Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F41—WEAPONS
  • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
  • F41H11/00—Defence installations; Defence devices
  • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
  • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
  • F41H11/28—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles using brushing or sweeping means or dozers to push mines lying on a surface aside; using means for removing mines intact from a surface
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F41—WEAPONS
  • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
  • F41H11/00—Defence installations; Defence devices
  • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F41—WEAPONS
  • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
  • F41H11/00—Defence installations; Defence devices
  • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
  • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F41—WEAPONS
  • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
  • F41H11/00—Defence installations; Defence devices
  • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
  • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
  • F41H11/18—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-impacting means for activating mines by the use of mechanical impulses, e.g. flails or stamping elements
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F41—WEAPONS
  • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
  • F41H11/00—Defence installations; Defence devices
  • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
  • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
  • F41H11/20—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-penetrating elements, e.g. with means for removing buried landmines from the soil

Definitions

• the present invention relates to a mine disposal robot for unmanned and safe disposal of mine buried in soil.
• a typical method is for workers to search for mines with a metal detector or the like and extract the fuze or to blow up the mines, but this is not only a low work efficiency but also extremely dangerous.
• a known safe method is to fire a rocket with a wire attached to the mine source and then blast the wire by contacting the wire with the ground.However, it is very difficult to clear all landmines. Many rockets had to be used, and the economy was extremely poor.
• This mine disposal robot is composed of an outer frame composed of a pair of cylindrical frames on both sides coaxially connected to each other in rotation, and an inner frame provided inside the outer frame.
• the frames on both sides are remote-controlled.
• This is a self-propelled robot with a basic structure that requires a basic holiday to drive the outer frame by independently rotating and driving.
• the robot is able to run the mine source vertically and indefinitely while securing a large ground contact area.
• landmines can be efficiently and safely blasted.
• mine disposal robot developed earlier by the applicant is a so-called -single-axis type, and since there is no axis like a two-axis type, it can travel along rough terrain even on uneven terrain. It is possible, however, on a steep uphill slope, the cylindrical frames on both sides tend to roll downward, and the main body may slip inside the outer frame, making it impossible to climb the slope. Therefore, 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 bot capable of safely and reliably blasting a mine irrespective of the landform of the mine source.
• a first landmine treatment robot includes an outer frame formed by rotatably and coaxially connecting a pair of cylindrical rain-side frames, and an outer frame formed of the outer frame.
• a main body that is provided inside and moves the outer frame by independently rotating and driving the frames on both sides by remote control, and at least one side of the main body is located on the side of the outer frame.
• a guide bar that extends to at least one of the front and rear sides of the outer frame in the running direction and whose distal end projects outward from the outer peripheral surface position of the frame.
• the second landmine treatment robot according to the present invention is provided with an outer frame formed by connecting a pair of cylindrical frame bodies on both sides so as to be freely movable in one plane, and an inner frame provided inside the outer frame.
• the frame on the rainy side is independently rotated and driven by the remote control port to advance the outer frame, and the main frame is extended forward from the outer peripheral surface of each frame on both sides to the outer surface side.
• a third mine disposal robot is provided with an outer frame formed by coaxially connecting a pair of cylindrical frame bodies on both sides so as to be able to roll over, and provided on a ⁇ portion of the outer frame.
• a main body for moving the frame independently by remote control to advance the outer frame, and at least one side of the main body mounted on the side of the outer frame for running the outer frame A guide bar that extends to at least one of the front and rear directions and whose tip ⁇ protrudes outward from the outer peripheral surface position of the frame, and a radially extending outer surface from each outer peripheral surface of the frame on both sides.
• Each comprising a plurality of contacts made of a flexible material.
• 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 one side of the outer frame, and has a tip portion protruding outward from the outer peripheral position of the frame. If the outer frame climbs a steep uphill with the extension direction of the guide bar backward, the main body will try to idle inside the outer frame, but since the front end of the guide bar contacts the inclined ground, Is blocked.
• the guide bar serves as a support to prevent the retreat of the outer frame, and the reaction force received from the ground through the guide bar increases the ground contact force of the frame, thereby increasing the climbing force. Therefore, it is possible to travel freely even on rough terrain.
• the frame since the contact made of a flexible material is radially attached to the outer peripheral surface of the frame, the frame is required when the mine processing robot is self-propelled.
• the outer frame moves while multiple 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 where there are many small undulations, the mine does not remain.
• the first mine processing robot according to the present invention and the second mine processing robot according to the present invention are combined, so that There is much power and there is no danger of stepping over.
• an elastic contact is interposed between the frame and the ground, and there is a concern that the climbing force may decrease.
• the guide bar can effectively compensate for the decrease in climbing power due to the contact.
• the guide bar is preferably installed on both sides of the main body in view of the running stability of the outer frame, but if the frame on one side is to be turned, it is large even if it is mounted on one side of the main body. No problem.
• the guide bar extends forward and backward in the running direction of the outer frame so that the guide bar functions even when the vehicle retreats.
• the guide bar and the contactor are 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 geography.
• a plurality of contacts are attached to each of a plurality of base members which are arranged with a gap in the circumferential direction of the outer peripheral surface of the frame body and are respectively fixed to the outer peripheral surface.
• a structure in which a plant is planted with a gap in the hand direction is preferable from the viewpoint of detachability and the like.
• FIG. 1 is a partially broken 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 diagram of a main body
• Fig. 5 is a side view of the mine processing robot
• Fig. 6 is a side view to explain the climbing state of the mine processing robot
• Fig. 7 is the mine processing robot.
• FIG. 8 is a front view for explaining a state when passing through the depression
• FIG. 8 is a side view for explaining another mounting structure of the contact.
• FIG. 1 is a partially broken 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. Fig. 4 is a perspective view of the joint
• Fig. 5 is a side view of the mine clearance port
• Fig. 6 is a side view for explaining the climbing state of the mine clearance robot.
• Fig. 7 is a front view for explaining a state when the robot passes through a depression of the mine disposal robot.
• a mine processing robot according to an embodiment of the present invention is a third mine processing robot according to the present invention, in which a first mine processing robot according to the present invention is combined with a second processing robot according to the present invention. This is an example of a processing robot.
• the mine clearance robot has a cylindrical outer frame 10, a main body 20 provided inside the outer frame 10 for running the outer frame 10, and an outer frame 1. ., And a pair of guide bars 40, 40 attached to both sides of the main body 20.
• the outer frame 10 is provided with joints U 15 so that the pair of cylindrical frames 11 1 and 11 can be rotated in both directions independently of each other. By And coaxially connected.
• the frame bodies 11, 11 are made of a resin such as FRP, for example, and a large number of ribs 12, 12, ... extending in the axial direction are formed on each outer peripheral surface at equal intervals in the circumferential direction.
• three guide grooves 13, 13, 14 that 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 3 ⁇ 4 15 is composed of a flange-shaped body 16 having sleeves on both sides, and bearings 17, 17 fitted on the sleeves on both sides. By fitting the bearings 17, 17 into the respective S parts of the frames 11, 11, the frames 11, 11 are coaxially connected in a freely rotatable manner.
• One outer frame 10 is formed.
• each contact 30 is a material such as a so-called “(Sasara)” in which a plurality of thin rods made of a flexible material, particularly a material having a strong restoring force such as a bamboo material or a spring material, are bundled.
• a predetermined number of sets are planted at equal intervals on a base member 31 extending in the axial direction of each frame 11.
• a plurality of base S15 materials 3 1> 3 1 ⁇ are fitted between adjacent ribs 1 2 and 1 2 of a predetermined number of frame bodies 1 and 1 1 and fixed using bolts or the like.
• a plurality of contacts 30, 30... are detachably attached at predetermined intervals in the axial and circumferential directions.
• the main body 20 provided on the inner surface side of the outer frame 10 is provided with a case 2 1 , And a pair of driving parts 22, 22, etc. on both sides incorporated in both sides of the case 21.
• Each of the driving parts 22 includes a motor 23 built in the case 21, four drive wheels 24, 24, which are synchronously driven by the motor 23, and an upper part from the ceiling surface of the case 21. And a receiver 26 for remotely controlling the motor 23, and a battery 27 for driving the motor 23.
• the four drive wheels 2 4, 2 4 ⁇ ⁇ ⁇ are rubber wheels and protrude downward from the bottom 4 position of the case 21.
• the two drive wheels 24, 24 on the left are fitted into the guide groove 13 on the left of the three guide grooves 1, 3, 1, 3 and 14 provided on the inner peripheral surface of the frame 11. They are fitted.
• the two right wheels 2 4 and 2 4 have three guide grooves 1 3, 1 3 and 1 4 It is connected to the guide groove 13 on the right side.
• the retaining wheel 25 is a rubberized wheel similar to the driving wheels 24, 24, and is fitted to the central guide groove 14 to guide the driving wheels 24, 24, and Press against the bottom of grooves 1 3 and 1 3.
• the two front wheels 24, 24 are connected by car $ 42 4 ', and the two rear wheels 24, 24 are also axles 24. Are linked by '. Then, the rotation of the motor 23 is transmitted to the front and rear vehicles ⁇ 24 ′ and 24 ′ via the reduction gear 28 and the chain 29, so that the four drive wheels 24, 24 are the same. Rotate synchronously in the direction, and turn the frame 11 on its face.
• a pair of guide bars 40 and 40 attached to both sides of the main body 20 are located on the sides of the outer frame 10 and are both horizontal to the central axis of the frame 11. It is a stick.
• Each guide bar 40 has a length sufficiently larger than the outer diameter of the body 11, and has a center portion of the body 20 so that the center portion is located substantially at the axial center of the frame body 11. It is detachably screwed to the side surface of the case 21 via a support member 41. As a result, both ends of each guide bar 40 protrude from the outer surface position of the frame 11 by the same amount in the front and rear directions of the outer frame 20 in the traveling direction.
• the mine processing robot is placed in a safe place in front of the mine source, and the operator performs a remote control from the safe place to make the mine processing robot enter the mine source.
• the mine processing robot (outer frame 10) makes a large turn to the stop side.
• the mine clearance port bot (outer frame 10) slightly turns to the reverse direction.
• the mine clearing robot can control the mine source indefinitely. Self-propelled and step on land mines to explode.
• the length of the guide bars 40, 40 is determined by the outer diameter of the frames 11, 11, because it is necessary to protrude the tip of the bar from the outer peripheral surface of the frame 11 for grounding. Although it is necessary that the outer diameter of the frame 11 is larger than that of the frame 11, it is preferable that the outer diameter be at least twice as large as that of the frame 11. However, if it is too long, the tips of the guide bars 40, 40 easily hit the ground surface during normal driving, and there is a risk of hindering the normal driving.Therefore, the upper limit of the frame 11 It is preferable to limit the outer diameter to 5 times or less.
• the outer frame 10 When the mine disposal robot travels in a place with fine undulations, the outer frame 10 may straddle the depression as shown in FIG. However, a plurality of contacts 30 made of a flexible material are radially attached to a plurality of locations on the outer peripheral surface of the frames 11 1 and 11 1, and the rolling of the frames 11 1 and 11 1 is performed. The contacts 30, 30 ⁇ ⁇ ⁇ rotate with. For this reason, the mine disposal robot (outer frame 10) travels while hitting the ground by 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 with many small undulations, no mine stepping will occur.
• the mine disposal robot is basically a so-called disposable type, which is destroyed by blasting and becomes unusable.
• the contacts 30, 30 ⁇ ⁇ explode the land mines, reducing the risk of destruction by blasting. For this reason, in some cases, it can be used repeatedly, or it can be reused with little repair. Therefore, economic efficiency is improved.
• the length of the contact 30 is preferably 10 to 10 times 3 times the outer diameter of the frame 11. If the contact 30 is too short, it will be difficult to reliably blast it, and if it is too short, the runnability will deteriorate.
• the mounting position of the contact 30 may be about several places to about 10 places in the circumferential direction of the frame body 11. It is sufficient that a large gap is not formed in the axial direction of the frame 11, and a contact 30 continuous in the axial direction is also possible.
• the frame 1 One that extends in the axial direction is preferred. If there is no particular need for guides 40, 40 or contacts 30, 30, ... depending on the mine topography, one or both of them can be removed as necessary. In other words, these can be selectively used depending on the terrain of the mine source.
• FIG. 8 is a side view for explaining another mounting structure of the contact.
• the base member 31 having the contacts 30, 30... Planted thereon is bolted between the ribs 12, 12 formed on the outer peripheral surface of the frame 11.
• the retaining groove 18 formed on the outer peripheral surface of the frame 11 is also fitted with a base of the same type.
• the contacts 30, 30,..., Including the grooved structure of the above-described embodiment can be easily attached and detached, it is possible to easily cope with a setting repair on site.
• the contact 30 is formed by bundling a plurality of thin rods made of a material having a strong restoring force, such as “(Sasa)”.
• a band with strong restoring power may be used. It is preferable to use low-cost, locally procurable materials such as bamboo.
• a shape in which the above-mentioned portion is bent into an L-shape is also effective in order to increase the contact area.
• the first mine disposal robot prevents the main body from spinning and increases the climbing power by the guide bar attached to the side surface of the main body. Traveling is possible. Therefore, the mine can be blasted safely and reliably regardless of the landform of the mine source.
• the second mine disposal robot is provided with a plurality of contacts made of a flexible material radially attached to the outer peripheral surface of the frame, so that the robot is formed in a depression when passing over the depression. It ensures that the buried land mines will blow up, so there is no danger of leaving the mines. Therefore, regardless of the landform of the mine source, the mine can be blasted safely and reliably. In addition, the range E over which land mines can be blasted is wide, so it is highly reliable, has little damage from blasting, and is economical.
• 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.
• the mine can be blasted safely and reliably regardless of the landform of the mine source.
• it is excellent in traveling performance and reliability, and also excellent in economics.
• guide bars and contacts are removable, they have the advantage that they can be used selectively according to the terrain of the mine source on site.
• the landmine disposal robot according to the present invention is useful for unmanned disposal of landmines buried in the soil, and in particular, safely and reliably blasts landmines regardless of the landform of the landmine source. Suitable to do.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Life Sciences & Earth Sciences (AREA)
• Soil Sciences (AREA)
• Manipulator (AREA)

Priority Applications (2)

Applications Claiming Priority (2)

Publications (1)

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ID=12475940

Family Applications (1)

Country Status (7)

Families Citing this family (4)

Citations (2)

Family Cites Families (1)

• 1998
  • 1998-02-02 JP JP10036657A patent/JP2862861B1/ja not_active Expired - Lifetime
  • 1998-12-17 CA CA002284827A patent/CA2284827A1/en not_active Abandoned
  • 1998-12-17 EP EP98961407A patent/EP0971198A4/en not_active Withdrawn
  • 1998-12-17 WO PCT/JP1998/005733 patent/WO1999039155A1/ja active IP Right Grant
  • 1998-12-17 KR KR1019997008335A patent/KR20000076240A/ko active IP Right Grant
  • 1998-12-17 CN CN98803749A patent/CN1251649A/zh active Pending
• 1999
  • 1999-02-02 TW TW088101570A patent/TW368598B/zh active

Patent Citations (2)

Non-Patent Citations (1)

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