CN211073614U

CN211073614U - Crawler type explosive-handling robot

Info

Publication number: CN211073614U
Application number: CN201921641296.XU
Authority: CN
Inventors: 刘元超; 郑坤灿; 刘元浩; 黎明; 张威; 耿梦姣; 赵旭东
Original assignee: Inner Mongolia University of Science and Technology
Current assignee: Inner Mongolia University of Science and Technology
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-07-24
Anticipated expiration: 2029-09-29

Abstract

The utility model discloses a caterpillar type explosive-handling robot relates to caterpillar type explosive-handling robot technical field, comprising a main body, comprehensive camera is installed at the top of main part, and the top of main part is connected with the light, the connecting rod is installed in the outside of main part, and the outside of connecting rod runs through there is the arm, protection machanism is installed to the bottom of main part, and the outside of main part is connected with opens and closes the claw piece. The utility model discloses in, protection machanism effect through setting up can carry out the mine removal in-process at the peduncle type explosive ordnance disposal robot and play the protective function of fleing for the peduncle type explosive ordnance disposal robot has oneself and flees and barrier propterty, prevent that the peduncle type explosive ordnance disposal robot from appearing the original place on the way and stopping and leading to the peduncle type explosive ordnance disposal robot to burst the bullet and fly the phenomenon, promote the security that the peduncle type explosive ordnance disposal robot is in operating condition, through the electric connection effect of response strip and device, can start the lifter on the way and carry out the operation of going up and down at the peduncle type explosive ord.

Description

Crawler type explosive-handling robot

Technical Field

The utility model relates to a caterpillar type explosive-handling robot technical field especially relates to a caterpillar type explosive-handling robot.

Background

With the development of scientific technology and the progress of times, the caterpillar explosion-removing robot is a special equipment for explosive-removing personnel to dispose or destroy suspected explosive objects, avoids unnecessary casualties, can be used for carrying out explosion removal on various complex terrains, is mainly used for replacing the explosive-removing personnel to carry and transfer suspicious explosive objects and other harmful dangerous objects, replacing the explosive-removing personnel to use explosive bombs, replacing field security inspectors to carry out field investigation, transmitting field images in real time, being provided with a shotgun to attack criminals, and being provided with a detection equipment to detect dangerous places and dangerous objects.

The existing caterpillar type explosive-handling robot does not have self-escape and protection performance when in a working state, so that a large number of caterpillar type explosive-handling robots select in-situ stopping to cause mine-handling explosion, the productivity of the caterpillar type explosive-handling robot is greatly improved, and the multifunctional efficiency of the caterpillar type explosive-handling robot is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that the prior crawler type explosive-handling robot does not have self escape and protective performance when being in a working state, so that a large number of crawler type explosive-handling robots select original place to stop and lead to mine removal to burst, the productivity of the crawler type explosive-handling robot is greatly improved, the multifunctional efficiency of the crawler type explosive-handling robot is reduced, and the crawler type explosive-handling robot is provided.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a caterpillar type explosive-handling robot, includes the main part, comprehensive camera is installed at the top of main part, and the top of main part is connected with the light, the connecting rod is installed in the outside of main part, and the outside of connecting rod runs through there is the arm, protection machanism is installed to the bottom of main part, and the outside of main part is connected with opens and closes the claw piece, the main part outside is connected with the track, and the internally mounted of track has the track action wheel, complementary unit is installed to the bottom of main part.

Preferably, protection machanism's inside is including bearing the frame, and bears the inside of frame and seted up the cavity, the response strip is installed to the inner wall of cavity, and the outside of response strip is connected with the lifter, the spring strip is installed in the outside of lifter, and the outside of spring strip is connected with elastic airbag, elastic airbag's outside cover is equipped with the protective rubber pad.

Preferably, the spring strip forms a lifting structure through the lifting rod and the bearing frame, and the spring strip is fixedly connected with the elastic air bag.

Preferably, the inside of complementary unit is including the baffle, and the spout has been seted up to the inside of baffle, the internally mounted of spout has the slider, and the outside of slider is connected with the fly leaf, the telescopic link is installed in the outside of fly leaf.

Preferably, the movable plate forms a telescopic structure through the telescopic rod and the baffle plate, and the movable plate forms a sliding structure through the sliding groove, the sliding block and the baffle plate.

Preferably, the central axis of the main body is symmetrical to the central axis of the bearing frame, and the cross-sectional area of the bearing frame corresponds to the cross-sectional area of the baffle plate.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

1. the utility model discloses in, protection machanism effect through the setting, can carry out the mine clearing in-process at the peduncle type explosive elimination robot and play the protective function of fleing, make the peduncle type explosive elimination robot have oneself and flee and protective properties, prevent that the peduncle type explosive elimination robot from appearing the original place on the way and stopping and leading to the peduncle type explosive elimination robot to burst the bullet and fly the phenomenon, promote the security that the peduncle type explosive elimination robot is in operating condition, through the electric connection effect of response strip and device, can start the lifter on the way and carry out the lift operation on the way of the explosive elimination robot finds the mine of peduncle type explosive elimination robot, through the elevating system's of lifter, can be with the bottom outside of spring bar and the anti-popping out device of elastic air bag, support elasticity and ground through lifter and spring bar and elastic air bag rebound elasticity produce the elasticity, make the whole elastic force fly up state that is in the device, avoid the pedunclosed type explosive elimination robot to take place the explosion accident on the way Through the protection effect of the protection rubber pad, the phenomenon that the elastic air bag is punctured when the elastic air bag is resisted to be positioned on the ground can be prevented, and the self-escape firm function of the device is improved.

2. The utility model discloses in, through the sliding structure effect of spout and slider, can pass through the flexible effect of telescopic link with the fly leaf and stretch out and draw back the operation toward opposite aspect when spring strip and elasticity gasbag bounce-back are popped out to play the auxiliary function, thereby the elasticity gasbag of being convenient for rebounds and reaches the oneself function of fleing to ground, through the effect of fly leaf, can assist in elasticity gasbag bounce-back and accomodate the operation, prevent that the phenomenon of scattering from appearing when not being in operating condition in the elasticity gasbag.

3. The utility model discloses in, through the effect that sets up comprehensive camera, can reach the effect of comprehensive environment observation when the robot is in operating condition at the crawler type row of exploding, make the better mine work of carrying on of the robot is exploded to the crawler type row, light irradiation effect through the light, can assist in the position that the robot carries out the comprehensive observation explosion in the crawler type row, promote the work efficiency of the robot is exploded to the mine removal to the crawler type row, through the electric fit effect of connecting rod and arm, can be convenient for the robot is exploded to the crawler type row and carry out the mine removal operation, through the effect of opening and shutting the claw piece, can get rid of all obstacles on the way in the mine removal, make the robot is exploded to the crawler type row difficult appearance card and trouble accident on the way in the mine removal.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

fig. 2 is a schematic structural view of the protection mechanism of the present invention;

fig. 3 is a schematic structural diagram of the middle assisting mechanism of the present invention.

Illustration of the drawings:

1. a main body; 2. a full face camera; 3. an illuminating lamp; 4. a connecting rod; 5. a mechanical arm; 6. opening and closing the claw sheet; 7. a protection mechanism; 701. a carrier; 702. an induction strip; 703. a chamber; 704. a lifting rod; 705. a spring bar; 706. an elastic air bag; 707. a protective rubber pad; 8. a crawler belt; 9. a track driving wheel; 10. an auxiliary mechanism; 1001. a baffle plate; 1002. a chute; 1003. a slider; 1004. a movable plate; 1005. a telescopic rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1-3, a caterpillar type explosive-handling robot comprises a main body 1, a comprehensive camera 2 is installed at the top of the main body 1, an illuminating lamp 3 is connected to the top of the main body 1, a connecting rod 4 is installed on the outer side of the main body 1, a mechanical arm 5 penetrates through the outer side of the connecting rod 4, a protection mechanism 7 is installed at the bottom of the main body 1, an opening and closing claw piece 6 is connected to the outer side of the main body 1, a caterpillar 8 is connected to the outer side of the main body 1, a caterpillar driving wheel 9 is installed inside the caterpillar 8, an auxiliary mechanism 10 is installed at the bottom of the main body 1, the phenomenon that the caterpillar type explosive-handling robot bursts and flies due to in-situ stopping on the way of mine removal is prevented, and the safety of the caterpillar type explosive-handling.

Further, the protection mechanism 7 is provided with a bearing frame 701 inside, a cavity 703 is formed in the bearing frame 701, a sensing strip 702 is installed on the inner wall of the cavity 703, a lifting rod 704 is connected to the outer side of the sensing strip 702, a spring strip 705 is installed on the outer side of the lifting rod 704, an elastic air bag 706 is connected to the outer side of the spring strip 705, and a protection rubber pad 707 is sleeved on the outer side of the elastic air bag 706, so that a protective escape function can be achieved in the mine removing process of the caterpillar type explosive removing robot, and the caterpillar type explosive removing robot has self escape and protection performance.

Furthermore, the spring bar 705 forms a lifting structure through the lifting rod 704 and the bearing frame 701, and the spring bar 705 is fixedly connected with the elastic airbag 706, so that the lifting rod 704 can be started to lift during the process that the caterpillar type explosive elimination robot finds an explosion, the spring bar 705 and the elastic airbag 706 can rebound out of the outer side of the bottom of the device, and the supporting elastic force of the lifting rod 704, the spring bar 705 and the elastic airbag 706 rebounds and generates a strength elastic force with the ground, so that the whole device is in an elastic flying state, and the phenomenon that the body of the caterpillar type explosive elimination robot is damaged due to the explosion accident during the process that the caterpillar type explosive elimination robot finds an explosion is avoided.

Further, the inside of the auxiliary mechanism 10 includes a baffle 1001, and a sliding groove 1002 is provided in the baffle 1001, a sliding block 1003 is installed in the sliding groove 1002, a movable plate 1004 is connected to the outer side of the sliding block 1003, and an expansion link 1005 is installed on the outer side of the movable plate 1004, so that an auxiliary function is achieved, and the elastic airbag 706 can rebound to the ground to achieve a self-escape function.

Further, the movable plate 1004 is configured to be extended and contracted by the expansion rods 1005 and the shutters 1001, and the movable plate 1004 is configured to be slid by the sliding grooves 1002 and the sliders 1003 and the shutters 1001, so that the movable plate 1004 can be extended and contracted by the expansion and contraction action of the expansion rods 1005 when the spring bars 705 and the elastic airbags 706 rebound.

Furthermore, the central axis of the main body 1 is symmetrical to the central axis of the bearing frame 701, and the cross-sectional area of the bearing frame 701 corresponds to the cross-sectional area of the baffle 1001, so that the phenomenon that the body of the caterpillar explosion-removing robot is damaged due to an explosion accident in the course of lightning removal of the caterpillar explosion-removing robot is avoided.

The working principle is as follows: when in use, a worker turns on the power supply of the caterpillar type explosion-removing robot, after the controller of the caterpillar type explosion-removing robot is adjusted, the full-scale environment observation effect can be achieved when the caterpillar type explosion-removing robot is in a working state through the effect of the comprehensive camera 2, the full-scale explosion position of the explosion mine can be observed by the aid of the light irradiation effect of the illuminating lamp 3, then, the electric matching effect of the connecting rod 4 and the mechanical arm 5 can facilitate the thunder removing operation of the caterpillar type explosion-removing robot, all obstacles can be removed in the thunder removing process through the effect of the opening and closing claw piece 6, so that the caterpillar type explosion-removing robot is not easy to cause blockage and fault accidents in the thunder removing process, then, the lifting rod 704 can be started to lift in the thunder removing process through the electric connection effect of the induction strip 702 and the device, the spring strips 705 and the elastic air bags 706 can be rebounded out of the bottom of the device, the lifting rods 704 and the spring strips 705 and the elastic air bags 706 can rebound to generate strength elastic force with the ground through the supporting elastic force of the lifting rods 704 and the spring strips 705 and the elastic air bags 706, so that the whole device is in an elastic flying-up state, the phenomenon that the body of the crawler-type explosive-handling robot is damaged due to the explosion accident in the mine-handling process of the crawler-type explosive-handling robot is avoided, through the protection effect of the protective rubber pad 707, the phenomenon of stone puncture when the elastic air bag 706 resists to the ground can be prevented, the self-escape firm function of the device is improved, meanwhile, through the sliding structure action of the sliding chute 1002 and the sliding block 1003, the movable plate 1004 can be extended and retracted in the opposite direction through the extension and retraction action of the extension rod 1005 when the spring bar 705 and the elastic air bag 706 rebound, thereby playing an auxiliary function and facilitating the elastic air bag 706 to rebound to the ground so as to achieve the self-escape function.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a caterpillar band type explosive-handling robot, includes main part (1), its characterized in that, comprehensive camera (2) are installed at the top of main part (1), and the top of main part (1) is connected with light (3), connecting rod (4) are installed in the outside of main part (1), and the outside of connecting rod (4) runs through there is arm (5), protection machanism (7) are installed to the bottom of main part (1), and the outside of main part (1) is connected with and opens and shut claw piece (6), the main part (1) outside is connected with track (8), and the internally mounted of track (8) has caterpillar band action wheel (9), complementary unit (10) are installed to the bottom of main part (1).

2. The crawler-type explosive-handling robot according to claim 1, wherein the protective mechanism (7) comprises a bearing frame (701) inside, a cavity (703) is formed inside the bearing frame (701), an induction bar (702) is installed on the inner wall of the cavity (703), a lifting rod (704) is connected to the outer side of the induction bar (702), a spring bar (705) is installed on the outer side of the lifting rod (704), an elastic airbag (706) is connected to the outer side of the spring bar (705), and a protective rubber pad (707) is sleeved on the outer side of the elastic airbag (706).

3. A caterpillar explosive-handling robot as claimed in claim 2, wherein the spring bar (705) passes through the lifting rod (704) and forms a lifting structure with the bearing frame (701), and the spring bar (705) is fixedly connected with the elastic air bag (706).

4. A caterpillar type explosive-handling robot as claimed in claim 1, wherein the auxiliary mechanism (10) comprises a baffle (1001), a sliding groove (1002) is formed in the baffle (1001), a sliding block (1003) is mounted in the sliding groove (1002), a movable plate (1004) is connected to the outer side of the sliding block (1003), and a telescopic rod (1005) is mounted on the outer side of the movable plate (1004).

5. A crawler-type explosive-handling robot according to claim 4, wherein the movable plate (1004) forms a telescopic structure with the baffle (1001) through a telescopic rod (1005), and the movable plate (1004) forms a sliding structure with the baffle (1001) through a sliding groove (1002), a sliding block (1003).

6. A crawler explosion venting robot according to claim 1, wherein the central axis of the main body (1) is symmetrical to the central axis of the carrier (701), and the cross-sectional area of the carrier (701) corresponds to the cross-sectional area of the baffle (1001).