CN212170425U

CN212170425U - Explosive-handling robot

Info

Publication number: CN212170425U
Application number: CN202020765115.0U
Authority: CN
Inventors: 贾振鹏
Original assignee: Henan Zhuoqi Electronic Technology Co ltd
Current assignee: Henan Zhuoqi Electronic Technology Co ltd
Priority date: 2020-05-11
Filing date: 2020-05-11
Publication date: 2020-12-18
Anticipated expiration: 2030-05-11

Abstract

The utility model discloses an explosion-removing robot, which comprises a robot body and crawler systems arranged on the left side and the right side of the robot body, wherein a clamping device and a detection device are arranged on the upper plane of the robot body in parallel along the walking direction, and the detection device comprises a first mechanical arm fixedly arranged on the robot body and a detector rotatably connected with the front end of the first mechanical arm; a connecting plate is further arranged in front of the robot body and in the middle of the two crawler systems, and the connecting plate is connected with the robot body in a telescopic mode through a connecting piece; a grabbing camera is arranged in the middle of the connecting plate, and searchlights are symmetrically arranged on two sides of the grabbing camera respectively; the rear portion of robot body top still is equipped with the controller be equipped with the panorama camera on the controller. The utility model discloses the monitoring field of vision is more extensive, and is visual better, is fit for operation under the dark surrounds, detects and arranges to explode and can go on simultaneously, increases the discharge efficiency in danger area.

Description

Explosive-handling robot

Technical Field

The utility model relates to an automation equipment technical field, concretely relates to arrange and explode robot.

Background

The explosive-handling robot belongs to the field of ground mobile robots in non-structural environments, and the research and the initiation of the explosive-handling robot are earlier in foreign countries. The European and American capital sense countries such as the United kingdom, France, Germany, United states and the like successively develop technical research on the explosive ordnance disposal robot. The earliest explosive ordnance disposal robots were most often used for military purposes. With the development of the times, a plurality of products are already commercialized and are actively used in a plurality of fields such as security protection, mines, chemical industry, dangerous goods production and the like. The research of the current explosion-removing robot technology is mainly to enable the robot to have more autonomous functions, and finally develop an intelligent explosion-removing robot capable of autonomously searching, detecting, removing explosion, identifying friend or foe and automatically attacking enemy targets.

The existing robot only has a grabbing structure, the grabbing hand is improved, but the existing robot still has poor visibility and is not beneficial to work in dark zones or at night; in addition, the dangerous goods in a complex zone or a narrow zone can not be detected, and the potential danger is high.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide a arrange and explode robot, solve traditional row and explode the robot, it is visual poor, survey not in place, the incomprehensive problem of feedback information.

In order to solve the technical problem, the utility model adopts the following technical scheme: an explosion-removing robot comprises a robot body and crawler systems arranged on the left side and the right side of the robot body, wherein a clamping device and a detection device are arranged on the upper plane of the robot body in parallel along the walking direction, and the detection device comprises a first mechanical arm fixedly arranged on the robot body and a detector rotatably connected with the front end of the first mechanical arm; a connecting plate is further arranged in front of the robot body and in the middle of the two crawler systems, and the connecting plate is connected with the robot body in a telescopic mode through a connecting piece; a grabbing camera is arranged in the middle of the connecting plate, and searchlights are symmetrically arranged on two sides of the grabbing camera respectively;

the rear part above the robot body is also provided with a controller, and the controller is provided with a panoramic camera; the controller is respectively and electrically connected with the clamping device, the detection device, the panoramic camera, the grabbing camera and the searchlight;

and illuminating lamps and wireless receivers are symmetrically arranged on two sides of the panoramic camera respectively.

According to the technical scheme, the grabbing and detecting functions can be realized by arranging the clamping device and the detecting device, the dangerous goods can be effectively detected, the first mechanical arm can effectively realize the height adjustment of the detector, and the detector is rotatably connected with the first mechanical arm to realize the rotation of the detector in the horizontal direction, so that the height and angle adjustment of the detector can be realized, and the detector can conveniently detect different heights and angles; the searchlights are arranged on the two sides of the grabbing camera, so that the grabbing camera can clearly shoot the surrounding situation in a dark environment; the panoramic camera is arranged at the rear part of the robot body, so that the monitoring of the panoramic layout can be facilitated, the panoramic camera can be conveniently operated in a dark environment by arranging the illuminating lamp, and the problem of poor visibility is solved.

Preferably, the first mechanical arm comprises a bottom plate fixedly connected with the robot body, a first connecting arm hinged with the bottom plate, a second connecting arm hinged with the first connecting arm, and a third connecting arm hinged with the second connecting arm; the base is connected with the first connecting arm, the first connecting arm is connected with the second connecting arm, and the second connecting arm is connected with the third connecting arm through hydraulic cylinders.

First, two, three linking arms are articulated each other respectively, make things convenient for the activity between them to adjust, adjust the height of first mechanical arm through the pneumatic cylinder of establishing separately, can realize the altitude mixture control of detector, make things convenient for the detector to spy the topography of co-altitude not.

Preferably, the detector include with the connecting rod of the front end rotatable coupling of third linking arm is in with fixed the setting the detection mechanism of connecting rod front end, detection mechanism includes the aluminum alloy casing, is located the probe of aluminum alloy casing and is located the lamp pearl of probe rear both sides.

The problem of poor visibility can be avoided in detection mechanism's setting, can survey alone in the dark surrounds, and it is more convenient to use.

Preferably, a U-shaped groove is formed in the front end of the third connecting arm, a groove is formed in the bottom of the front end of the third connecting arm, and a transmission mechanism is arranged in the groove; the transmission mechanism comprises a steering motor horizontally arranged at the bottom of the groove, a bevel gear connected with the output end of the steering motor, and a bevel gear arranged below the bevel gear and meshed with the bevel gear; the conical gear is fixedly connected with the tail end of a connecting rod of the detector through a connecting shaft, and the detector is driven to turn by the rotation of the hammer-shaped gear.

The steering motor drives the bevel gear to rotate, and meanwhile, the detector rotates along with the bevel gear to detect all angles.

Preferably, a through hole is formed above the U-shaped groove, and a rotating shaft connected with the through hole in a sleeved mode is fixedly arranged above the connecting rod. The top of detector passes through the connecting rod and rotates along the through-hole, and the through-hole plays spacing effect, increases the stability of detector rotation in-process.

Preferably, the gripping device comprises a second mechanical arm fixedly arranged on the robot body and a gripper rotatably connected with the front end of the second mechanical arm.

Preferably, the panoramic camera with connect through the support frame between the controller, the support frame is including being used for fixing panoramic camera's fixed plate and setting are in the guide of fixed plate bottom both sides, and set up two step motor between the guide, step motor's flexible end with the bottom fixed connection of fixed plate.

Preferably, through holes are respectively formed in two sides of the fixing plate, and the guide piece is sleeved in the through holes and movably connected along the through holes.

The guide piece reciprocates along the through hole, and the through hole plays spacing effect, and the fixed plate is driven by step motor and is reciprocated to increased panoramic camera's the scope of finding a view, made the scope that panoramic camera covered wider.

Preferably, the guide member is of a sleeve type structure and comprises a first sleeve fixedly arranged on the controller and a second sleeve sleeved in the first sleeve, and the top of the second sleeve is fixedly connected with the bottom of the fixing plate. The guide part is designed into a complete set of barrel type, so that dead-angle-free shooting of the panoramic camera can be realized, shielding of the guide part on the panoramic camera is avoided, and the guide part is always located below the fixed plate.

Preferably, the connecting piece is a servo motor, the servo motor is fixed in the robot body, and the telescopic end of the servo motor is fixedly connected with the connecting plate and drives the connecting plate to do telescopic motion. The servo motor drives the connecting plate to move back and forth, so that the camera and the searchlight can be favorably grabbed and adjusted as required, and dead angles of irradiation and photographing are avoided.

The track system is including setting up the track mounting bracket in robot body both sides, setting up at track mounting bracket one end and the action wheel of being connected with driving motor's main shaft and follow the driving wheel, set up in the inside of track mounting bracket (not marked in the picture), set up the tight wheel that props at the track mounting bracket other end from the driving wheel to and encircle at the action wheel, follow the track in the driving wheel and prop the tight wheel outside, still be equipped with the bearing wheel in track mounting bracket lower part outside.

The beneficial effects of the utility model reside in that: 1. the dangerous area can be more conveniently and comprehensively detected by arranging the detection device, the gripping of the gripper is facilitated, the blindness is reduced, the dangerous articles can be more accurately detected, and the detection dead angle is avoided; 2. the first mechanical arm is matched with the transmission mechanism to adjust the height and the angle of the detector, so that the detection range of the detector is wider and more comprehensive; 3. the arrangement of the capturing camera and the searchlight is more convenient for capturing the local position condition in the dark environment; 4. the height of the panoramic camera is adjustable, the full-range monitoring of the zone to be detected is convenient to treat, the visual field is wider, and the effect is better.

The utility model discloses holistic monitoring field of vision is more extensive, and is visual better, is fit for operation under the dark surrounds, detects and arranges to explode and can go on simultaneously, increases the discharge efficiency in danger area.

Drawings

FIG. 1 is a schematic structural view of the explosion-removing robot of the present invention;

FIG. 2 is a schematic view of the structure of the first link arm;

FIG. 3 is a schematic view of the connection of the probe;

FIG. 4 is a cross-sectional view of the probe attachment;

FIG. 5 is a schematic structural view of the transmission mechanism;

FIG. 6 is a schematic view of the structure of a guide member in one embodiment;

fig. 7 is a top view of a guide member in another embodiment.

Reference numerals: the robot comprises a robot body 1, a track system 2, a track mounting frame 221, a driving wheel 222, a bearing wheel 223, a tensioning wheel 224, a track 225, a clamping device 3, a detection device 4, a controller 5, a connecting plate 6, a camera 7, a searchlight 8, a panoramic camera 9, a support frame 10, a wireless receiver 11, a lighting lamp 12, a stepping motor 13, a fixing plate 14, a guide part 15, a first sleeve 16, a second sleeve 17, a transmission mechanism 18, a rotating shaft 19, a bottom plate 20, a first connecting arm 21, a second connecting arm 22, a third connecting arm 23, a detector 24, a connecting rod 25, a detection mechanism 26, a probe 27, a lamp bead 28, a groove 29, a bevel gear 30, a bevel gear 31 and a steering motor 32.

Detailed Description

The following examples are provided to illustrate the present invention in detail and should not be construed as limiting the scope of the present invention in any way.

Example 1

As shown in fig. 1-7, the explosion-removing robot comprises a robot body 1 and crawler systems 2 arranged on the left and right sides of the robot body 1, wherein a gripping device 3 and a detecting device 4 are arranged on the upper plane of the robot body 1 in parallel along a walking direction.

The detecting device 4 comprises a first mechanical arm fixedly arranged on the robot body 1 and a detector 24 rotatably connected with the front end of the first mechanical arm. The first mechanical arm comprises a bottom plate 20 fixedly connected with the robot body 1, a first connecting arm 21 hinged with the bottom plate 20, a second connecting arm 22 hinged with the first connecting arm 21, and a third connecting arm 23 hinged with the second connecting arm 22; the base and the first connecting arm 21, the first connecting arm 21 and the second connecting arm 22, and the second connecting arm 22 and the third connecting arm 23 are connected through hydraulic cylinders respectively, and the hydraulic cylinders drive the connecting arms to move mutually, so that the height of the front end of the first mechanical arm is controlled. A U-shaped groove is formed in the front end of the third connecting arm 23, a groove 29 is formed in the bottom of the front end of the third connecting arm 23, and a transmission mechanism 18 is arranged in the groove 29; the transmission mechanism 18 comprises a steering motor 32 horizontally arranged at the bottom of the groove 29, a bevel gear 31 connected with the output end of the steering motor 32, and a bevel gear 30 arranged below the bevel gear 31 and meshed with the bevel gear; the bevel gear 30 is fixedly connected with the tail end of the connecting rod 25 of the detector 24 through a connecting shaft, and the detector 24 is driven to rotate by the rotation of the hammer-shaped gear.

The detector 24 include with the front end rotatable coupling's of third linking arm 23 connecting rod 25 with fixed the setting be in the detection mechanism 26 of connecting rod 25 front end, detection mechanism 26 includes the aluminum alloy casing, is located the probe 27 of aluminum alloy casing and is located the lamp pearl 28 of probe 27 rear both sides.

The crawler system 2 includes crawler mounting frames 221 disposed on two sides of the robot body 1, a driving wheel 222 and a driven wheel disposed on one end of the crawler mounting frames 221 and connected to a main shaft of the driving motor, the driven wheel is disposed inside the crawler mounting frames 221 (not shown in the figure), a tightening wheel 224 disposed on the other end of the crawler mounting frames 221, and a crawler 225 surrounding the driving wheel 222, the driven wheel and the tightening wheel 224, and a bearing wheel 223 is further disposed on the outer side of the lower portion of the crawler mounting frames 221.

The clamping device 3 comprises a second mechanical arm fixedly arranged on the robot body 1 and a gripper rotatably connected with the front end of the second mechanical arm. The structure of the second mechanical arm is the same as that of the first mechanical arm, and the control and arrangement of the gripper are the prior art.

A connecting plate 6 is further arranged in front of the robot body 1 and in the middle of the two crawler systems 2, and the connecting plate 6 is connected with the robot body 1 in a telescopic manner through a connecting piece; a grabbing camera 7 is arranged in the middle of the connecting plate 6, and searchlights 8 are symmetrically arranged on two sides of the grabbing camera respectively; the connecting piece is servo motor, servo motor fixes the inside of robot body 1, servo motor's flexible end with connecting plate 6 fixed connection is driven connecting plate 6 by servo motor and is the concertina movement.

The rear part above the robot body 1 is also provided with a controller 5, and the controller 5 is provided with a panoramic camera 9; panoramic camera 9 with connect through support frame 10 between the controller 5, support frame 10 is including being used for fixing panoramic camera 9's fixed plate 14 is in with the setting guide 15 of fixed plate 14 bottom both sides, and set up two step motor 13 between the guide 15, step motor 13 flexible end with the bottom fixed connection of fixed plate 14. Through holes are respectively formed in two sides of the fixing plate 14, and the guide piece 15 is sleeved in the through holes and movably connected along the through holes. And illuminating lamps 12 and wireless receivers 11 are symmetrically arranged on two sides of the panoramic camera 9 respectively.

The controller 5 is respectively electrically connected with the clamping device 3, the detecting device 4, the panoramic camera 9, the grabbing camera 7, the searchlight 8, the servo motor and the driving motor.

Still install battery pack in crawler attachment frame 221 for provide the electric energy, controller 5, clamp device 3, detecting device 4, panoramic camera 9, pick camera 7, searchlight 8, servo motor, driving motor all are connected with battery pack.

Example 2

As shown in fig. 1 to 6, compared with embodiment 1, the difference of this embodiment is the difference of the structure of the guide 15 and the installation manner of the detector 24, specifically: a through hole is arranged above the U-shaped groove, and a rotating shaft 19 which is sleeved and connected with the through hole is fixedly arranged above the connecting rod 25. The detector 24 can rotate around the through hole when rotating, and the stability of the detector 24 is increased.

The guide member 15 is of a sleeve structure, and includes a first sleeve 16 fixedly disposed on the controller 5 and a second sleeve 17 sleeved in the first sleeve 16, wherein the top of the second sleeve 17 is fixedly connected to the bottom of the fixing plate 14. Under the drive of step motor 13, first sleeve 16 reciprocates along second sleeve 17, and guide 15 of this structure is located the below of fixed plate 14 all the time, ensures that panoramic camera 9 is not sheltered from, guarantees to shoot the effect.

The controller 5, the stepping motor 13, the driving motor, the steering motor 32, the servo motor, the gripper, the hydraulic cylinder and the like are all designed conventionally if no special description is provided, and the connection mode and the control mode between the controller 5 and the gripper are all conventional modes.

The utility model discloses a theory of operation: when the explosion-eliminating robot works, dangerous articles are grabbed and taken away through the gripper, when the dangerous articles cannot be judged or dangerous zones need to be eliminated, the detection device 4 is adopted for firstly detecting, the controller 5 controls each hydraulic cylinder to control the height of the first mechanical arm, so that the detector 24 detects positions with different heights, the steering motor 32 in the transmission mechanism 18 is controlled to convert the angle of the detector 24, the detection range is enlarged, and the detection efficiency is improved; when the detector 24 detects the dangerous goods, the controller 5 controls the hand grip to grip away the dangerous goods; the shooting record can be carried out on the special position through the grabbing camera 7, the subsequent analysis is convenient, the searchlight 8 can be turned on in a dark zone to improve the shooting effect of the grabbing camera 7, and meanwhile, the position of the searchlight 8 can be adjusted to assist the illumination of the detector 24 by controlling a servo motor when the lamp beads 28 in the detector 24 cannot meet the illumination requirement in a dark area; the panoramic camera 9 is used for recording the investigation region in an all-round manner, and the position height of the panoramic camera 9 is adjusted by controlling the stepping motor, so that the dead angle of shooting is avoided.

The present invention has been described in detail with reference to the embodiments, but those skilled in the art will understand that the specific parameters in the embodiments can be changed without departing from the spirit of the present invention to form a plurality of specific embodiments, which are the common variation range of the present invention, and the detailed description is omitted here.

Claims

1. The utility model provides a arrange and explode robot, includes the robot, sets up the track system on both sides about the robot, its characterized in that: a clamping device and a detection device are arranged on the upper plane of the robot body in parallel along the walking direction, and the detection device comprises a first mechanical arm fixedly arranged on the robot body and a detector rotatably connected with the front end of the first mechanical arm; a connecting plate is further arranged in front of the robot body and in the middle of the two crawler systems, and the connecting plate is connected with the robot body in a telescopic mode through a connecting piece; a grabbing camera is arranged in the middle of the connecting plate, and searchlights are symmetrically arranged on two sides of the grabbing camera respectively;

2. The explosive ordnance disposal robot of claim 1, wherein the first mechanical arm comprises a base plate fixedly connected with the robot body, a first connecting arm hinged with the base plate, a second connecting arm hinged with the first connecting arm, and a third connecting arm hinged with the second connecting arm; the bottom plate is connected with the first connecting arm, the first connecting arm is connected with the second connecting arm, and the second connecting arm is connected with the third connecting arm through hydraulic cylinders.

3. The explosive-handling robot according to claim 2, wherein the detector comprises a connecting rod rotatably connected with the front end of the third connecting arm and a detection mechanism fixedly arranged at the front end of the connecting rod, and the detection mechanism comprises an aluminum alloy casing, a probe positioned in the aluminum alloy casing and lamp beads positioned at two sides behind the probe.

4. The explosive-handling robot according to claim 3, wherein a U-shaped groove is formed at the front end of the third connecting arm, a groove is formed at the bottom of the front end of the third connecting arm, and a transmission mechanism is arranged in the groove; the transmission mechanism comprises a steering motor horizontally arranged at the bottom of the groove, a bevel gear connected with the output end of the steering motor, and a bevel gear arranged below the bevel gear and meshed with the bevel gear; the conical gear is fixedly connected with the tail end of a connecting rod of the detector through a connecting shaft, and the detector is driven to turn by the rotation of the hammer-shaped gear.

5. The explosive-handling robot according to claim 4, wherein a through hole is formed above the U-shaped groove, and a rotating shaft sleeved and connected with the through hole is fixedly arranged above the connecting rod.

6. The explosive ordnance disposal robot of claim 1, wherein the gripping device comprises a second mechanical arm fixedly arranged on the robot body and a gripper rotatably connected with the front end of the second mechanical arm.

7. The explosion-venting robot as claimed in claim 1, wherein the panoramic camera is connected with the controller through a support frame, the support frame includes a fixing plate for fixing the panoramic camera, guide members disposed on two sides of the bottom of the fixing plate, and a stepping motor disposed between the two guide members, and a telescopic end of the stepping motor is fixedly connected with the bottom of the fixing plate.

8. The explosive-handling robot as claimed in claim 7, wherein through holes are respectively formed at both sides of the fixing plate, and the guide members are sleeved in the through holes and movably connected along the through holes.

9. The explosive-handling robot according to claim 7, wherein the guiding member is of a sleeve type structure and comprises a first sleeve fixedly arranged on the controller and a second sleeve sleeved in the first sleeve, and the top of the second sleeve is fixedly connected with the bottom of the fixing plate.

10. The explosive-handling robot according to claim 1, wherein the connecting member is a servo motor, the servo motor is fixed inside the robot body, and a telescopic end of the servo motor is fixedly connected with the connecting plate, and the servo motor drives the connecting plate to perform telescopic motion.