CN202878305U - Modular explosive-handling robot - Google Patents
Modular explosive-handling robot Download PDFInfo
- Publication number
- CN202878305U CN202878305U CN 201220483531 CN201220483531U CN202878305U CN 202878305 U CN202878305 U CN 202878305U CN 201220483531 CN201220483531 CN 201220483531 CN 201220483531 U CN201220483531 U CN 201220483531U CN 202878305 U CN202878305 U CN 202878305U
- Authority
- CN
- China
- Prior art keywords
- controller
- sub
- interface
- explosive
- unit
- Prior art date
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a modular explosive-handling robot which comprises a movable platform, an operation arm unit, a front end execution unit, a cradle head, a communication unit, a power supply unit, a main controller, a first auxiliary controller, and a second auxiliary controller and a third auxiliary controller. The first auxiliary controller is arranged in the operation arm unit, the second auxiliary controller is arranged in the front end execution unit, the third auxiliary controller is arranged in the cradle head, and the power supply unit is used for providing working power supply for the modular explosive-handling robot. The communication unit is used for sending orders of the main controller to the first auxiliary controller, the second auxiliary controller and the third auxiliary controller. The operation arm unit, the front end execution unit and the cradle head are respectively controlled by the first auxiliary controller, the second auxiliary controller and the third auxiliary controller according to the control orders. A modular design is adopted by each unit of the modular explosive-handling robot, each auxiliary controller receives the control orders of the main controller so as to control each unit, and therefore maintaining of the modular explosive-handling robot is convenient.
Description
Technical field
The utility model relates to a kind of modularization explosive-removal robot.
Background technology
Explosive-removal robot is realized suspicious explosive detecting, transportation, is got rid of by remote control robot, can substitute the people and finish dangerous operation, is safeguarding to have the effect of becoming more and more important aspect the public safety.
Explosive-removal robot came out since the sixties in last century, so far over half a century, various countries are in order to maintain social stability and political needs, technology and equipment research and development to fight against terrorism and violence are greatly paid attention to and more input, present not lower tens kinds of various explosive-removal robot kinds in the world, such as Britain ABPrecision Limited (ABP) company, ALLEN company, U.S. REMOTEC, iRobot company, Germany Telerob company, France Alsetex company etc. all is well-known explosive-removal robot supplier in the world, and richness is defended in domestic Guangzhou, the auspicious outstanding great achievement in Beijing, capital Jinwu etc. is the explosive-removal robot industrialization company that early realizes.
Patent documentation " danger removal robot " (patent No. ZL03115561.8) has been described a kind of danger removal robot with scraper bowl; Chinese patent " a kind of explosive-removal robot " (number of patent application: 201120066980.7) described a kind of explosive-removal robot that carries explosive bucket; " anti-terror explosive removing robot " (number of patent application: 2011100427874.9) mention a kind of explosive-removal robot with broken barrier function; Chinese patent " Superminiature explosive disposal robot " (number of patent application: 200910081525.1) mention a kind of small-sized explosive-removal robot.
Owing to explosive-removal robot working site circumstance complication, be engaged in operation danger, job task is changeable, robot reliability, maintainability and system extension are had relatively high expectations, because the system complexity of explosive-removal robot own, how at the scene rapid-maintenance, maintenance issues are perplexing explosive-removal robot producer always, the domestic explosive-removal robot producer that particularly starts late.
The utility model content
The technical problems to be solved in the utility model is in order to overcome the defective of explosive-removal robot maintenance inconvenience in the prior art, easily modularization explosive-removal robot of a kind of maintenance to be provided.
The utility model is to solve above-mentioned technical problem by following technical proposals:
A kind of modularization explosive-removal robot, its characteristics are, it comprises mobile platform, motion arm unit, front end performance element, The Cloud Terrace, communication unit and power supply unit, an and master controller that is used for generating control instruction, this modularization explosive-removal robot also comprises the first sub-controller of being arranged in this motion arm unit, be arranged at the second sub-controller in this front end performance element and be arranged at the 3rd sub-controller in this The Cloud Terrace, wherein
This power supply unit is used to this modularization explosive-removal robot that working power is provided;
This communication unit is used for the control instruction of this master controller is sent to this first sub-controller, this second sub-controller and the 3rd sub-controller;
This first sub-controller, this second sub-controller and the 3rd sub-controller are used for controlling respectively this motion arm unit, this front end performance element and this The Cloud Terrace according to this control instruction.
The unit of explosive-removal robot of the present utility model all adopts modular design, and convenient disassembly also is convenient to maintenance.In addition, because explosive-removal robot of the present utility model comprises master controller and a plurality of sub-controller, so that unit can really be realized modularization.
Preferably, be provided with motion arm interface, The Cloud Terrace interface, energy source interface and communication unit interface on this mobile platform, this motion arm unit is connected with this mobile platform by this motion arm interface, this The Cloud Terrace is connected with this mobile platform by this The Cloud Terrace interface, this power supply unit is connected with this mobile platform by this energy source interface, and this communication unit is connected with this mobile platform by this communication unit interface.
Preferably, be provided with front end performance element interface on this motion arm unit, this front end performance element is connected with this motion arm unit by this front end performance element interface.
Preferably, the power interface that the power interface that this motion arm interface, this The Cloud Terrace interface, this energy source interface and communication unit interface comprise for the data-interface of transfer of data and is used for powering, this front end performance element interface comprise for the data-interface of transfer of data and be used for powering.This data-interface is used for obtaining control instruction, and this power interface then is be used to working power is provided.
Preferably, this motion arm interface, this The Cloud Terrace interface, this energy source interface and communication unit interface realize and the data communication of this master controller that by versabus this front end performance element interface is by the data communication of versabus realization with this master controller.This versabus can be Industry Standard Architecture, also can be self-defined communication bus; Wherein, self-defined communication bus is the communication modes that the user stipulates voluntarily according to the interface needs, comprises interface definition, handshake method, software protocol etc.
Preferably, this first sub-controller, this second sub-controller and the 3rd sub-controller also are used for status information feedback with this motion arm unit, this front end performance element and this The Cloud Terrace to this master controller.
Preferably, this motion arm unit comprises forearm subelement, postbrachium subelement and joint subelement, this forearm subelement, this postbrachium subelement and this joint subelement comprise respectively one the 4th sub-controller, the 4th sub-controller is used for receiving this control instruction to control this forearm subelement, this postbrachium subelement and this joint subelement, and/or the 4th sub-controller also is used for this forearm subelement, this postbrachium subelement and this joint subunit state information are fed back to this master controller.
Preferably, this first sub-controller, this second sub-controller, the 3rd sub-controller and the 4th sub-controller include the embedded controller of processing for data, realize exchanges data by versabus between this first sub-controller, this second sub-controller, the 3rd sub-controller and the 4th sub-controller.Each sub-controller possesses data-handling capacity, and by versabus provide with other sub-controller carry out data and control interaction capabilities, mutually coordinate between each sub-controller, make robot finish specific action or motion, in addition, unit is the energy plug and play all, can not cut off the power supply and change, and is convenient to safeguard.In addition, each unit can be replaced by mechanical interface other module identical with electrical interface, makes things convenient for system maintenance and upgrading.
Preferably, this master controller arranges in this mobile platform, and/or this power supply unit is mounted on this mobile platform both sides.
Preferably, this front end performance element is selected from: paw, water cannon rifle, TURP cutter and electric drill head.
Positive progressive effect of the present utility model is: this modularization explosive-removal robot is except master controller, its unit is equipped with sub-controller, unit adopts modular design, receive control instruction from this master controller with the control unit, so that the maintenance of this modularization explosive-removal robot is convenient by each sub-controller.
Description of drawings
Fig. 1 is the stereogram of the modularization explosive-removal robot of the utility model one embodiment.
Fig. 2 is the stereogram of the mobile platform of the utility model one embodiment.
Fig. 3 is the stereogram of the motion arm unit of the utility model one embodiment.
Fig. 4 is the stereogram of the front end performance element of the utility model one embodiment.
Fig. 5 is the stereogram of the The Cloud Terrace of the utility model one embodiment.
Fig. 6 is the stereogram of the communication unit of the utility model one embodiment.
Fig. 7 is the stereogram of the power supply unit of the utility model one embodiment.
The specific embodiment
The below lifts a preferred embodiment, and comes by reference to the accompanying drawings the clearer the utility model that intactly illustrates.
With reference to figure 1-Fig. 7, introduce the described modularization explosive-removal robot of the utility model one embodiment, it comprises mobile platform 1, motion arm unit 2, front end performance element 3, The Cloud Terrace 4, communication unit 5 and power supply unit 6, an and master controller that is used for generating control instruction, this modularization explosive-removal robot also comprises the first sub-controller that is arranged in this motion arm unit 2, be arranged at the second sub-controller and the 3rd sub-controller that is arranged in this The Cloud Terrace 4 in this front end performance element 3, wherein
This power supply unit 6 is used to this modularization explosive-removal robot that working power is provided;
This communication unit 5 is used for the control instruction of this master controller is sent to this first sub-controller, this second sub-controller and the 3rd sub-controller;
This first sub-controller, this second sub-controller and the 3rd sub-controller are used for controlling respectively this motion arm unit 2, this front end performance element 3 and this The Cloud Terrace 4 according to this control instruction.
Specifically, be provided with motion arm interface 101, The Cloud Terrace interface 102, energy source interface 103 and communication unit interface 104 on this mobile platform 1, this motion arm unit 2 is connected with this mobile platform 1 by this motion arm interface 101, this The Cloud Terrace 4 is connected with this mobile platform 1 by this The Cloud Terrace interface 102, this power supply unit 6 is connected with this mobile platform 1 by this energy source interface 103, and this communication unit 5 is connected with this mobile platform 1 by this communication unit interface 104.
Similarly, be provided with front end performance element interface 301 on this motion arm unit 2, this front end performance element 3 is connected with this motion arm unit 2 by this front end performance element interface 301.
Specifically, the power interface that the power interface that this motion arm interface 101, this The Cloud Terrace interface 102, this energy source interface 103 and communication unit interface 104 comprise for the data-interface of transfer of data and is used for powering, this front end performance element interface 301 comprise for the data-interface of transfer of data and be used for powering.
Correspondingly, provide on the motion arm unit 2 and this motion arm interface 101 corresponding mobile platform sockets 201, provide on this The Cloud Terrace 4 and this The Cloud Terrace interface 102 corresponding mobile platform sockets 202, this power supply unit 6 provides and this energy source interface 103 corresponding mobile platform sockets 203, this communication unit 5 provides and this communication unit interface 104 corresponding mobile platform sockets 204, and this front end performance element 3 provides and this front end performance element interface 301 corresponding motion arm sockets 302.
The explosive-removal robot mobile platform is in transportation, under the storage case, the motion arm unit, front end performance element 3, The Cloud Terrace 4, communication unit 5 and power supply unit 6 can be placed respectively, pass through motion arm interface 101 in use, The Cloud Terrace interface 102, energy source interface 103 and communication unit interface 104 and mobile platform socket 201, mobile platform socket 202, mobile platform socket 203 and 204 docking of mobile platform socket, front end performance element interface 301 on the motion arm unit 2 docks with the motion arm socket 302 on the front end performance element 3, can form the explosive-removal robot with corresponding function.
The electrical interface of each unit is connected with the control bus port that the robot body controls mainboard by the control bus port of communication cable with the sub-controller of each unit, control instruction is sent to the sub-controller of each unit by communication cable, by this master controller sending controling instruction, whole robot cooperates under the unified control of master controller, finishes the regulation operation.
More specifically, this motion arm interface 101, this The Cloud Terrace interface 102, this energy source interface 103 and communication unit interface 104 realize and the data communication of this master controller that by versabus this front end performance element interface 301 is by the data communication of versabus realization with this master controller.
Wherein, this first sub-controller, this second sub-controller and the 3rd sub-controller also are used for status information feedback with this motion arm unit 2, this front end performance element 3 and this The Cloud Terrace 4 to this master controller.
Specifically, this motion arm unit 2 comprises forearm subelement, postbrachium subelement and joint subelement, this forearm subelement, this postbrachium subelement and this joint subelement comprise respectively one the 4th sub-controller, the 4th sub-controller is used for receiving this control instruction to control this forearm subelement, this postbrachium subelement and this joint subelement, and the 4th sub-controller also is used for this forearm subelement, this postbrachium subelement and this joint subunit state information are fed back to this master controller.
In the present embodiment, this first sub-controller, this second sub-controller, the 3rd sub-controller and the 4th sub-controller include the embedded controller of processing for data, realize exchanges data by versabus between this first sub-controller, this second sub-controller, the 3rd sub-controller and the 4th sub-controller.
For the structural facility of simplifying and replacing with, this master controller arranges in this mobile platform 1, and this power supply unit 6 is mounted on this mobile platform both sides.
In the present embodiment, this front end performance element 3 is a paw.
The utility model has the advantage of:
1, because each electrical interface of explosive-removal robot provides the energy and communication bus, can conveniently expand.
2, each several part establishes one's own system, and can conveniently produce and debug, and is integrated together at last to form whole robot system, because system architecture is terse, has greatly improved the explosive-removal robot stability of a system simultaneously
3, be convenient to the complication system fault location;
4, link to each other by electronic connector between each several part and body, mechanically install, dismantle and carry out convenience;
5, be connected by bus mode between each several part and main body, can not affect the other parts communication after dismantling a part, thus can not cut off the power supply change, plug and play, be convenient to maintenance and debugging;
Be connected by bus mode between each several part and body, so part is replaceable for following the other parts of same bus interface, is convenient to the explosive-removal robot upgrading and safeguards.
Although more than described the specific embodiment of the present utility model, it will be understood by those of skill in the art that these only illustrate, protection domain of the present utility model is limited by appended claims.Those skilled in the art can make various changes or modifications to these embodiments under the prerequisite that does not deviate from principle of the present utility model and essence, but these changes and modification all fall into protection domain of the present utility model.
Claims (10)
1. modularization explosive-removal robot, it is characterized in that, it comprises mobile platform, motion arm unit, front end performance element, The Cloud Terrace, communication unit and power supply unit, an and master controller that is used for generating control instruction, this modularization explosive-removal robot also comprises the first sub-controller of being arranged in this motion arm unit, be arranged at the second sub-controller in this front end performance element and be arranged at the 3rd sub-controller in this The Cloud Terrace, wherein
This power supply unit is used to this modularization explosive-removal robot that working power is provided;
This communication unit is used for the control instruction of this master controller is sent to this first sub-controller, this second sub-controller and the 3rd sub-controller;
This first sub-controller, this second sub-controller and the 3rd sub-controller are used for controlling respectively this motion arm unit, this front end performance element and this The Cloud Terrace according to this control instruction.
2. modularization explosive-removal robot as claimed in claim 1, it is characterized in that, be provided with motion arm interface, The Cloud Terrace interface, energy source interface and communication unit interface on this mobile platform, this motion arm unit is connected with this mobile platform by this motion arm interface, this The Cloud Terrace is connected with this mobile platform by this The Cloud Terrace interface, this power supply unit is connected with this mobile platform by this energy source interface, and this communication unit is connected with this mobile platform by this communication unit interface.
3. modularization explosive-removal robot as claimed in claim 1 is characterized in that, is provided with front end performance element interface on this motion arm unit, and this front end performance element is connected with this motion arm unit by this front end performance element interface.
4. modularization explosive-removal robot as claimed in claim 2, it is characterized in that, the power interface that the power interface that this motion arm interface, this The Cloud Terrace interface, this energy source interface and communication unit interface comprise for the data-interface of transfer of data and is used for powering, this front end performance element interface comprise for the data-interface of transfer of data and be used for powering.
5. modularization explosive-removal robot as claimed in claim 2, it is characterized in that, this motion arm interface, this The Cloud Terrace interface, this energy source interface and communication unit interface realize and the data communication of this master controller that by versabus this front end performance element interface is by the data communication of versabus realization with this master controller.
6. modularization explosive-removal robot as claimed in claim 1, it is characterized in that this first sub-controller, this second sub-controller and the 3rd sub-controller also are used for status information feedback with this motion arm unit, this front end performance element and this The Cloud Terrace to this master controller.
7. modularization explosive-removal robot as claimed in claim 1, it is characterized in that, this motion arm unit comprises forearm subelement, postbrachium subelement and joint subelement, this forearm subelement, this postbrachium subelement and this joint subelement comprise respectively one the 4th sub-controller, the 4th sub-controller is used for receiving this control instruction to control this forearm subelement, this postbrachium subelement and this joint subelement, and/or the 4th sub-controller also is used for this forearm subelement, this postbrachium subelement and this joint subunit state information are fed back to this master controller.
8. modularization explosive-removal robot as claimed in claim 7, it is characterized in that, this first sub-controller, this second sub-controller, the 3rd sub-controller and the 4th sub-controller include the embedded controller of processing for data, realize exchanges data by versabus between this first sub-controller, this second sub-controller, the 3rd sub-controller and the 4th sub-controller.
9. modularization explosive-removal robot as claimed in claim 1 is characterized in that, this master controller arranges in this mobile platform, and/or this power supply unit is mounted on this mobile platform both sides.
10. modularization explosive-removal robot as claimed in claim 1 is characterized in that, this front end performance element is selected from: paw, water cannon rifle, TURP cutter and electric drill head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220483531 CN202878305U (en) | 2012-09-20 | 2012-09-20 | Modular explosive-handling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220483531 CN202878305U (en) | 2012-09-20 | 2012-09-20 | Modular explosive-handling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202878305U true CN202878305U (en) | 2013-04-17 |
Family
ID=48069768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220483531 Expired - Fee Related CN202878305U (en) | 2012-09-20 | 2012-09-20 | Modular explosive-handling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202878305U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647341A (en) * | 2015-02-28 | 2015-05-27 | 东北大学 | Obstacle-crossing type no-cable remote-control risk-elimination detecting robot |
| CN104792240A (en) * | 2015-03-16 | 2015-07-22 | 长源动力（北京）科技有限公司 | Remote control wire cutting system |
| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
| CN105819370A (en) * | 2016-06-08 | 2016-08-03 | 三门峡市天康成套设备有限责任公司 | Integrated intelligent explosion troubleshooting assistant platform |
| CN106799734A (en) * | 2017-02-10 | 2017-06-06 | 中国东方电气集团有限公司 | A kind of method that unnecessary danger solution based on mobile robot is automatically processed |
| CN107081764A (en) * | 2017-03-27 | 2017-08-22 | 常州明景智能科技有限公司 | Light anti-interference explosive-removal robot and its application method |
| CN107671864A (en) * | 2017-09-12 | 2018-02-09 | 北京航天光华电子技术有限公司 | A kind of explosive-removal robot intelligence control system |
| CN109656247A (en) * | 2018-11-02 | 2019-04-19 | 北理慧动（常熟）车辆科技有限公司 | A kind of hand-held backpack remote driving instrument of mine-clearing vehicle |
-
2012
- 2012-09-20 CN CN 201220483531 patent/CN202878305U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647341B (en) * | 2015-02-28 | 2016-04-06 | 东北大学 | A kind of obstacle crossing type cableless remote control is got rid of the danger Detecting Robot |
| CN104647341A (en) * | 2015-02-28 | 2015-05-27 | 东北大学 | Obstacle-crossing type no-cable remote-control risk-elimination detecting robot |
| CN104792240A (en) * | 2015-03-16 | 2015-07-22 | 长源动力（北京）科技有限公司 | Remote control wire cutting system |
| CN105459123A (en) * | 2015-11-26 | 2016-04-06 | 南京工程学院 | Visual explosive ordnance disposal robot |
| CN105819370B (en) * | 2016-06-08 | 2018-12-04 | 三门峡市天康成套设备有限责任公司 | The explosive assistance platform of integrated-type intelligent |
| CN105819370A (en) * | 2016-06-08 | 2016-08-03 | 三门峡市天康成套设备有限责任公司 | Integrated intelligent explosion troubleshooting assistant platform |
| CN106799734A (en) * | 2017-02-10 | 2017-06-06 | 中国东方电气集团有限公司 | A kind of method that unnecessary danger solution based on mobile robot is automatically processed |
| CN106799734B (en) * | 2017-02-10 | 2020-04-10 | 中国东方电气集团有限公司 | Method for automatically processing redundant hazardous chemical solution based on mobile robot |
| CN107081764A (en) * | 2017-03-27 | 2017-08-22 | 常州明景智能科技有限公司 | Light anti-interference explosive-removal robot and its application method |
| CN107671864A (en) * | 2017-09-12 | 2018-02-09 | 北京航天光华电子技术有限公司 | A kind of explosive-removal robot intelligence control system |
| CN107671864B (en) * | 2017-09-12 | 2020-06-09 | 北京航天光华电子技术有限公司 | Arrange and explode robot intelligence control system |
| CN109656247A (en) * | 2018-11-02 | 2019-04-19 | 北理慧动（常熟）车辆科技有限公司 | A kind of hand-held backpack remote driving instrument of mine-clearing vehicle |
| CN109656247B (en) * | 2018-11-02 | 2022-05-17 | 北理慧动（常熟）车辆科技有限公司 | Handheld backpack remote control pilot of mine sweeper |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202878305U (en) | Modular explosive-handling robot | |
| CN103138370A (en) | System and method for improving energy efficient of cloud computing | |
| CN102157980A (en) | Uninterrupted power supply system based on fuel cell and power supply method thereof | |
| CN201398215Y (en) | IP camera | |
| CN1581633A (en) | Uninterrupted power source module parallel control method and system thereof | |
| CN202034819U (en) | Uninterruptible power supply system based on fuel cell | |
| CN102222981A (en) | Wind power converter monitoring system and wind power generation system | |
| CN201860163U (en) | Data center intelligent power supply control system | |
| CN101521400B (en) | Modularized UPS power supply | |
| CN201266352Y (en) | Power source remote controller for computer | |
| CN105931476A (en) | Standby traffic signal lamp apparatus capable of being automatically started during power failure | |
| CN206892797U (en) | Modular power module based on the superfluous electricity backups of BBU | |
| CN202315042U (en) | Electrified water-flushing fire extinguishing system and electrified water-flushing fire truck | |
| CN115686143A (en) | Cabinet server | |
| CN210225047U (en) | Explosion-proof and intrinsically safe uninterrupted power supply device for underground coal mine | |
| CN201765500U (en) | Mining programmable controlling machine | |
| CN202677147U (en) | Novel intelligent building management and monitoring device | |
| CN107317389A (en) | A kind of data center powers framework | |
| JP2013201795A (en) | Photovoltaic power generation system with power storage device | |
| CN202196353U (en) | Mining explosion-proof and intrinsic safety type computer | |
| CN202817884U (en) | Uninterruptible powered power supply device | |
| CN204231294U (en) | A kind of remote monitoring device of solar power system | |
| CN203463878U (en) | Trolley capable of supplying reliable continuous direct current | |
| CN204669023U (en) | A kind of online rack UPS | |
| CN201608903U (en) | Device for connecting mobile phone and electronic signing tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130417 Termination date: 20200920 |