CN217552402U - Indoor bullet robot of tearing open - Google Patents
Indoor bullet robot of tearing open Download PDFInfo
- Publication number
- CN217552402U CN217552402U CN202123027806.4U CN202123027806U CN217552402U CN 217552402 U CN217552402 U CN 217552402U CN 202123027806 U CN202123027806 U CN 202123027806U CN 217552402 U CN217552402 U CN 217552402U
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- mechanical arm
- crawler
- robot
- gripper
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Abstract
The utility model belongs to the technical field of the robot that tears open and specifically relates to an indoor robot that tears open bullet. The crawler-type crawler-wheel mounting device comprises a vehicle body, be equipped with the component mounting panel on the vehicle body, be equipped with control element on the component mounting panel, component mounting panel one end is equipped with the arm mount pad, the vehicle body below is equipped with four crawler-wheel mount pads, two of them crawler-wheel mount pad one side is equipped with the crawler-wheel motor, crawler-wheel mount pad opposite side is equipped with the initiative crawler wheel, the initiative crawler wheel is kept away from crawler-wheel mount pad one side and is equipped with obstacle-surmounting track action wheel, two of the other crawler-wheel mount pad one side is equipped with driven crawler wheel. The utility model provides a tear open and play cable run of robot is whole to be accomodate in the component under-deck, does not influence arm work, and arm structure is simple, uses the fretwork mode, and weight reduction does not influence the centrobaric indoor robot that tears open of fuselage.
Description
Technical Field
The utility model belongs to the technical field of the robot that tears open and specifically relates to an indoor robot that tears open bullet.
Background
The bomb disposal robot is a robot capable of remotely controlling to remove bombs, and as an operator uses remote control to dispose bombs, the operator can keep away from suspected explosives to perform bomb disposal work, so that casualties caused by explosion of bombs can be reduced.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists among the background art, the utility model provides a tear open bullet robot's cable run is whole to be accomodate at the component under-deck, does not influence arm work, and arm simple structure uses the fretwork mode, reduces weight, does not influence the centrobaric indoor robot that tears open the bullet.
The utility model provides a technical scheme is an indoor bullet robot of tearing open, its characterized in that: the crawler-type crawler-wheel mounting device comprises a vehicle body, be equipped with the component mounting panel on the vehicle body, be equipped with control element on the component mounting panel, component mounting panel one end is equipped with the arm mount pad, the vehicle body below is equipped with four crawler-wheel mount pads, two of them crawler-wheel mount pad one side is equipped with the crawler-wheel motor, crawler-wheel mount pad opposite side is equipped with the initiative crawler wheel, the initiative crawler wheel is kept away from crawler-wheel mount pad one side and is equipped with obstacle-surmounting track action wheel, two of the other crawler-wheel mount pad one side is equipped with driven crawler wheel.
The obstacle-crossing crawler belt driven wheel installation rod is arranged on the vehicle body, an obstacle-crossing crawler belt driven wheel is arranged at one end of the obstacle-crossing crawler belt driven wheel installation rod, and an obstacle-crossing crawler belt is arranged between the obstacle-crossing crawler belt driving wheel and the obstacle-crossing crawler belt driven wheel.
A flat ground crawler belt is arranged between the driving crawler wheel and the driven crawler wheel, a mechanical arm rotating chassis is arranged on the mechanical arm mounting seat, and a mechanical arm base is arranged above the mechanical arm rotating chassis.
The mechanical arm base is provided with a base rotating steering engine, one side of the mechanical arm base is provided with a first mechanical arm control steering engine, and a first mechanical arm joint is arranged in the mechanical arm base.
One end of the first mechanical arm section is provided with a second mechanical arm section, one end of the second mechanical arm section is provided with a second mechanical arm control steering engine, and a steering wheel of the second mechanical arm control steering engine is connected with the first mechanical arm section through a first bolt.
And one end of the second mechanical arm section, which is far away from the first mechanical arm section, is provided with a third mechanical arm section, one end of the second mechanical arm section, which is far away from the first mechanical arm section, is provided with a third mechanical arm control steering engine, and the third mechanical arm control steering engine is connected with the third mechanical arm section through a second bolt.
The mechanical arm control steering wheel is characterized in that a mechanical claw is arranged on the mechanical arm control steering wheel III, a mechanical claw rotating steering wheel is arranged on the mechanical arm control steering wheel III, the mechanical claw rotating steering wheel is connected with the mechanical claw through a bolt III, a mechanical claw control ring is arranged on the mechanical claw, clamping jaws are arranged on two sides of the mechanical claw control ring, two ends of the mechanical claw control ring are connected with the clamping jaws on two sides through a bolt IV respectively, a clamping jaw control steering wheel is arranged on one side of the mechanical claw, and the clamping jaw control steering wheel is connected with the mechanical claw control ring through a bolt.
The utility model has the advantages that:
the utility model provides a during the removal, the athey wheel motor rotates, drives and keeps away barrier track and level land track to make the automobile body can remove, keep away the barrier track and can drive the body when meetting the barrier and hinder more, the arm divide into the three section, through steering engine control between every section, the arm section has the gripper on three, two clamping jaws are connected with gripper control ring both sides, drive gripper control ring through the clamping jaw control steering wheel and rotate, thereby make the clamping jaw tighten up and loosen an indoor robot that shells that tears open.
Drawings
FIG. 1 is the overall structure schematic diagram of the indoor bullet-removing robot
Figure 2 is the utility model discloses a right side view of indoor shell removal robot
FIG. 3 is the schematic view of the mechanical arm structure of the indoor bullet-removing robot
( 1. A vehicle body; 2. an element mounting plate; 3. a control element; 4. a mechanical arm mounting seat; 5. a crawler wheel mounting seat; 6. a crawler wheel motor; 7. a drive track wheel; 8. an obstacle-crossing crawler driving wheel; 9. a driven crawler wheel; 10. a driven wheel mounting rod; 11. the obstacle-crossing crawler driven wheel; 12. an obstacle avoidance crawler belt; 13. a flat ground crawler belt; 14. the mechanical arm rotates the chassis; 15. a mechanical arm base; 16. The base rotates the steering engine; 17. the mechanical arm controls a first steering engine; 18. a first mechanical arm section; 19. a second mechanical arm section; 20. the mechanical arm controls a steering engine II; 21. a third mechanical arm section; 22. the mechanical arm controls a steering engine III; 23. a gripper; 24. the mechanical claw rotates the steering engine; 25. a mechanical jaw control ring; 26. a clamping jaw; 27. steering engine controlled by clamping jaw )
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
in order to solve present indoor robot that tears shell structure complicacy, the electric wire is more, exposes outside, influences easily and tears shell open, and the arm weight of tearing shell robot in addition is too big, influences the focus of robot easily, and the body rocks when probably leading to tearing shell and influences the work scheduling problem of tearing shell open, the utility model provides an indoor robot that tears shell open as shown in the figure, its characterized in that: including automobile body 1, be equipped with component mounting panel 2 on the automobile body 1, be equipped with control element 3 on the component mounting panel 2, 2 one end of component mounting panel is equipped with arm mount pad 4, 1 below of automobile body is equipped with four athey wheel mount pads 5, two of them 5 one side of athey wheel mount pad is equipped with athey wheel motor 6, 5 opposite sides of athey wheel mount pad are equipped with initiative athey wheel 7, 5 one side of athey wheel mount pad are kept away from to initiative athey wheel 7 is equipped with obstacle-surmounting track action wheel 8, two of the other 5 one side of athey wheel mount pad is equipped with driven athey wheel 9.
The utility model discloses in be equipped with on the automobile body 1 and hinder the track more from driving wheel installation pole 10, hinder more the track and be equipped with from driving wheel 11 from driving wheel installation pole 10 one end, hinder more track action wheel 8 and hinder more the track and be equipped with from driving wheel 11 between and keep away barrier track 12.
The utility model discloses in be equipped with level land track 13 between initiative athey wheel 7 and the driven athey wheel 9, be equipped with arm rotary chassis 14 on the arm mount pad 4, arm rotary chassis 14 top is equipped with arm base 15.
The utility model discloses in be equipped with base rotation steering wheel 16 on the arm base 15, arm base 15 one side is equipped with arm control steering wheel 17, be equipped with arm festival 18 in the arm base 15.
The utility model discloses in 18 one ends of arm festival are equipped with two 19 arm festival, two 19 one ends of arm festival are equipped with two 20 arm control steering wheel, be connected through bolt one between two 20 steering wheel of arm control steering wheel and the arm festival 18.
The utility model discloses in two 19 arm sections are kept away from 18 one ends of arm section and are equipped with three 21 arm sections, it is equipped with three 22 arm control steering engines to keep away from 18 one ends of arm section on two 19 arm sections, be connected through two bolts between three steering wheel of arm control steering engine and the three 21 arm sections.
The utility model discloses in be equipped with gripper 23 on the three 22 of mechanical arm control steering wheel, be equipped with gripper rotation steering wheel 24 on the three 22 of mechanical arm control steering wheel, gripper rotates and is connected through three bolts between 24 steering wheel steering wheels and the gripper 23, be equipped with gripper control ring 25 on the gripper 23, gripper control ring 25 both sides all are equipped with clamping jaw 26, gripper control ring 25 both ends respectively with the clamping jaw 26 of both sides between be connected through four bolts, gripper 23 one side is equipped with clamping jaw control steering wheel 27, pass through bolted connection between 27 steering wheel of clamping jaw control steering wheel and the gripper control ring 25.
The utility model discloses a theory of operation:
an indoor robot of tearing open bullet of this embodiment, during the removal, crawler wheel motor 6 rotates, drive and keep away barrier track 12 and level land track 13, thereby make the automobile body can remove, keep away barrier track 12 and can drive the automobile body when meetting the barrier and cross the barrier, the arm divide into the three-section, through steering engine control between every section, there is gripper 23 on the three 21 sections of arm, two clamping jaws 26 are connected with gripper control ring 25 both sides, drive gripper control ring 25 through clamping jaw control steering wheel 27 and rotate, thereby make clamping jaw 26 tighten up and relax.
The present invention and the embodiments thereof have been described above, but the description is not limited thereto, and what is shown in the detailed description is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should understand that they should not be limited to the embodiments described above, and that they can design the similar structure and embodiments without departing from the spirit of the invention.
Claims (7)
1. The utility model provides an indoor shell removal robot which characterized in that: including automobile body (1), be equipped with component mounting panel (2) on automobile body (1), be equipped with controlling element (3) on component mounting panel (2), component mounting panel (2) one end is equipped with arm mount pad (4), automobile body (1) below is equipped with four athey wheel mount pads (5), wherein two athey wheel mount pad (5) one side is equipped with athey wheel motor (6), athey wheel mount pad (5) opposite side is equipped with initiative athey wheel (7), driving athey wheel (7) are kept away from athey wheel mount pad (5) one side and are equipped with obstacle-crossing crawler drive wheel (8), two in addition athey wheel mount pad (5) one side is equipped with driven athey wheel (9).
2. The indoor shell disassembling robot of claim 1, wherein: the obstacle-crossing crawler belt driven wheel installation device is characterized in that an obstacle-crossing crawler belt driven wheel installation rod (10) is arranged on the vehicle body (1), an obstacle-crossing crawler belt driven wheel (11) is arranged at one end of the obstacle-crossing crawler belt driven wheel installation rod (10), and an obstacle-avoiding crawler belt (12) is arranged between the obstacle-crossing crawler belt driving wheel (8) and the obstacle-crossing crawler belt driven wheel (11).
3. An indoor shell dismantling robot as claimed in claim 1, wherein: a flat ground crawler belt (13) is arranged between the driving crawler wheel (7) and the driven crawler wheel (9), a mechanical arm rotating chassis (14) is arranged on the mechanical arm mounting seat (4), and a mechanical arm base (15) is arranged above the mechanical arm rotating chassis (14).
4. An indoor shell dismantling robot as claimed in claim 3, wherein: the mechanical arm is characterized in that a base rotating steering engine (16) is arranged on the mechanical arm base (15), a mechanical arm control steering engine I (17) is arranged on one side of the mechanical arm base (15), and a mechanical arm section I (18) is arranged in the mechanical arm base (15).
5. An indoor shell dismantling robot as claimed in claim 4, wherein: one end of the first mechanical arm section (18) is provided with a second mechanical arm section (19), one end of the second mechanical arm section (19) is provided with a second mechanical arm control steering engine (20), and the second mechanical arm control steering engine (20) is connected with the first mechanical arm section (18) through a first bolt.
6. An indoor shell dismantling robot as claimed in claim 5, wherein: one end, far away from mechanical arm festival one (18), of mechanical arm festival two (19) is equipped with mechanical arm festival three (21), keep away from mechanical arm festival one (18) one end on mechanical arm festival two (19) and be equipped with mechanical arm control steering wheel three (22), be connected through bolt two between mechanical arm festival three (22) steering wheel and the mechanical arm festival three (21).
7. An indoor shell disassembling robot as claimed in claim 6, wherein: be equipped with gripper (23) on the three (22) of arm control steering wheel, it rotates steering wheel (24) to be equipped with the gripper on the three (22) of arm control steering wheel, the gripper rotates to be connected through three bolts between steering wheel (24) steering wheel and gripper (23), be equipped with gripper control ring (25) on gripper (23), gripper control ring (25) both sides all are equipped with clamping jaw (26), gripper control ring (25) both ends are connected through four bolts between clamping jaw (26) of both sides respectively, gripper (23) one side is equipped with clamping jaw control steering wheel (27), pass through bolted connection between clamping jaw control steering wheel (27) steering wheel and the gripper control ring (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123027806.4U CN217552402U (en) | 2021-12-06 | 2021-12-06 | Indoor bullet robot of tearing open |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123027806.4U CN217552402U (en) | 2021-12-06 | 2021-12-06 | Indoor bullet robot of tearing open |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217552402U true CN217552402U (en) | 2022-10-11 |
Family
ID=83466115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123027806.4U Active CN217552402U (en) | 2021-12-06 | 2021-12-06 | Indoor bullet robot of tearing open |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217552402U (en) |
-
2021
- 2021-12-06 CN CN202123027806.4U patent/CN217552402U/en active Active
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