CN207066248U - A kind of autonomous intelligent detecting a mine mechanical device - Google Patents
A kind of autonomous intelligent detecting a mine mechanical device Download PDFInfo
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- CN207066248U CN207066248U CN201720720227.2U CN201720720227U CN207066248U CN 207066248 U CN207066248 U CN 207066248U CN 201720720227 U CN201720720227 U CN 201720720227U CN 207066248 U CN207066248 U CN 207066248U
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Abstract
The utility model discloses a kind of autonomous intelligent detecting a mine mechanical device, described device includes car body, and car body is provided with mobile chassis system, mechanical arm detection system and paint finishing, and mobile chassis system is connected with mechanical arm detection system and paint finishing respectively；Mobile chassis system includes mobile platform system, dynamical system and control system, mechanical arm detection system includes manipulator motion system and detection system, paint finishing includes telescoping mechanism, oscillating arm mechanisms and spray body, wherein, dynamical system is installed on the rear end of mobile platform system；Control system connects dynamical system and detection system respectively；Telescoping mechanism and oscillating arm mechanisms are connected with spray body；Described spray body includes shower nozzle.The utility model can carry out intelligence, accurate, efficient, lossless detection and indicate to minefield thunder point, and safe and reliable guarantee is provided for the later stage removal of mines.
Description
Technical field
A kind of detecting a mine device is the utility model is related to, especially a kind of autonomous intelligent detecting a mine mechanical device.
Background technology
Land mine is a kind of lethal larger explosive weapon, and the belligerent side of war can generally use substantial amounts of land mine,
The military power of enemy is cut down with this.But indiscriminately laying and using due to land mine, cause belligerent countries' tract to be lain waste, Ren Minliu
From becoming homeless, had a strong impact on economic construction and the life of the people, thus mine-detecting technique just turn into these belligerent countries there is an urgent need to
Technology.
The patent of Application No. 201620688512.6 discloses a kind of self-balancing mine-clearing vehicle for adapting to more places, and it can be with
In a variety of places, the mine dragging in the case of completion is various, the safe coefficient of related personnel's mine dragging has been ensured.But should
Scheme still has problems with：It disclose only if it find that dangerous stop at once, and sends alarm, it is not specified that is visiting
How to be disposed after measuring land mine, thus can not be realized according to clearance situation and quickly tear thunder open.Application No. 02100602.4
Patent application discloses a kind of carpet type quick mine-sweeping vehicle, and the program is directly ignited after land mine is detected, and mine-clearing vehicle is broken
Bad power is very big, and the life-span for directly resulting in mine-clearing vehicle reduces significantly；In addition, the obstacle climbing ability of the mine-clearing vehicle is general, cause to use
Scope is limited.In addition, such scheme there is problems：The control mode underaction of detecting devices, and detecting devices
Detection area size depends entirely on the translational speed size of car body, causes the investigative range of mine-clearing vehicle to be limited, and detecting a mine efficiency
It is relatively low.
Utility model content
The purpose of this utility model is, there is provided a kind of autonomous intelligent detecting a mine mechanical device, it can effectively solve existing
There is problem present in technology, realize the accurate, efficient of land mine, lossless detection and mark, provided for the later stage removal of mines safe and reliable
Guarantee.
In order to solve the above technical problems, the utility model adopts the following technical scheme that：A kind of autonomous intelligent detecting a mine machine
Tool device, including car body, the car body are provided with mobile chassis system, mechanical arm detection system and paint finishing, mobile chassis
System is connected with mechanical arm detection system and paint finishing respectively；Described mobile chassis system includes mobile platform system, moved
Force system and control system, mechanical arm detection system include manipulator motion system and detection system, and paint finishing includes flexible
Mechanism, oscillating arm mechanisms and spray body, wherein, dynamical system is installed on the rear end of mobile platform system, is provided for whole device
Power source is simultaneously done with reuse；Control system connects dynamical system and detection system respectively；Telescoping mechanism and oscillating arm mechanisms with spray
Apply mechanism connection；Described spray body includes shower nozzle.
In the utility model, described mobile chassis system carries whole detecting a mine mechanical device motion, and control system can be right
Path planning, travel speed, working condition etc. are controlled, and manipulator motion system carries detection system, realizes detecting devices
The applying working condition of folding and unfolding, after paint finishing is used for detection system discovery land mine, spraying sign is carried out to the region, removed mines for the later stage
Safe and reliable guarantee is provided.
Preferably, described manipulator motion system uses doublejointed mechanical arm or multi-joint mechanical arm, so as to reality
Existing more flexible control detecting devices, effectively expand the investigative range and detection area of mine detection vehicle, visited so as to further increase
Thunder efficiency；In addition, after detection system detects land mine, control system can be reclaimed to flush coater with control machinery arm kinematic system
Structure concedes space, and then spray body stretches out simultaneously swing, shower nozzle is reached above land mine and carries out spraying sign, so as to
With the volume of effective diminution detecting a mine device, and realize that more flexibly, efficiently, accurately control paint finishing carries out spraying mark
Show；In addition, described metal machinery arm uses doublejointed mechanical arm or multi-joint mechanical arm, it is preferably dust-proof so as to play
Effect, substantially increase the life-span of detecting a mine mechanical device.
In the utility model, described spray body also includes：Air compressor machine and paint spray pump, described air compressor machine and spray painting
Pump is connected, and paint spray pump is connected with shower nozzle, so as to use spraying sign of the paint as coating progress land mine；Compared to utilization
Liquid such as fountain pen ink in liquid tank are indicated using the coating powder in paint can, using paint in the utility model
Sign becomes apparent from, smaller by external environment influence, and paint is not easily accessible soil, and the retention time is more long.
Described paint spray pump can use barrier film paint spray pump, and land mine is carried out more preferably in rugged environment so as to realize
Spraying sign, improve spray efficiency, and make it that the time that the paint of spraying is kept is longer.
It is furthermore preferred that described spray body also includes：Air transformer, two-way electromagnetic valve and/or three-way magnetic valve, institute
The air transformer stated is connected with air compressor machine, and two-way electromagnetic valve is connected with air transformer and shower nozzle respectively, three-way magnetic valve point
It is not connected with air transformer, shower nozzle and air compressor machine, so that spray painting control is relatively reliable, stably, and then improves whole
The detecting a mine efficiency of detecting a mine mechanical device.
In foregoing autonomous intelligent detecting a mine mechanical device, described mobile platform system is multi-track mobile platform, from
And cause detecting a mine mechanical device of the present utility model that there is more preferable obstacle climbing ability, greatly expand detecting a mine machine of the present utility model
The application scenario of tool device.
Preferably, described mobile platform system includes：The first driving wheel of both sides is respectively arranged on, two are provided with per side,
And two the first driving wheels per side are connected by crawler belt；Also include the second active being connected with least one first driving wheel
Wheel, the second described driving wheel is connected by crawler belt with driven pulley, so that mobile platform system has more preferable supportive
Stronger power and can be provided for whole device so that detecting a mine mechanical device of the present utility model has more preferable obstacle climbing ability.
In the utility model, described telescoping mechanism includes：A motors, rack and nozzle arm, the A motors are provided with A
Gear, the connection of A wheel and racks, rack are connected with nozzle arm, nozzle arm connection shower nozzle, are not only simple in structure, and cost is cheap, and
And it can flexibly, accurately control the stretching and contraction of spray body.
In the utility model, described oscillating arm mechanisms include：B motors and arc-shaped rack, the B motors are provided with B gears,
B gears are connected with arc-shaped rack, and arc-shaped rack is connected with nozzle arm, are not only simple in structure, and cost is cheap, and can flexibly,
The accurately swing of control spray body.
In said system, in addition to：Tele-control system, described tele-control system are connected with control system, so as to
It can realize and the path planning of detecting a mine system, travel speed, working condition etc. are controlled at a distance, be sprayed after detecting land mine
Painting sign, so as to realize that being removed mines for the later stage for the high precisely high reliability of more efficient, high intelligence provides safe and reliable guarantee.
Compared with prior art, the utility model carries mechanical arm detection system and spraying by using mobile chassis system
System carries out intelligence, accurate, efficient, lossless detection to minefield thunder point and indicated, and alternative high intensity high-risk manually detects work
Make, so as to provide safe and reliable guarantee for the later stage removal of mines.In addition, in the utility model, described manipulator motion system is adopted
With metal machinery arm and the combination arm of nonmetallic arm, one end connection detection system of described nonmetallic arm, other end connection gold
Belong to mechanical arm；Described metal machinery arm uses doublejointed mechanical arm or multi-joint mechanical arm, more flexible so as to realize
Detecting devices is controlled, effectively expands the investigative range and detection area of mine detection vehicle, so as to further increase detecting a mine efficiency；Separately
Outside, after detection system detects land mine, control system can be reclaimed with control machinery arm kinematic system and concede sky to spray body
Between, then spray body stretches out simultaneously swing, shower nozzle is reached above land mine and carries out spraying sign, so as to effectively contract
The volume of small detecting a mine device, and realize that more flexibly, efficiently, accurately control paint finishing carries out spraying sign；In addition, institute
The metal machinery arm stated uses doublejointed mechanical arm or multi-joint mechanical arm, so as to play preferable dust-proof effect, significantly
Improve the life-span of detecting a mine mechanical device.In addition, detecting a mine mechanical device described in the utility model also includes：Remote control system
System, described tele-control system is connected with control system, so as to realize the path planning to detecting a mine system, OK at a distance
Sail speed, working condition etc. to be controlled, sign is sprayed after detecting land mine, so as to further ensure the person of operating personnel
Safety, that realizes the high precisely high reliability of more efficient, high intelligence provides safe and reliable guarantee for the later stage removal of mines.Finally, this practicality
In new, described mobile platform system uses multi-track mobile platform, so that detecting a mine mechanical device of the present utility model
With more preferable obstacle climbing ability, the application scenario of detecting a mine mechanical device of the present utility model is greatly expanded；It is particularly described
Mobile platform system includes：The first driving wheel of both sides is respectively arranged on, two, and two the first driving wheels per side are provided with per side
Connected by crawler belt；Also include the second driving wheel being connected with least one first driving wheel, the second described driving wheel passes through
Crawler belt is connected with driven pulley, so that mobile platform system has more preferable support performance and provided for whole device stronger
Power so that detecting a mine mechanical device of the present utility model has more preferable obstacle climbing ability.
Brief description of the drawings
Fig. 1 is detecting a mine mechanical device overall structure diagram of the present utility model；
Fig. 2 is the structural representation of mobile chassis system；
Fig. 3 is the structural representation of double tracked mobile platforms；
Fig. 4 is the structural representation of wheel moving platform；
Fig. 5 is a kind of structural representation of multi-track mobile platform；
Fig. 6 is another structural representation of multi-track mobile platform；
Fig. 7 is the structural representation of mechanical arm detection system；
Fig. 8 is the structural representation of paint finishing；
Fig. 9 is the schematic diagram that manipulator motion system is withdrawn；
Figure 10 is the front view that paint finishing is stretched out；
Figure 11 is the top view that paint finishing stretches out swing arm centre position；
Figure 12 is the top view that paint finishing stretches out swing arm front and back position；
Figure 13 is a kind of schematic diagram of embodiment of spray body；
Figure 14 is the schematic diagram of another embodiment of spray body；
Figure 15 is the schematic diagram that metal machinery arm uses doublejointed mechanical arm in manipulator motion system；
Figure 16 is multi-joint mechanical arm schematic diagram；
Figure 17 is connecting-rod mechanism type mechanical arm schematic diagram；
Figure 18 is metal framework mechanical arm schematic diagram.
Reference：2- mobile chassis systems, 3- mechanical arm detection systems, 4- paint finishings, 5- mobile platform systems, 6-
Dynamical system, 7- control systems, 8- manipulator motion systems, 9- detection systems, 10- telescoping mechanisms, 11- oscillating arm mechanisms, 12- sprays
Apply mechanism, 13- air compressor machines, 14- shower nozzles, 15- paint spray pumps, 16- paint cans, 17- air transformers, 18- two-way electromagnetic valves, 19-
Three-way magnetic valve, 20- water pumps, 21- liquid tanks, the driving wheels of 22- second, 23- driven pulleys, 24- nozzle arms, the nonmetallic arms of 201-,
202- metal machinery arms, 203- metal framework mechanical arms.
The utility model is further described with reference to the accompanying drawings and detailed description.
Embodiment
Embodiment 1 of the present utility model：A kind of autonomous intelligent detecting a mine mechanical device, as shown in figure 1, including car body, institute
State car body and be provided with mobile chassis system 2, mechanical arm detection system 3 and paint finishing 4, mobile chassis system 2 respectively with machinery
Arm detection system 3 is connected with paint finishing 4；As shown in Fig. 2 described mobile chassis system 2 includes mobile platform system 5, moved
Force system 6 and control system 7, as shown in Fig. 7, Fig. 9, mechanical arm detection system 3 includes manipulator motion system 8 and detection is
System 9, as shown in Fig. 8, Figure 10, Figure 11, Figure 12, described paint finishing 4 includes telescoping mechanism 10, oscillating arm mechanisms 11 and flush coater
Structure 12, wherein, dynamical system 6 is installed on the rear end of mobile platform system 5, provides power source for whole device and does with reuse；
Control system 7 connects dynamical system 6 and detection system 9 respectively；Telescoping mechanism 10 and oscillating arm mechanisms 11 connect with spray body 12
Connect；Described spray body 12 includes shower nozzle 14.
As shown in figure 16, described manipulator motion system 8 uses multi-joint mechanical arm.
As shown in figure 13, described spray body 12 also includes：Air compressor machine 13 and paint spray pump 15, described air compressor machine 13
It is connected with paint spray pump 15, paint spray pump 15 is connected with shower nozzle 14.
Described spray body 12 also includes：Air transformer 17, two-way electromagnetic valve 18 and/or three-way magnetic valve 19, institute
The air transformer 17 stated is connected with air compressor machine 13, and two-way electromagnetic valve 18 is connected with air transformer 17 and shower nozzle 14 respectively, and three
Three-way electromagnetic valve 19 is connected with air transformer 17, shower nozzle 14 and air compressor machine 13 respectively.
As shown in fig. 6, described mobile platform system 5 is multi-track mobile platform.Described mobile platform system 5 wraps
Include：The first driving wheel of both sides is respectively arranged on, two are provided with per side, and two the first driving wheels per side are connected by crawler belt；
Also include four the second driving wheels 22 (coaxially connected) to be connected one to one with the first driving wheel, the second described driving wheel 22
It is connected by crawler belt with driven pulley 23.
Described telescoping mechanism 10 includes：A motors, rack and nozzle arm 24, the A motors are provided with A gears, A gears
It is connected with rack, rack is connected with nozzle arm 24, and nozzle arm 24 connects shower nozzle 14.
Described oscillating arm mechanisms 11 include：B motors and arc-shaped rack, the B motors are provided with B gears, B gears and arc
Rack is connected, and arc-shaped rack is connected with nozzle arm.
Also include：Tele-control system, described tele-control system are connected with control system 7.
Embodiment 2：A kind of autonomous intelligent detecting a mine mechanical device, as shown in figure 1, including car body, the car body is provided with
Mobile chassis system 2, mechanical arm detection system 3 and paint finishing 4, mobile chassis system 2 respectively with mechanical arm detection system 3
It is connected with paint finishing 4；As shown in Fig. 2 described mobile chassis system 2 includes mobile platform system 5, dynamical system 6 and control
System 7 processed, as shown in Fig. 7, Fig. 9, mechanical arm detection system 3 includes manipulator motion system 8 and detection system 9, such as Fig. 8, figure
10th, shown in Figure 11, Figure 12, described paint finishing 4 includes telescoping mechanism 10, oscillating arm mechanisms 11 and spray body 12, wherein, move
Force system 6 is installed on the rear end of mobile platform system 5, provides power source for whole device and does with reuse；Control system 7 is distinguished
Connect dynamical system 6 and detection system 9；Telescoping mechanism 10 and oscillating arm mechanisms 11 are connected with spray body 12；Described spraying
Mechanism 12 includes shower nozzle 14.
As shown in figure 15, described manipulator motion system 8 uses doublejointed mechanical arm.
As shown in figure 13, described spray body 12 also includes：Air compressor machine 13 and paint spray pump 15, described air compressor machine 13
It is connected with paint spray pump 15, paint spray pump 15 is connected with shower nozzle 14.
As shown in figure 5, described mobile platform system 5 is multi-track mobile platform.Described mobile platform system 5 wraps
Include：The first driving wheel of both sides is respectively arranged on, two are provided with per side, and two the first driving wheels per side are connected by crawler belt；
Also include the second driving wheel 22 for be connected with one of them first driving wheel of every side, the second described driving wheel 22 by crawler belt and
Driven pulley 23 connects；Two described the second driving wheels 22 are located at same one end.
Described telescoping mechanism 10 includes：A motors, rack and nozzle arm 24, the A motors are provided with A gears, A gears
It is connected with rack, rack is connected with nozzle arm 24, and nozzle arm 24 connects shower nozzle 14.
Described oscillating arm mechanisms 11 include：B motors and arc-shaped rack, the B motors are provided with B gears, B gears and arc
Rack is connected, and arc-shaped rack is connected with nozzle arm.
Also include：Tele-control system, described tele-control system are connected with control system 7.
Embodiment 3：A kind of autonomous intelligent detecting a mine mechanical device, as shown in figure 1, including car body, the car body is provided with
Mobile chassis system 2, mechanical arm detection system 3 and paint finishing 4, mobile chassis system 2 respectively with mechanical arm detection system 3
It is connected with paint finishing 4；As shown in Fig. 2 described mobile chassis system 2 includes mobile platform system 5, dynamical system 6 and control
System 7 processed, as shown in Fig. 7, Fig. 9, mechanical arm detection system 3 includes manipulator motion system 8 and detection system 9, such as Fig. 8, figure
10th, shown in Figure 11, Figure 12, described paint finishing 4 includes telescoping mechanism 10, oscillating arm mechanisms 11 and spray body 12, wherein, move
Force system 6 is installed on the rear end of mobile platform system 5, provides power source for whole device and does with reuse；Control system 7 is distinguished
Connect dynamical system 6 and detection system 9；Telescoping mechanism 10 and oscillating arm mechanisms 11 are connected with spray body 12；Described spraying
Mechanism 12 includes shower nozzle 14.
As shown in figure 17, described manipulator motion system 8 uses linkage.
As shown in figure 14, described spray body 12 also includes：Water pump 20 and liquid tank 21, described water pump 20 respectively with
Liquid tank 21 and shower nozzle 14 connect.
As shown in figure 3, described mobile platform system 5 is double tracked mobile platforms.
Described telescoping mechanism 10 can be realized using existing mode, such as：Electric pushrod (cost is high).
Described oscillating arm mechanisms 11 can be realized using existing mode, such as：Electric pushrod (cost is high).
Embodiment 4：A kind of autonomous intelligent detecting a mine mechanical device, as shown in figure 1, including car body, the car body is provided with
Mobile chassis system 2, mechanical arm detection system 3 and paint finishing 4, mobile chassis system 2 respectively with mechanical arm detection system 3
It is connected with paint finishing 4；As shown in Fig. 2 described mobile chassis system 2 includes mobile platform system 5, dynamical system 6 and control
System 7 processed, as shown in Fig. 7, Fig. 9, mechanical arm detection system 3 includes manipulator motion system 8 and detection system 9, such as Fig. 8, figure
10th, shown in Figure 11, Figure 12, described paint finishing 4 includes telescoping mechanism 10, oscillating arm mechanisms 11 and spray body 12, wherein, move
Force system 6 is installed on the rear end of mobile platform system 5, provides power source for whole device and does with reuse；Control system 7 is distinguished
Connect dynamical system 6 and detection system 9；Telescoping mechanism 10 and oscillating arm mechanisms 11 are connected with spray body 12；Described spraying
Mechanism 12 includes shower nozzle 14.
As shown in figure 18, described manipulator motion system 8 can use the group of metal machinery arm 202 and nonmetallic arm 201
Close arm, one end connection detection system 9 of described nonmetallic arm 201, other end connection metal machinery arm 202；Described metal
Mechanical arm 202 is using metal framework mechanical arm 203.
As shown in figure 13, described spray body 12 also includes：Air compressor machine 13 and paint can 16, described air compressor machine 13
It is connected with paint can 16, paint can 16 is connected with shower nozzle 14.
As shown in figure 4, described mobile platform system 5 is wheel moving platform.
Described telescoping mechanism 10 includes：A motors, rack and nozzle arm 24, the A motors are provided with A gears, A gears
It is connected with rack, rack is connected with nozzle arm 24, and nozzle arm 24 connects shower nozzle 14.
Described oscillating arm mechanisms 11 include：B motors and arc-shaped rack, the B motors are provided with B gears, B gears and arc
Rack is connected, and arc-shaped rack is connected with nozzle arm.
A kind of operation principle of embodiment of the present utility model：
Detecting a mine mechanical device of the present utility model, by control system 7 to mobile chassis system 2, the and of mechanical arm detection system 3
Paint finishing 4 is controlled, including the mobile route of mobile platform system 5, speed, direction, the extension of manipulator motion system 8
With recovery, the flexible of spray body 12, swing arm, spraying sign etc..
Specifically, the utility model utilizes the control system 7 or low coverage on tele-control system remote control car body
From direct operation control system 7, the mobile chassis system 2 of car body is controlled to be moved to the position that face is specified；Calculated and treated using GPS
The crucial point coordinates of search coverage, and set search coverage；Control system 7 is treated search coverage according to program calculating and detected
Autonomous path planning；Control car body is advanced along path planning, and after mechanical arm detection system 3 detects land mine, data are transmitted to
Control system 7, the control machinery arm kinematic system 8 of control system 7 is withdrawn concedes space to spray body 12, then spray body 12
Simultaneously swing is stretched out, shower nozzle 14 is reached above land mine and carries out spraying sign；After being indicated to land mine point, car body is according to planning
Detection operations are continued after detecting complete region to be detected, or land mine point is indicated in path, car body return origin, the row for the treatment of
Continue planning detection after thunder；So as to realize the high precisely high reliability of more efficient, high intelligence for the later stage removal of mines provides it is safe,
Reliable guarantee.
In particular, described mobile chassis system 2 includes mobile platform system 5, dynamical system 6 and control system 7.
Dynamical system 6 is installed on the rear end of mobile platform system 5, provides power source for whole system and does with reuse, whole to balance
The weight of individual detecting a mine mechanical device；Control system 7 is installed on the top of mobile platform system 5, controls whole intelligent detecting a mine device
Path planning, travel speed, working condition etc.：Control system 7 control dynamical system 6 drive mobile platform system 5 (can be
Wheel moving platform, double tracked mobile platforms or multi-track mobile platform etc.) car body is moved to the position specified in face.
Mechanical arm detection system 3 includes manipulator motion system 8 and detection system 9, and described detection system is positioned at machinery
Arm front end.Control system 7 controls car body to drive detection system 9 to carry out along path planning traveling and control machinery arm kinematic system 8
Mine detection.During detection, the mechanical arm extension (driving nonmetallic arm and detection system) of manipulator motion system 8, mechanical arm exists
Under the coordination of control system 7, detection system 9 is placed in search coverage, detection terminates rear mechanical arm and withdrawn backward, drives detection system
System 9 is returned on mobile platform system 5, completes detection.In the utility model, described manipulator motion system 8 can use motor,
Decelerator, chain, rack pinion combination, are moved back and forth before and after mobile support arm so as to drive, and realize mechanical arm detection system
The recovery of system 3 and detection operations.
Paint finishing 4 includes telescoping mechanism 10, oscillating arm mechanisms 11 and spray body 12.When mechanical arm detection system 3 detects
To after land mine, detection system is withdrawn, and spray body 12 is driven by telescoping mechanism 10 and oscillating arm mechanisms 11, is run to above land mine,
Then spraying sign is carried out to land mine and neighboring area by shower nozzle 14.In the utility model, described telescoping mechanism 10 wraps
Include：A motors, rack and nozzle arm 24, the A motors are provided with A gears, the connection of A wheel and racks, and rack connects with nozzle arm 24
Connect, nozzle arm 24 connects shower nozzle 14.A motor-driven gears rackwork drives nozzle arm 24, and is run along guide rail, so as to reach
The effect that shower nozzle is moved forward or rearward.In the utility model, described oscillating arm mechanisms 11 include：B motors and arc-shaped rack,
The B motors are provided with B gears, and B gears are connected with arc-shaped rack, and arc-shaped rack is connected with nozzle arm.Using B motor sliding tooths
Wheel realizes the swing of nozzle arm 24 with arc-shaped rack, so as to reach the effect of the sector region of paint finishing 4 spraying.This practicality
In new, described spray body 12 also includes：Air compressor machine 13 and paint spray pump 15 and/or paint can 16, described air compressor machine
13 are connected with paint spray pump 15, paint can 16 respectively, and paint spray pump 15, paint can 16 are connected with shower nozzle 14.Described spray body
12 also include：Air transformer 17, two-way electromagnetic valve 18 and/or three-way magnetic valve 19, described air transformer 17 and pneumatics
Machine 13 is connected, and two-way electromagnetic valve 18 is connected with air transformer 17 and shower nozzle 14 respectively, and three-way magnetic valve 19 becomes with air respectively
Depressor 17, shower nozzle 14 and air compressor machine 13 connect.Or described spray body 12 also includes：Water pump 20 and liquid tank 21, it is described
Water pump 20 be connected respectively with liquid tank 21 and shower nozzle 14；Water pump 20 suctions out colored liquid (such as red fountain pen from liquid tank 21
Ink) or powder as spray finishing material, sprayed by shower nozzle 14 and carry out land mine sign.
Claims (9)
1. a kind of autonomous intelligent detecting a mine mechanical device, it is characterised in that including car body, the car body is provided with mobile chassis system
Unite (2), mechanical arm detection system (3) and paint finishing (4), mobile chassis system (2) respectively with mechanical arm detection system (3) and
Paint finishing (4) is connected；Described mobile chassis system (2) includes mobile platform system (5), dynamical system (6) and control system
Unite (7), mechanical arm detection system (3) includes manipulator motion system (8) and detection system (9), and paint finishing (4) includes flexible
Mechanism (10), oscillating arm mechanisms (11) and spray body (12), wherein, after dynamical system (6) is installed on mobile platform system (5)
End, provide power source for whole device and do with reuse；Control system (7) connects dynamical system (6) and detection system respectively
(9)；Telescoping mechanism (10) and oscillating arm mechanisms (11) are connected with spray body (12)；Described spray body (12) includes shower nozzle
(14)。
2. autonomous intelligent detecting a mine mechanical device according to claim 1, it is characterised in that described manipulator motion system
System (8) uses doublejointed mechanical arm or multi-joint mechanical arm.
3. autonomous intelligent detecting a mine mechanical device according to claim 1, it is characterised in that described spray body (12)
Also include：Air compressor machine (13) and paint spray pump (15), described air compressor machine (13) are connected with paint spray pump (15), paint spray pump (15) with
Shower nozzle (14) connects.
4. autonomous intelligent detecting a mine mechanical device according to claim 3, it is characterised in that described spray body (12)
Also include：Air transformer (17), two-way electromagnetic valve (18) and/or three-way magnetic valve (19), described air transformer (17)
It is connected with air compressor machine (13), two-way electromagnetic valve (18) is connected with air transformer (17) and shower nozzle (14) respectively, three-way magnetic valve
(19) it is connected respectively with air transformer (17), shower nozzle (14) and air compressor machine (13).
5. autonomous intelligent detecting a mine mechanical device according to claim 1, it is characterised in that described mobile platform system
(5) it is multi-track mobile platform.
6. autonomous intelligent detecting a mine mechanical device according to claim 5, it is characterised in that described mobile platform system
(5) include：The first driving wheel of both sides is respectively arranged on, two are provided with per side, and two the first driving wheels per side pass through crawler belt
Connection；Also include the second driving wheel (22) being connected with least one first driving wheel, described the second driving wheel (22) passes through
Crawler belt is connected with driven pulley (23).
7. autonomous intelligent detecting a mine mechanical device according to claim 1, it is characterised in that described telescoping mechanism (10)
Including：A motors, rack and nozzle arm (24), the A motors are provided with A gears, the connection of A wheel and racks, rack and nozzle arm
(24) connect, nozzle arm (24) connection shower nozzle (14).
8. autonomous intelligent detecting a mine mechanical device according to claim 7, it is characterised in that described oscillating arm mechanisms (11)
Including：B motors and arc-shaped rack, the B motors are provided with B gears, and B gears are connected with arc-shaped rack, arc-shaped rack and shower nozzle
Arm connects.
9. according to any described autonomous intelligent detecting a mine mechanical device of claim 1~8, it is characterised in that also include：Remotely
Control system, described tele-control system are connected with control system (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720720227.2U CN207066248U (en) | 2017-06-20 | 2017-06-20 | A kind of autonomous intelligent detecting a mine mechanical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720720227.2U CN207066248U (en) | 2017-06-20 | 2017-06-20 | A kind of autonomous intelligent detecting a mine mechanical device |
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| Publication Number | Publication Date |
|---|---|
| CN207066248U true CN207066248U (en) | 2018-03-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107289819A (en) * | 2017-06-20 | 2017-10-24 | 上海圭目机器人有限公司 | A kind of autonomous intelligent detecting a mine mechanical device and detecting a mine method |
-
2017
- 2017-06-20 CN CN201720720227.2U patent/CN207066248U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107289819A (en) * | 2017-06-20 | 2017-10-24 | 上海圭目机器人有限公司 | A kind of autonomous intelligent detecting a mine mechanical device and detecting a mine method |
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Effective date of registration: 20200730 Address after: 237000, 1st floor, 2nd floor, building 14, intelligent terminal Industrial Park, sansansanpu Town, Jin'an District, Lu'an City, Anhui Province Patentee after: Anhui Guimu robot Co., Ltd Address before: 200092 room 110, Tongji Science and technology building, 1121 north two road, Yangpu District, Shanghai, Zhongshan Patentee before: SHANGHAI GUIMU ROBOT Co.,Ltd. |
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