CN205630646U - Arrange type of exploding robot - Google Patents
Arrange type of exploding robot Download PDFInfo
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- CN205630646U CN205630646U CN201620101461.2U CN201620101461U CN205630646U CN 205630646 U CN205630646 U CN 205630646U CN 201620101461 U CN201620101461 U CN 201620101461U CN 205630646 U CN205630646 U CN 205630646U
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- robot
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- power set
- robot chassis
- chassis
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Abstract
The utility model discloses an arrange type of exploding robot, including the robot chassis, the lower part on robot chassis is provided with moving mechanism, and is provided with the owner of robot arm on the robot chassis, is provided with the telescoping device on the main arm, and the front portion of telescoping device is provided with two sections arm driving device and sets up the mechanism that holds in hand at the telescoping device front end, holds the mechanism in hand and connects two sections arm driving device, be provided with the controller in the robot chassis, telescoping device and two sections arm driving device are connected to the controller. The utility model relates to a rationally, held stationary in the walking process, flexible movements have sufficient grasping force, utilize the track to guarantee the power and the angle of climbing in addition to and guaranteeing to have sufficient power at the climbing in -process, the effect is exploded in the row of assurance.
Description
Technical field
This utility model belongs to explosive class robot field, specifically, relates to a kind of explosive class robot.
Background technology
Blast brings huge economic loss and political fallout to the country and people, threatens the life of explosive personnel
Safety.Research and development fight against terrorism and violence technology and equipment, in order to maintain social stability and political requirement, is given by various countries
Great attention and more input are given.Along with remote control and the development of local autonomous technology, for anti-
Probably investigation and explosive ground mobile robot start to be applied.Explosive class robot (explosive disposal
Robot) refer to for people to not going or having in the environment such as blast, danger of being not suitable for, or get rid of
The robot that danger work is done, is used exclusively for searching for, detecting, process the robot of various Explosive hazardous material,
Can also implement effectively to attack to some armed terrorists and offender, be in anti-terrorism professional contingent
Requisite important equipment.
But current explosive class robot also exists some shortcomings, is mainly reflected in:
Existing explosive class robot grasp force is little, easily causes crawl thing and comes off, affects using effect, meanwhile,
Existing explosive class robot climbing power is inadequate, and ramp angle is little, and drag force is little, and these all leverage
Explosive effect, even threatens the personal safety of staff.
For the problems referred to above, technical staff needs to develop a kind of explosive class robot, reasonable in design, in walking
During held stationary, flexible movements, there is enough grasp forces, and utilize crawler belt to ensure the dynamic of climbing
Power and angle, and ensure, during climbing, there is enough power, it is ensured that explosive effect, become urgently
The problem solved.
Utility model content
The technical problems to be solved in the utility model is to overcome drawbacks described above, it is provided that a kind of explosive class robot,
Reasonable in design, held stationary in the process of walking, flexible movements, there is enough grasp forces, and utilize
Crawler belt ensures power and the angle of climbing, and ensures have enough power during climbing, it is ensured that row
Quick-fried effect.
For solving the problems referred to above, this utility model be the technical scheme is that
A kind of explosive class robot, it is characterised in that: include that robot chassis, the both sides on robot chassis set
Being equipped with in travel mechanism, and robot chassis and be provided with robot main frame mechanical arm, main frame mechanical arm is internally provided with
Retractor device, the front portion of retractor device is provided with two joint arm driving means and is arranged on retractor device front end
Hands grapple structure, hands grapple structure connects two joint arm driving means；Be provided with in described robot chassis controller with
And power supply, controller connects all driving means.
As the technical scheme of a kind of optimization, described travel mechanism includes being symmetricly set on both sides, robot chassis
Some wheels and connect wheel crawler belt；It is provided with mobile power set in described robot chassis, moves
Dynamic power set are in transmission connection wheel；Described mobile power set connect controller.
As the technical scheme of a kind of optimization, it is flexible dynamic that described retractor device includes being arranged in main frame mechanical arm
Power apparatus and be arranged on the internal telescopic arm of mechanical arm, flexible power set are in transmission connection telescopic arm；Described master
Balanced support mechanism it is provided with between mechanical arm and robot chassis.
As the technical scheme of a kind of optimization, described balanced support mechanism includes being arranged on robot chassis
Connect base and the robot's arm of noose telescopic arm, connect base upper shaft connect have electric up-down pole and
Mechanical balance pole, one end of electric up-down pole is connected to the both sides of robot's arm, mechanical balance pole
One end be connected to the bottom of robot's arm.
As the technical scheme of a kind of optimization, described paw mechanism includes the two joint arms driving motors that are in transmission connection
Two joint arms, the front end of two joint arms connects paw, has paw electric rotating machine and folding motor inside two joint arms.
As the technical scheme of a kind of optimization, described flexible power set are telescope motor, and two joint arms drive dress
Being set to two joint arm motors, mobile power set are mobile motor.
Owing to have employed technique scheme, compared with prior art, this utility model is reasonable in design, is expert at
Held stationary during walking, maneuverability, and utilize convex-concave Widened track and high-power power set significantly
Promote earth-grasping force ensure climbing angle and under complex road surface environment obstacle detouring and climb building ability, exclusive balance
Supporting mechanism, more effectively adds robot entirety grasp force and grasp stability.Ensure tasks carrying effect
Really.
The utility model is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of this utility model；
Fig. 2 is retractor device and the structural representation of Equipoising support apparatus in Fig. 1.
Detailed description of the invention
Embodiment:
As shown in Figure 1-2, a kind of explosive class robot, including robot chassis 5, the two of robot chassis 5
Side is provided with in travel mechanism, and robot chassis and is provided with robot main frame mechanical arm 1, and main frame mechanical arm 1 is internal
Being provided with retractor device, the front portion of retractor device is provided with two joint arm driving means 4 and is arranged on flexible dress
Putting the hands grapple structure of front end, hands grapple structure connects two joint arm driving means 4.Described robot is provided with in chassis
Controller and power supply, controller connects all driving means.
Described travel mechanism includes the some wheels 6 being symmetricly set on both sides, robot chassis and connects wheel 6
Crawler belt 7.Being provided with mobile power set in described robot chassis 5, mobile power set are in transmission connection car
Wheel 6.Described mobile power set connect controller.
Described retractor device includes inside the flexible power set 10 that are arranged in main frame mechanical arm 1 and mechanical arm
Telescopic arm 9, flexible power set are in transmission connection telescopic arm.Between described main frame mechanical arm 1 and robot chassis 5
It is provided with balanced support mechanism.
Described balanced support mechanism includes connection base 13 and the noose telescopic arm being arranged on robot chassis
Robot's arm 8, connect base 13 upper shaft connect have electric up-down pole 11 and mechanical balance pole 12,
One end of electric up-down pole 11 is connected to the both sides of robot's arm, and one end of mechanical balance pole 12 is even
It is connected on the bottom of robot's arm.
The described hands grapple structure two joint arms that include being in transmission connection drive two joint arms 3 of motors, and the front ends of two joint arms 3 are even
Being connected to paw 2, two joint arms 3 are internal paw electric rotating machine and folding motor.
In view of actual use, described flexible power set are telescope motor, and two joint arm driving means are two
Joint arm motor, mobile power set are mobile motor.
This utility model is reasonable in design, in the process of walking held stationary, flexible movements, has enough grabbing
Power taking, and utilize crawler belt to ensure power and the angle of climbing, and ensure have enough during climbing
Power, it is ensured that tasks carrying effect.
This utility model is not limited to above-mentioned preferred implementation, and anyone should learn at this utility model
Enlightenment under the structure change made, every have with this utility model same or like as technical scheme,
Belong to protection domain of the present utility model.
Claims (6)
1. an explosive class robot, it is characterised in that: include robot chassis, the bottom on robot chassis
It is provided with in travel mechanism, and robot chassis and is provided with robot main frame mechanical arm, main frame mechanical arm is provided with
Retractor device, the front portion of retractor device is provided with two joint arm driving means and is arranged on retractor device front end
Hands grapple structure, hands grapple structure connects two joint arm driving means.
Being provided with controller in described robot chassis, controller connects retractor device and two joint arm driving means.
Explosive class robot the most according to claim 1, it is characterised in that: described travel mechanism includes
It is symmetricly set on some wheels of both sides, robot chassis and connects the crawler belt of wheel；Described robot chassis
Inside being provided with mobile power set, mobile power set are in transmission connection wheel；Described mobile power set connect
Controller.
Explosive class robot the most according to claim 2, it is characterised in that: described retractor device includes
The flexible power set being arranged in main frame mechanical arm and telescopic arm, flexible power set are in transmission connection telescopic arm；
Balanced support mechanism it is provided with between described telescopic arm and robot chassis.
Explosive class robot the most according to claim 3, it is characterised in that: described balanced support mechanism
Connect base and the robot's arm of noose telescopic arm including be arranged on robot chassis, connect base
Upper shaft connects electric up-down pole and electrodynamic balance pole, and one end of electric up-down pole is connected to robot
The top of large arm, one end of electrodynamic balance pole is connected to the bottom of robot's arm.
Explosive class robot the most according to claim 1, it is characterised in that: described hands grapple structure includes
The two joint arms that are in transmission connection drive two joint arms of motor, and the front end of two joint arms connects paw.
Explosive class robot the most according to claim 3, it is characterised in that: described flexible power set
For telescope motor, two joint arm driving means are two joint arm motors, and mobile power set are mobile motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620101461.2U CN205630646U (en) | 2016-02-02 | 2016-02-02 | Arrange type of exploding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620101461.2U CN205630646U (en) | 2016-02-02 | 2016-02-02 | Arrange type of exploding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205630646U true CN205630646U (en) | 2016-10-12 |
Family
ID=57078108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620101461.2U Active CN205630646U (en) | 2016-02-02 | 2016-02-02 | Arrange type of exploding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205630646U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549147A (en) * | 2018-04-18 | 2018-09-18 | 卢响锋 | A kind of comprehensive portable circuit board amplifier |
-
2016
- 2016-02-02 CN CN201620101461.2U patent/CN205630646U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549147A (en) * | 2018-04-18 | 2018-09-18 | 卢响锋 | A kind of comprehensive portable circuit board amplifier |
| CN108549147B (en) * | 2018-04-18 | 2020-11-24 | 义乌市倩飞科技有限公司 | All-round portable amplifier for circuit board |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |