JPH11218400A - Land mine treating robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To treat a land mine safely and surely by blasting regardless of the terrain of a land mine source. SOLUTION: An outer frame 10 is constituted of two sets of cylindrical frame bodies 11, 11 connected coaxially so as to be rotatable. A main body 20, driving the rotation of the frame bodies 11, 11 independently to run the outer frame 10, is provided in the outer frame 10. Guide bars 40, extended into the fore and rear directions of the running direction of the outer frame 10, are attached to the side surfaces of the main body 20. A plurality of contact pieces 30, 30,..., extended radially from a plurality of places on the outer peripheral surfaces and consisting of a flexible material respectively, are attached to the outer peripheral surfaces of the frame bodies 11, 11. Upon climbing a slope, the rear ends of the guide bars 40 are contacted with the surface of ground whereby slope climbing power is increased. Upon passing the upper part of a recess, the contact pieces 30, 30,... are abutted against the surface of ground whereby the remaining of treading a land mine can be avoided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mine disposal robot for safely and unmannedly treating a mine buried in the ground.

[0002]

2. Description of the Related Art It is well known that regional conflicts have increased with the end of the Cold War in East and West, and human damage caused by antipersonnel mines used in the conflict has become a major international problem even after the conflict. . To solve this problem, anti-personnel mines buried in the soil are being processed on an international scale.
Conventional treatment methods have been problematic in terms of efficiency, safety and economy.

[0003] A typical method is for an operator to search for a mine with a metal detector or the like and to extract a fuze or to blast the mine. However, the work efficiency is low and extremely dangerous. A known safe method is to launch a rocket with a wire attached to the mine source and then blast the wire by contacting the wire with the ground. Many rockets had to be used, and the economy was extremely poor.

In view of such a situation, the present applicant has previously developed an unmanned self-propelled mine disposal robot which is safe, efficient and economical, and has already obtained a patent (Patent No. 25).
No. 16534). This mine disposal robot is composed of a pair of cylindrical frames that are rotatably and coaxially connected to each other. A frame is provided inside the frame, and the frames on both sides are independently driven to rotate by remote control. A self-propelled robot having a uniaxial structure and a main body for running an outer frame. Then, by remotely controlling the frames on both sides of the cylindrical shape from a safe place and rotating them independently, this robot self-propelled the mine source vertically and horizontally while securing a large ground contact area. The blast treatment can be performed efficiently, safely and securely.

[0005]

However, this unmanned self-propelled mine disposal robot is not without its problems, but has the following problems related to the terrain of the mine source.

As seen in many reports, mine sources are often undulating wastelands. The mine disposal robot developed earlier by the present applicant is a so-called single-axis type, and since there is no axis like a two-axis type, it can run along rough terrain even on rough terrain with undulations, On a steep ascending slope, the cylindrical bodies on both sides tend to roll downward, so that the main body may idle in the outer frame, making it impossible to climb the slope. Therefore, the place of use is restricted.

[0007] In addition, even in the case of a uniaxial type, in the case of a mine source having a large number of small undulations, the outer frame may pass over the dent and the mine may be left behind, and thus lacks certainty. The place of use is restricted.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a mine disposal robot capable of safely and reliably blasting a mine irrespective of the terrain of the mine source.

[0009]

In order to achieve the above object, a first land mine disposal robot according to the present invention comprises an outer cylindrical member formed by rotatably and coaxially connecting a pair of cylindrical frames on both sides. A frame, a main body provided inside the outer frame, and the outer frame is run by independently rotating and driving the frame bodies on both sides by remote control, and mounted on at least one side of the main body at a side of the outer frame. And a guide bar extending in at least one of the front and rear directions of the outer frame in the running direction and having a distal end projecting outward from the outer peripheral surface position of the frame.

A second landmine clearing robot according to the present invention comprises an outer frame formed by rotatably coaxially connecting a pair of cylindrical frame bodies on both sides, and an inner frame provided inside the outer frame. And a plurality of contacts extending radially from the outer peripheral surfaces of the frame members on both sides to the outer surface side, each of which is made of a flexible material. Is provided.

Further, a third mine disposal robot according to the present invention is provided with an outer frame formed by rotatably coaxially connecting a pair of cylindrical frames on both sides, and provided inside the outer frame. A body for independently rotating and driving the frame body by a remote control to advance the outer frame, and attached to at least one side surface of the main body at a side of the outer frame, and attached to at least one of front and rear of the outer frame in a running direction. A guide bar that extends and has a distal end protruding outward from the outer peripheral surface position of the frame, and a plurality of contacts that extend radially outward from each outer peripheral surface of the frame on both sides and are each made of a flexible material. Child.

In the first mine disposal robot according to the present invention, a guide bar is attached to at least one side surface of the main body. Each guide bar extends to at least one of the front and rear sides in the traveling direction on the side of the outer frame, and has a tip portion protruding outward from the outer peripheral surface position of the frame. When the outer frame climbs a steep uphill with the extension direction of the guide bar backward, the main body tries to idle inside the outer frame, but since the tip of the guide bar comes into contact with the inclined ground, this idling occurs. Will be blocked.
In addition, the guide bar serves as a support to prevent the outer frame from retreating, and the reaction force received from the ground via the guide bar increases the ground contact force of the frame body, thereby increasing the climbing force. Therefore, it is possible to travel freely even in rough terrain with steep undulations.

[0013] In the mine clearing robot according to the second aspect of the present invention, since the contact made of a flexible material is radially attached to the outer peripheral surface of the frame, the mine clearing robot can move at the time of self-propelling. Due to the rotation of the frame, the outer frame moves while the plurality of contacts hit the ground. Therefore, even when the outer frame passes over the depression, an effective impact can be applied to the ground in the depression. Therefore, even in the case of a mine source having a large number of small undulations, the mine is not left.

Further, the third mine processing robot according to the present invention is a combination of the first mine processing robot according to the present invention and the second mine processing robot according to the present invention. In many cases, there is no risk of stepping over.

In the case of the second land mine disposal robot according to the present invention, there is a concern that an elastic contact is interposed between the frame and the ground, and the climbing force may be reduced. In the case of the third land mine disposal robot, the guide bar can effectively compensate for the decrease in the climbing force due to the contact.

The guide bar is preferably mounted on both sides of the main body in view of the running stability of the outer frame, but when the frame on one side is rotated, it may be mounted on one side of the main body. No major problems. The guide bar preferably extends in the front and rear direction of travel of the outer frame in order to function even when the guide bar retreats. Specifically, it is preferable to mount a rod longer than the outer diameter of the frame so that its center is located substantially at the axis of the frame. If the guide bar is too low, there is a concern that it may hinder normal driving.

The guide bar and the contact are preferably detachable from the main body and the frame, respectively. By doing so, they can be selectively used and can be set according to the local terrain.

With respect to the mounting of the contacts, a plurality of contacts are attached to a plurality of base members which are arranged at intervals in the circumferential direction of the outer peripheral surface of the frame body and are respectively fitted and fixed to the outer peripheral surface. A structure in which a plant is provided with a gap in the direction is preferable from the viewpoint of detachability and the like.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a partially cutaway perspective view of a mine disposal robot according to an embodiment of the present invention, FIG. 2 is a cross-sectional plan view of an outer frame, FIG. 3 is a schematic configuration view of a main body, and FIG. FIG. 5 is a side view of the mine processing robot, FIG. 6 is a side view for explaining a climbing state of the mine processing robot, and FIG. 7 is a view for explaining a state of the mine processing robot when passing through a depression. It is a front view.

A mine disposal robot according to an embodiment of the present invention is a third mine disposal robot according to the present invention, in which the first mine disposal robot according to the present invention and the second processing robot according to the present invention are combined.
1 is an example of a land mine disposal robot.

As shown in FIG. 1, the land mine disposal robot includes a cylindrical outer frame 10, a main body 20 provided inside the outer frame 10 for running the outer frame 10, and an outer peripheral surface of the outer frame 10. Contacts 30, 30 radially attached to the
And a pair of guide bars 40, 40 attached to both side surfaces of the main body 20.

As shown in FIG. 2, the outer frame 10 has a structure in which a pair of cylindrical frame members 11 on both sides are coaxially connected by a joint portion 15 so as to be able to rotate in both directions independently of each other. It has become.

The frames 11, 11 are made of, for example, a resin such as FRP, and a plurality of ribs 12, 12,... Extending in the axial direction are formed on each outer peripheral surface at equal intervals in the circumferential direction.
Further, three guide grooves 13, 13, 14 which are continuous in the circumferential direction are formed on each inner peripheral surface of the frame bodies 11, 11 with a predetermined gap in the axial direction. The joint 15 is shown in FIG.
As shown in the figure, a flange-shaped main body 1 having sleeves on both sides.
6 and bearings 1 on both sides fitted to sleeves on both sides thereof
7 and 17, and the bearings 17 and 17 are internally fitted into the respective ends of the frames 11 so that the frame 1
1 and 11 are coaxially connected rotatably to form one outer frame 10.

A plurality of contacts 30, 30... Provided on the outer surface side of the outer frame 10 are attached to the outer peripheral surfaces of the outer frames 11, 11 at equal intervals in the axial direction and the circumferential direction, respectively. Each contact 30 here is made of a flexible material, in particular bamboo,
Each frame 1 is made of a member such as a so-called “sara” in which a plurality of thin rods made of a material having a strong restoring force such as a spring material are bundled.
A predetermined number of sets are implanted at equal intervals on one base member 31 extending in the axial direction. A plurality of base members 31, 31 are fitted between adjacent ribs 12, 12 of a predetermined number of the frame bodies 11, 11 and fixed using bolts or the like, so that the outer periphery of each outer frame 11 is formed. A plurality of contacts 30, 30... Are removably attached to the surface at predetermined intervals in the axial and circumferential directions.

On the other hand, as shown in FIGS. 3 and 5, the main body 20 provided on the inner surface side of the outer frame 10 is provided with a case 21 laid over the , And a pair of drive units 22, 22 and the like incorporated on both sides. Each drive unit 22 includes a motor 23 built in the case 21, four drive wheels 24, 24... Synchronously driven by the motor 23, and one holding member protruding upward from the ceiling surface of the case 21. A wheel 25, a receiver 26 for remotely controlling the motor 23, and a motor 2
3 for driving the battery 3.

The four drive wheels 24, 24,... Are rubber wheels and protrude downward from the bottom surface 4 of the case 21. The two left driving wheels 24, 24 are fitted in the left guide groove 13 of the three guide grooves 13, 13, 14 provided on the inner peripheral surface of the frame 11. The two right drive wheels 24, 24 are fitted in the right guide groove 13 of the three guide grooves 13, 13, 14. On the other hand, the holding wheel 25 is a rubber wheel similar to the drive wheels 24, 24,... And is fitted into the central guide groove 14, thereby pressing the drive wheels 24, 24,. .

The two front drive wheels 24, 24 of the four drive wheels 24, 24 are connected by an axle 24 ', and the two rear drive wheels 24, 24 are also connected by an axle 24'. ing. Then, the rotation of the motor 23 is transmitted to the front and rear axles 24 ′, 2 via the speed reducer 28 and the chain 29.
4 ', the four drive wheels 24, 24
Rotate synchronously in the same direction to rotate the frame 11.

The pair of guide bars 40, 40 attached to both sides of the main body 20 are both horizontal bars located on the sides of the outer frame 10 and perpendicular to the center axis of the frame 11. Each guide bar 40 has a length that is sufficiently larger than the outer diameter of the frame 11, and the center is located at the side of the case 21 of the main body 20 so that the center is located substantially at the axial center of the frame 11. Is detachably screwed via a support member 41. Thereby, both ends of each guide bar 40 are connected to the frame 1
1 and project from the outer surface position by the same length before and after in the traveling direction of the outer frame 20.

Next, a method of using the land mine disposal robot according to the embodiment of the present invention will be described.

First, the mine clearing robot is placed in a safe place in front of the mine source, and the operator performs remote control from the safe place to make the mine clearing robot enter the mine source.

Here, when the drive units 22 on both sides provided on the main body 20 are simultaneously operated in the forward direction, the outer frame 10
Are rotated synchronously in the forward direction. Therefore, the land mine disposal robot (outer frame 10) moves forward. When the drive units 22 on both sides are simultaneously operated in the opposite direction, the frame bodies 11 on both sides are synchronously rotated in the opposite direction, and the mine disposal robot (outer frame 10) is moved backward.

When one drive unit 22 is operated in the forward direction and the other drive unit 22 is stopped, the mine disposal robot (outer frame 10) makes a large turn to the stop side. One drive unit 2
When the second drive unit 22 is operated in the forward direction and the other drive unit 22 is operated in the reverse direction, the mine disposal robot (outer frame 10) makes a small turn to the reverse rotation side.

By the combination of these operations, the mine disposal robot runs the mine source freely and vertically and horizontally, and detonates by stepping on the mine.

When the terrain of the mine source is relatively horizontal and relatively flat, the guide bars 40 on both sides are substantially horizontal, and both ends are sufficiently lifted from the ground. For this reason, the guide bars 40, 40 do not hinder the travel of the mine disposal robot.

When the mine disposal robot travels on a steep uphill, the main body 20 leans backward in the outer frame 10 so as to idle in the outer frame 10, as shown in FIG. Therefore, the rear ends of the guide bars 40, 40 come into contact with the inclined ground. As a result, idling of the main body 20 is prevented. In addition, the mine disposal robot (outer frame 10) is prevented from retreating on an uphill, and the reaction force received from the ground via the guide bars 40, 40 increases the grounding force of the frame bodies 11, 11. The climbing power increases. Therefore, even on rough terrain with steep undulations, it is possible to travel freely utilizing the uniaxial structure.

The length of the guide bars 40, 40 should be larger than the outer diameter of the frame bodies 11, 11, because it is necessary to protrude the front end portion from the outer peripheral surface position of the frame body 11 for grounding. Although it is necessary, the frame 1
It is preferably at least twice the outer diameter of 1,11. However, if the length is too long, the tips of the guide bars 40, 40 easily strike the ground even during normal running, and there is a risk of hindering the normal running. Therefore, the upper limit is 5 times or less the outer diameter of the frame bodies 11, 11. It is preferred to limit to

When the mine disposal robot travels in a place with fine undulations, there is a possibility that the outer frame 10 straddles the depression as shown in FIG. However, a plurality of contacts 30 made of a flexible material are provided at a plurality of locations on the outer peripheral surface of the frame bodies 11, 11.
Are radially mounted, and the contacts 30, 30,... Rotate as the frames 11, 11 rotate. For this reason, the land mine disposal robot (outer frame 10) runs while hitting the ground with the plurality of contacts 30, 30,.
As a result, even when the outer frame 10 passes over the depression, an effective impact can be applied to the ground in the depression. Therefore, even in the case of a mine source having a large number of small undulations, the mine does not remain.

In addition, the area in which land mines can be blasted is expanded,
This also increases the certainty of the blast. Further, the mine disposal robot is basically a so-called disposable type that is destroyed by blasting and becomes unusable, but in normal use, the contacts 30, 30.
・ Bombing mines reduces the risk of destruction by blasting. For this reason, depending on the case, it can be used repeatedly, or it can be reused with a small repair. Therefore, economy is also improved.

The length of the contact 30 is equal to the outer diameter of the frame 11.
/ 10 to 1/3 times is preferred. If the contact 30 is too short, reliable blasting becomes difficult, and if it is too long, the runnability deteriorates.

The mounting position of the contact 30 may be about several to ten places in the circumferential direction of the frame 11. It is sufficient that a large gap is not formed in the axial direction of the frame body 11, and a contact 30 continuous in the axial direction is also possible. In the case of the contact 30 that is not continuous in the axial direction of the frame 11,
In order to avoid the remaining step between the adjacent contacts 30, 30, it is preferable that the frame 11 extends in the axial direction of the frame 11 as in the present embodiment.

The guide bars 40, 40 depend on the terrain of the mine source.
If the contacts 30, 30,... Are not particularly necessary, one or both of them may be removed according to the necessity. In other words, these can be selectively used depending on the terrain of the mine source.

In the mine disposal robot, the frame 1
Resilient contacts 30,1, 30
Although there is a concern that the climbing force may decrease due to the presence of ・, the above-described guide bars 30, 30 can effectively suppress the decrease.

FIG. 8 is a side view for explaining another mounting structure of the contact.

In the above embodiment, the contacts 30, 30.
The base member 31 implanted with is fitted and fixed between the ribs 12 formed on the outer peripheral surface of the frame body 11 by using bolts or the like, as shown in FIG. A structure in which a base member 31 of the same retaining type is inserted into the retaining groove 18 formed on the outer peripheral surface of the frame 11 from the side, or as shown in FIG. The base member 31 of the same type may be inserted into the formed rib 19 of the retaining type from the side. Both structures are easy to implement because the frame 11 is made of resin and is easy to process. In addition, including the structure of the above-described embodiment,
Since the contacts 30, 30,... Can be easily attached and detached, it can be easily adapted to on-site setting and repair.

In the above-described embodiment, the contact 30 is a member such as a so-called "sara" in which a plurality of thin rods made of a material having a strong restoring force are bundled. However, the present invention is not limited to this. Instead, a belt with strong restoring force may be used. The material is preferably a material that can be locally procured at low cost, such as bamboo.

For the guide bar 40, it is also effective to bend the tip portion into an L shape in order to increase the ground contact area.

[0047]

As described above, the first embodiment according to the present invention is described.
The land mine disposal robot of the first aspect prevents the body from spinning and increases the climbing power by a guide bar attached to the side surface of the main body, so that the robot can travel freely even in rough terrain with undulations. Accordingly, the mine can be blasted safely and reliably regardless of the terrain of the mine source.

Further, the second mine disposal robot according to the present invention is provided with a plurality of contacts made of a flexible material radially attached to the outer peripheral surface of the frame body, so that the mine clears when passing over the dent. The mines buried in the area will be blown down, so there is no danger of the mines being left behind. Accordingly, the mine can be blasted safely and reliably regardless of the terrain of the mine source. In addition, since the range in which land mines can be blasted is wide, it is excellent in certainty, is less damaged by blasting, and is excellent in economy.

Further, the third mine processing robot according to the present invention is a combination of the first mine processing robot according to the present invention and the second mine processing robot according to the present invention. In many cases, there is no risk of stepping over. Therefore,
The mine can be blasted safely and reliably regardless of the terrain of the mine source. Moreover, it is excellent in running performance and reliability, and is also excellent in economic efficiency.

When the guide bar and the contact are made detachable, there is an advantage that these can be selectively used on site according to the terrain of the mine source.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view of a mine disposal robot according to an embodiment of the present invention.

FIG. 2 is a cross-sectional plan view of an outer frame.

FIG. 3 is a plan view schematically showing a configuration of a main body.

FIG. 4 is a perspective view of a joint.

FIG. 5 is a side view of the mine disposal robot.

FIG. 6 is a side view for explaining a climbing state of the land mine disposal robot.

FIG. 7 is a front view for explaining a state when the mine disposal robot passes through a depression.

FIG. 8 is a side view for explaining another mounting structure of the contact.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Outer frame 11 Frame 12 Rib 13, 14 Guide groove 15 Joint part 20 Main body 21 Cover 22 Driving part 23 Motor 24 Driving wheel 25 Retaining ring 30 Contact 31 Base member 40 Guide bar

Claims (7)

[Claims] 1. An outer frame formed by rotatably coaxially connecting a pair of cylindrical frames on both sides, and an inner frame provided inside the outer frame, and the frames on both sides are independently driven to rotate by a remote control. A main body that allows the outer frame to travel, and is attached to at least one side surface of the main body at a position laterally of the outer frame, and extends at least in one of the front and rear directions in the running direction of the outer frame, and has a tip portion positioned at the outer peripheral surface of the frame body A land mine disposal robot comprising: a guide bar protruding outward. 2. The mine disposal robot according to claim 1, wherein the guide bar is detachable from the main body. 3. An outer frame formed by rotatably coaxially connecting a pair of cylindrical frame bodies on both sides, and an inner frame provided inside the outer frame, and the frame bodies on both sides are independently driven to rotate by remote control. A land mining robot comprising: a main body for advancing the outer frame by means of an arm; and a plurality of contacts radially extending from the outer peripheral surfaces of the frame bodies on both sides to the outer surface, each of which is made of a flexible material. . 4. The mine disposal robot according to claim 3, wherein the contact is detachable from the frame. 5. An outer frame formed by rotatably and coaxially connecting a pair of cylindrical frames on both sides, and an inner frame provided inside the outer frame, and the frames on both sides are independently rotated and driven by a remote control. A main body that allows the outer frame to travel, and is attached to at least one side surface of the main body at a position laterally of the outer frame, and extends at least in one of the front and rear directions in the running direction of the outer frame, and has a tip portion positioned at the outer peripheral surface of the frame body A guide bar projecting more outwardly,
A land mine disposal robot comprising: a plurality of contacts extending radially from the outer peripheral surfaces of the frame bodies on both sides to the outer surface side, each including a plurality of contacts made of a flexible material. 6. The mine disposal robot according to claim 5, wherein the guide bar is detachable from the main body. 7. The mine disposal robot according to claim 5, wherein the contact is detachable from the frame.