JPH11270998A - Robot for eliminating mine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To blast even a mine with a weight sensor by adjusting the strength of impact press being applied onto the ground in a robot that moves in a mine field and blasts the mine being buried under the ground for eliminating. SOLUTION: A robot moves in a mine field and has a movement mechanism 12 such as a wheel at a lower part. Then, a spring means 4 such as a coil spring and a wire-winding device 3 for pulling a weight 2 upward are arranged between the weight 2 and an upper frame 11. The weight 2 is pulled to a specific height by operating the wire-winding device 3 so that specific compression spring energy is accumulated, and is gear-locked to a stopper 5. The engagement of the stopper 5 is canceled, the weight 2 rapidly drops toward the ground by dead weight and the compression spring energy, and impact press is applied to the ground. The impact press can be adjusted by the weight of the weight 2, spring characteristics, and the amount of deflection, and operates on the weight sensor of a mine as virtual weight for blasting.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mine removal robot, and more particularly to a mine removal robot having a weight sensor for removing a mine.

[0002]

2. Description of the Related Art Conventionally, in a danger zone such as a minefield,
By moving multiple small robots based on the command of the parent robot and contacting dangerous objects such as land mines,
2. Description of the Related Art Demining robots that detonate and remove mines are known. In this case, the small robot itself is inevitably destroyed by the mine explosion, but it is necessary to relocate the remaining small robot that has not been damaged and move it so that there is no leakage. Robot systems that can program the course are also known.

A mine is usually composed of a main body filled with explosives and a fuze that responds to an object and ignites the explosives of the main body. The types of factors that activate the fuze, for example, mechanical contact, tread pressure, vibration , Magnetism, radio waves, etc., the structure of the fuse differs, but the object of the present invention is
This is a normal anti-personnel or anti-vehicle mine where the fuse is activated by mechanical contact or tread pressure.

[0004] However, this type of land mine does not always explode merely by contact with an object, but is activated when a sensor detects its weight, that is, the intensity of tread pressure, and the intensity is equal to or greater than a predetermined intensity. There are types of mines that are set up. For example, in the case of an anti-vehicle land mine, a weight sensor is provided that senses the weight of a car, truck, armored car, or the like so that it does not start even when a human or small animal steps on it, and explodes.

[0005] Furthermore, it is not efficient to explode even with a small animal or the like by a small mechanical contact with a small animal or the like. Some have been produced. Therefore, there is a problem that even if the above-mentioned small robot is moved on the ground on which the mine is laid and passed just above the mine, it is not always possible to initiate and remove the detonation.

[0006]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has an object to provide a demining robot capable of coping with land mines provided with a weight sensor capable of adjusting an explosion tread pressure. I do.

[0007]

SUMMARY OF THE INVENTION A mine removal robot according to the present invention, which has been made to solve the above-mentioned problem, detonates and removes a mine buried in the ground while moving through a minefield. Wherein a means for applying a pressure impact to the ground is provided. And
The present invention can be preferably embodied as one in which the strength of the impact pressure can be adjusted.

[0008] Further, the mine removal robot of the present invention comprises:
More specifically, a mine removal robot that detonates and removes a mine buried in the ground while moving through a minefield, and a weight that is arranged to be able to move up and down, and for lifting the weight A take-up device, a spring means that the weight of the take-up device is lifted and bent, and a stopper for disconnecting the weight from the take-up device and dropping the weight. It is a feature.

The spring means may be a coil spring or an air spring.
Furthermore, it is possible to more preferably embody the present invention as to make the amount of deflection adjustable.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of a mine removal robot according to the present invention will be described with reference to FIGS. In FIG. 1 which is a schematic cross-sectional view of a main part showing the principle of the present invention, first, a mine removal robot of the present invention moves a minefield or the like, and uses a frame 11 in a casing 10 of an outer shell as a skeleton. In addition to having a moving mechanism 12 such as wheels at the bottom, receiving a command from the parent robot or a command center,
A power source, a wireless communication device, a movement control device, and the like (not shown) for moving itself according to a predetermined program are provided.

A feature of the present invention is that the frame 11 is provided with a weight 2 which can be lifted and lowered, and a wire winding device 3 which is a lifting device for raising the weight 2. A spring means 4 for bending the weight 2 as it rises, and a stopper 5 for disconnecting the weight 2 from the wire winding device 3 and dropping the weight 2. It is in the point.

The structure of such a mine removing robot will be described in more detail. First, the weight 2 can be raised and lowered while being guided by a vertical guide fitting (not shown) attached to a frame 11. The weight 2 is suspended by a wire 31, and the upper portion of the wire 31 is connected to the wire winding device 3.
Since the wire is wound around the winding pulley 32, the wire is wound up by operating the wire winding device 3.

The weight 2 and the upper frame 11
A spring means 4 embodied by a coil spring, an air spring, or the like is attached between the wire winding device 3 and the spring 4. Deflected in the compression direction,
It is arranged to store compression spring energy.

Further, the stopper 5 starts the operation of dropping the weight 2 in which the compression spring energy has been accumulated as described above. Since the stopper 5 is related to the operation of the mine removing robot, the operation is stopped. In addition to the description, the specific structure of the stopper 5 will also be described.

First, as shown in FIG.
From the state in which the weight 2 is balanced by its own weight instead of the tension state, the wire winding device 3 is operated as shown in FIG.
The weight 2 is raised to a certain height so that a predetermined compression spring energy is accumulated by the wire 31. At this time, the stopper 5 provided on the side surface of the frame 11 is engaged with the weight 2 and locked so that the weight 2 does not drop.

Next, when the engagement of the stopper 5 is released, the weight 2 drops sharply toward the ground due to its own weight and the accumulated compression spring energy.
As shown in (1), impact pressure is applied to the ground. When the weight 2 is dropped in this way, if the land mine 6 exists directly under or around the weight, the impact pressure acts as a virtual weight on the weight sensor of the land mine and can be detonated. It is.

At the time of the drop operation, the connection between the wire winding device 3 and the weight 2 must be released. For example, the wire 31 is wound up in conjunction with the operation of the stopper 5. The take-up pulley 32 may be set free from the wire winding device 3.

In addition to setting the weight of the weight 2 and the spring characteristic of the spring means in advance according to the starting weight set to the weight sensor of the land mine 6, the present invention also provides the deflection amount of the spring means. Is adjustable, for example, by adjusting the lifting height of the weight 2 in FIG. 2 by moving the engagement position of the stopper 5 up and down, there is obtained an advantage that a wide range of weight sensors can be accommodated. is there.

In the present invention which operates as described above, for example, the weight is a cast iron weight having a weight of about 5 to 20 kg, and has a suitable spring characteristic as a spring means. If a coil spring capable of setting the compression distance was adopted, the virtual weight obtained by dropping the weight could be adjusted in the range of 30 to 120 kg.

Further, the present invention can be suitably applied to the child robot of the combination system of the parent robot and the child robot introduced above, and the above-mentioned weight drop operation is performed by the instruction of the parent robot or the own robot. It is performed based on a predetermined program, and the drop operation may be programmed to be repeated every time a certain distance is moved or every certain time elapses.

Although the structure of the mine clearance robot of the present invention has been specifically described with reference to examples, the present invention is not limited to such an individual structure, and the present invention is based on its gist. It should be understood that the present invention includes all aspects, changes, modifications, and the like that adopt the gist of the invention.

[0022]

Since the mine removal robot of the present invention is configured as described above, the degree of impact pressure applied to the ground can be adjusted, so that even a mine equipped with a weight sensor will blow up. It has an excellent effect of being able to cope with a wide range of land mines with different depressing tread pressures. Therefore, the present invention has a very large industrial value as a mine removal robot which has solved the conventional problems.

[Brief description of the drawings]

FIG. 1 is a schematic cross-sectional view of a main part of an apparatus for describing an outline of a structure of the present invention.

FIG. 2 is a schematic view of a main part of an apparatus for explaining the operation principle of the present invention.

FIG. 3

[Explanation of symbols]

10 casing, 11 frame, 12 moving mechanism,
2 weights, 3 wire winding device, 31 wires, 32
Hoisting pulley, 4 spring means, 5 stopper.

Claims (5)

[Claims] 1. A mine removal robot for detonating and removing a mine buried in the ground while moving through a minefield,
A mine removal robot comprising a means for applying impact pressure to the ground. 2. The mine removal robot according to claim 1, wherein the strength of the impact pressure can be adjusted. 3. A mine removal robot for detonating and removing a mine buried in the ground while moving through a minefield,
A weight arranged so as to be able to move up and down, a winding device for raising the weight, a spring means to be flexed as the weight rises, and disconnection of the weight from the winding device to the weight. And a stopper for dropping the weight. 4. The landmine removal robot according to claim 3, wherein the amount of deflection of the spring means is adjustable. 5. The mine removal robot according to claim 1, wherein said spring means is a coil spring or an air spring.