set.

4. The synchrodrive explosive ordnance disposal robot according to claim 1, wherein:

the protective screen is made of transparent explosion-proof material.

5. The synchrodrive explosive ordnance disposal robot according to claim 1, wherein:

the front end of the protective screen is provided with a monitoring unit for monitoring the action of the explosion-discharging mechanical arm and observing the appearance structure of suspected explosives;

6. The synchrotron driven explosive-handling robot of claim 1, further comprising an X-ray detector, wherein the X-ray detector is placed at a front end of the protective screen, so that the explosive-handling mechanical arm can take the X-ray detector and perform X-ray scanning.

7. The synchrotron driven explosive-handling robot of claim 1, further comprising a tool box; the tool box is arranged at the front end of the protective screen, and a plurality of explosion-proof special tools are arranged in the tool box for the explosion-proof mechanical arm to take.

8. The synchrodrive explosive ordnance disposal robot according to claim 1, wherein:

the control mechanical arm and the explosion-discharging mechanical arm are two, wherein one control mechanical arm is connected with one explosion-discharging mechanical arm through the synchronous transmission unit so as to realize synchronous movement; the other control mechanical arm is connected with the other explosion-discharging mechanical arm through the synchronous transmission unit so as to realize synchronous movement.