CN105945966B - Intelligent water knife explosive-removal robot - Google Patents
Intelligent water knife explosive-removal robot Download PDFInfo
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- CN105945966B CN105945966B CN201610505039.8A CN201610505039A CN105945966B CN 105945966 B CN105945966 B CN 105945966B CN 201610505039 A CN201610505039 A CN 201610505039A CN 105945966 B CN105945966 B CN 105945966B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 68
- 230000009184 walking Effects 0.000 claims abstract description 76
- 230000033001 locomotion Effects 0.000 claims abstract description 75
- 239000002360 explosive Substances 0.000 claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 238000003860 storage Methods 0.000 claims abstract description 7
- 239000003990 capacitor Substances 0.000 claims description 32
- 238000005520 cutting process Methods 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 12
- 230000008054 signal transmission Effects 0.000 claims description 9
- 239000003082 abrasive agent Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 2
- 230000000192 social effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000037452 priming Effects 0.000 description 6
- 230000001186 cumulative effect Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010304 firing Methods 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000010152 pollination Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent water knife explosive-removal robot, including remote control, frame, crawler type walking mechanism, cabinet, water-jet flow generating apparatus, control system and the explosive mechanism of high pressure waterjet；Crawler type walking mechanism includes left side traveling crawler, right side traveling crawler, left side movable motor and right side movable motor；Water-jet flow generating apparatus includes water tank, high-pressure plunger pump, abrasive can, storage battery and gasoline engine；The explosive mechanism of high pressure waterjet includes X-axis motion, Y-axis motion, Z axis motion and nozzle, and the water inlet of nozzle is connected by the delivery port of the 3rd water-supply-pipe and abrasive can；Control system includes voltage conversion circuit, microcontroller, serial communication modular, wireless signal receiving circuit and relay.The present invention is compact-sized, and it is convenient to realize, small volume, good portability, strong antijamming capability, self-powered and water source, can be played a role under various complicated, have wide application space and good social effect.
Description
Technical field
The invention belongs to explosive-removal robot technical field, and in particular to a kind of intelligent water knife explosive-removal robot.
Background technology
At present, the explosive class equipment of People's Armed Police's equipment is broadly divided into protection class, supports class and removes class etc., general basis
Task needs to be integrated in special explosion-proof vehicle.Protection class includes explosion-proof trailer, light weight biochemistry explosion-proof protection takes, be explosion-proof
Blanket, anti-explosion tank, liquid nitrogen container etc..Supporting class includes X-ray production apparatus, contact and contactless electronic audiphone, frequency interferometer, micro-
Light night vision device, intense light irradiation bright lamp, hunting dog transport vehicle etc..Equipment belongs to " soft equipment " above, destructor is lost it
Brisance, it is necessary to equipped by class is removed.
Remove class equipment and be divided into two kinds of manual demolition and mechanical removal.Manual demolition mode needs explosive personnel to utilize rod-type
Manipulator, common explosive tool group or 30 sets are implemented to approach observation without professional tools such as the explosive tool groups of magnetic to explosive, and
After remove priming device.Because which is big to the psychological pressure of operating personnel, technical requirements are high, and explosive member wear it is explosive
Slow movement after clothes, situation judge to be limited, and the probability caused danger is very big.Therefore, when implementing scene destruction, row is generally utilized
Quick-fried robot carries the explosive cumulatives such as water cannon rifle and destroys device, has been turned into for the purpose of smashing priming device in a manner of mechanical dismounting
A kind of preferred option.
The cumulative apparatus for destroying such as water cannon rifle is a kind of stronger explosive equipment of adaptability.Its principle is by energy-gathering jetting one
Secondary property smashes the priming device of explosive, so that explosive can not smoothly detonate.Although device is destroyed in skill using water cannon rifle etc.
It is more ripe in art, also there is original performance in actual combat, but it is urgently to be resolved hurrily in the presence of two more distinct issues.
1st, the cumulative such as water cannon rifle apparatus for destroying extremely limits to the application point of explosive, is typically only priming device,
Such as detonator, primacord.If acting on other positions of destructor, such as main charge, do not ensure that explosive fails.Cause
This, this relates to accurate the problem of firing.Because the species of explosive varies, the point initiations of some destructors compared with
To be hidden, or even it is placed on inside main charge so that energy-gathering jetting is difficult to play a role.Moreover, the sighting system mesh of jet
It is preceding be not it is very ripe, for the secondary filling after in accurately firing and firing not, the personnel of generally requiring give up sighting system and reality
Apply and approach operation, this undoubtedly loses the meaning of mechanical removal.
2nd, it is unfavorable to strike terror/offender from the cumulative such as case property on, water cannon rifle apparatus for destroying.China
《Criminal law》Identification to explosive is more harsh, it is necessary to have priming device can just be identified as explosive, otherwise can only make
For suspected explosive, the criterion of punishment of the two differs greatly.The priming device smashed by the cumulative apparatus for destroying such as water cannon rifle is usual
It can not restore, therefore, even the real explosive in facts confirmation, it is also possible to because the missing of evidence is by as doubtful quick-fried
Fried thing processing so that offender escapes or from legal sanction.
The mechanical dismounting device that a zone of action is extensive, adaptability is high compared with strong, safety coefficient is researched and developed, can be directed to common
Explosive main charge implement destroy on the spot, it has also become on this explosive special battle line there is an urgent need to.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of intelligent water knife
Explosive-removal robot, its is compact-sized, novel in design reasonable, and it is convenient to realize, small volume, good portability, strong antijamming capability, carries
It power and water source, can be played a role under various complicated, there is wide application space and good social effect.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of intelligent water knife explosive-removal robot, it is special
Sign is：Including remote control, frame, the crawler type walking mechanism installed in bottom of the frame and the cabinet installed in frame top,
Be provided with the cabinet water-jet flow generating apparatus and with remote control wireless connection and the control system that communicates, pacify in the frame
Equipped with outside the cabinet and can implementing X-axis, the explosive mechanism of high pressure waterjet of three axially cutting operations of Y-axis and Z axis；
The crawler type walking mechanism includes left side traveling crawler and right side traveling crawler, and for driving left side to walk
The left side movable motor of crawler travel and the right side movable motor for driving right side traveling crawler walking；
The water-jet flow generating apparatus includes water tank, high-pressure plunger pump, abrasive can and is intelligent water knife explosive-removal robot
In each electricity consumption power elements storage battery, and provide for high-pressure plunger pump the gasoline engine of power, the water inlet of the high-pressure plunger pump
Mouth is connected by the delivery port of the first water-supply-pipe and water tank, and the water inlet of the abrasive can passes through the second water-supply-pipe and setting
Safety valve, pressure regulator valve and the connection of the delivery port of pressure gauge and high-pressure plunger pump on the second water-supply-pipe, the high-pressure plunger pump
It is connected by power match device with gasoline engine, abrasive material switch is provided with the abrasive can；
The explosive mechanism of high pressure waterjet includes X-axis motion, Y-axis motion, Z axis motion and nozzle, institute
Stating X-axis motion includes rack-mounted X-axis motion motor and the X being fixedly connected with the output shaft of X-axis motion motor
Axial filament thick stick, X-axis feed screw nut is threaded with the X-axis leading screw, the first connection is fixedly connected with the X-axis feed screw nut
Plate, the Z axis motion include the Z axis motion motor being arranged on the first connecting plate and the output shaft with Z axis motion motor
The Z axis leading screw being fixedly connected, Z axis feed screw nut is threaded with the Z axis leading screw, is connected with the Z axis feed screw nut
Second connecting plate, the Y-axis motion include be arranged on the second connecting plate on Y-axis motion motor and with Y-axis motion motor
The Y-axis leading screw that is fixedly connected of output shaft, be threaded with Y-axis feed screw nut, the Y-axis feed screw nut on the Y-axis leading screw
On be connected with the 3rd contiguous block, the nozzle is arranged on the 3rd contiguous block, and the water inlet of the nozzle passes through the 3rd water-supply-pipe
It is connected with the delivery port of abrasive can；
The control system include voltage conversion circuit, microcontroller and connect with microcontroller and for connect it is described distant
Control the serial communication modular of device, the output end connection of the voltage conversion circuit and storage battery, the input termination of the microcontroller
There is the wireless signal receiving circuit for receiving the wireless signal of remote control transmitting, the output of the microcontroller is terminated with being used for
It is switched on or switched off the relay of the current supply circuit of high-pressure plunger pump, the first motor-drive circuit for driving left side movable motor
With the second motor-drive circuit for driving right side movable motor, and for driving the 3rd motor of X-axis motion motor to drive
Move circuit, the 4th motor-drive circuit for driving Y-axis motion motor and for driving the 5th motor of Z axis motion motor to drive
Dynamic circuit, the relay are connected in the current supply circuit of high-pressure plunger pump, left side movable motor and the first motor driving
The output end connection of circuit, the right side movable motor are connected with the output end of the second motor-drive circuit, the X-axis motion electricity
Machine is connected with the output end of the 3rd motor-drive circuit, and the output end of the Y-axis motion motor and the 4th motor-drive circuit connects
Connect, the Z axis motion motor is connected with the output end of the 5th motor-drive circuit.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The left side movable motor is arranged on the left side of frame
Front portion, the first left side treads wheel, the left side central portion of the frame are fixedly connected with the output shaft of the left side movable motor
Left side central portion walking belt wheel group frame is fixedly connected with, cloth triangular in shape is rotatably connected on the left side central portion walking belt wheel group frame
If the second left side treads wheel, the 3rd left side treads wheel and the 4th left side treads wheel, the left back of the frame turns
Move and be connected with the 5th left side treads wheel, the 6th left row is connected with by left-side connecting bar on the treads wheel of the 5th left side
Belt wheel is walked, the left side traveling crawler is connected across the first left side treads wheel, the second left side treads wheel, the 3rd left side treads
On wheel, the 4th left side treads wheel, the 5th left side treads wheel and the 6th left side treads wheel；The right side movable motor installation
The first right side walking belt wheel, the machine are fixedly connected with the right front of frame, the output shaft of the right side movable motor
The right side central of frame is fixedly connected with right side central walking belt wheel group frame, is rotatablely connected on the right side central walking belt wheel group frame
There are the second right side walking belt wheel, the 3rd right side walking belt wheel and the 4th right side walking belt wheel of laying triangular in shape, the frame
Right side posterior rotation be connected with the 5th right side walking belt wheel, it is described 5th right side walking belt wheel on connected by right-side connecting bar
There is the 6th right side walking belt wheel, the right side traveling crawler is connected across the first right side walking belt wheel, the second right side walking belt wheel, the
On three right side walking belt wheels, the 4th right side walking belt wheel, the 5th right side walking belt wheel and the 6th right side walking belt wheel.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The microcontroller is model STC89C52 list
Piece machine U1.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The remote control is IR remote controller, the wireless communication
Number receiving circuit includes being used to receive the infrared signal receiving circuit of the infrared signal of IR remote controller transmitting and for infrared
The infrared signal that signal receiving circuit receives carries out the infrared signal decoding circuit of decoding process, the IR signal reception electricity
The output end on road is connected with the input of infrared signal decoding circuit, the output end and microcontroller of the infrared signal decoding circuit
The input connection of device.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The IR remote controller include microprocessor and with it is micro-
Processor connects and for connecting the serial interface of serial communication modular, and the input of the microprocessor is terminated with button operation electricity
Road, the output of the microprocessor are terminated with infrared signal transmission circuit.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The microprocessor is model STC89C51 list
Piece machine U2, the 7th pin and the 8th pin of the infrared signal transmission circuit including chip PT2262, the chip PT2262 according to
Secondary correspondence connects with the 32nd pin of the single-chip microcomputer U2 and the 33rd pin, and the 10th~13 pin of the chip PT2262 is successively
Corresponding to connect with the 34th~37 pin of the single-chip microcomputer U2, the 14th pin of the chip PT2262 is with the single-chip microcomputer U2's
3rd pin connects.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The infrared signal receiving circuit includes infrared receiver
Head and chip LM358, the chip LM358 the 5th pin are connected by the output end of nonpolar electric capacity C4 and infrared receiving terminal,
The 6th pin of the chip LM358 is connected by the resistance R1 and nonpolar electric capacity C6 of series connection with chip LM358 the 3rd pin,
And be grounded by resistance R8, the 3rd pin of the chip LM358 is grounded by the resistance R5 and resistance R2 of series connection, the chip
LM358 the 2nd pin is connected with resistance R5 and resistance R2 connection end and exported by the VCC of resistance R3 and voltage conversion circuit
End connection, the 7th pin of the chip LM358 are connected with resistance R1 and nonpolar electric capacity C6 connection end, the chip LM358
The 1st pin resistance R4 that is powered be connected with chip LM358 the 3rd pin and be the output end of infrared signal receiving circuit；It is described red
The 14th pin that external signal decoding circuit includes chip PT2272, the chip PT2272 is the input of infrared signal decoding circuit
End.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The left side movable motor is DC brushless motor, institute
Stating the first motor-drive circuit includes triode Q5, diode D6, polar capacitor C7 and polar capacitor C11, the diode D6
Anode for the first motor-drive circuit input and be connected with the output end of microcontroller, the base stage of the triode Q5 is led to
The negative electrode that resistance R91 is crossed with diode D6 is connected, and the negative electrode of the diode D6 is connected with polar capacitor C11 positive pole, described
The output end OUT1 of triode Q5 current collection extremely the first motor-drive circuit and it is connected with polar capacitor C7 positive pole, described three
The negative pole of pole pipe Q5 emitter stage, polar capacitor C11 negative pole and polar capacitor C7 is grounded.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The right side movable motor is DC brushless motor, institute
Stating the second motor-drive circuit includes triode Q6, diode D7, polar capacitor C8 and polar capacitor C12, the diode D7
Anode for the second motor-drive circuit input and be connected with the output end of microcontroller, the base stage of the triode Q6 is led to
The negative electrode that resistance R92 is crossed with diode D7 is connected, and the negative electrode of the diode D7 is connected with polar capacitor C12 positive pole, described
The output end OUT2 of triode Q6 current collection extremely the second motor-drive circuit and it is connected with polar capacitor C8 positive pole, described three
The negative pole of pole pipe Q6 emitter stage, polar capacitor C12 negative pole and polar capacitor C8 is grounded.
Above-mentioned intelligent water knife explosive-removal robot, it is characterised in that：The X-axis motion motor, Y-axis motion motor and Z axis
Motion motor is stepper motor, the 3rd motor-drive circuit, the 4th motor-drive circuit and the 5th motor-drive circuit
It is stepper motor driver.
The present invention has advantages below compared with prior art：
1st, the present invention's is compact-sized, novel in design reasonable, and it is convenient to realize.
2nd, preceding mixing abrasive water jet Flow Technique, Infrared Ray Remote Control Technology and robot technology has been applied successfully in the present invention, with height
Abrasive water-jet is pressed to realize live row by way of remote control under the external environment of electromagnetic shielding for cutting medium
It is quick-fried；In view of " water knife " belongs to cold conditions cutting, and it is strong to environmental suitability, can during all kinds of common explosives are destroyed on the spot
Continuous cutting operation is implemented to any part of explosive, it is lost brisance within the extremely short time, in explosive process
In smokeless, spark, heat produce, effectively reduce degree of danger, ensured personal safety and farthest retained related break
Case clue.
3rd, comprehensive integration pre-mixed abrasive high pressure water-jet of the present invention, intelligent walking and infrared and wireless far distance controlled etc.
Multinomial technology, it is aided with infrared mode remote control using wireless, can be achieved to include traveling control, image transmitting, cut-sytle pollination etc. a variety of
Action, transmission range realize the design mesh that remote control destroys all kinds of common explosives on the spot well up to more than 80m
Mark.
4th, the present invention is by changing the hybrid mode of abrasive material, make water jet still have in the case where outlet pressure is relatively low compared with
Strong cutting power, cutting process is safe, rapid, effectively reduces degree of danger, has ensured the person and Environmental security；Test table
It is bright, 20mm carbon steel steel plates can be penetrated, electric cap is disposably cut off；Temperature rise in cutting process is less than 60 DEG C, electrostatic electrification voltage
Less than 10V.
5th, the present invention is using intelligent, modularized design, and equipment volume is small, good portability, strong antijamming capability, from drive
It power and water source, can be played a role under various complicated, there is wide application space and good social effect；With water cannon rifle
Etc. explosive equipment compared to having the advantages that simple to operate, safe and strong adaptability.
In summary, the present invention is compact-sized, and novel in design rationally it is convenient to realize, small volume, and good portability is anti-interference
Ability is strong, self-powered and water source, can be played a role under various complicated, has wide application space and good society
Benefit.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the stereogram of intelligent water knife explosive-removal robot of the present invention.
Fig. 2 is the stereogram of crawler type walking mechanism of the present invention.
Fig. 3 is Fig. 2 front view.
Fig. 4 is Fig. 2 rearview.
Fig. 5 is the stereogram at the visual angle of water-jet flow generating apparatus first of the present invention.
Fig. 6 is the stereogram at the visual angle of water-jet flow generating apparatus second of the present invention.
Fig. 7 is the connection relationship diagram of water-jet flow generating apparatus of the present invention.
Fig. 8 is the stereogram of the explosive mechanism of high pressure waterjet of the present invention.
Fig. 9 is the circuit connection block diagram of control system of the present invention and remote control.
Figure 10 is the circuit theory diagrams of microcontroller of the present invention.
Figure 11 is the circuit theory diagrams of microprocessor of the present invention.
Figure 12 is the circuit theory diagrams of infrared signal transmission circuit of the present invention.
Figure 13 is the circuit theory diagrams of infrared signal receiving circuit of the present invention.
Figure 14 is the circuit theory diagrams of infrared signal decoding circuit of the present invention.
Figure 15 is the circuit theory diagrams of the first motor-drive circuit of the invention.
Figure 16 is the circuit theory diagrams of the second motor-drive circuit of the invention.
Description of reference numerals:
1-frame；2-crawler type walking mechanism；2-1-left side traveling crawler；
2-2-right side traveling crawler；2-3-left side movable motor；2-4-right side movable motor；
The left sides of 2-5-first treads wheel；2-6-left side central portion walking belt wheel group frame；
The left sides of 2-7-second treads wheel；The left sides of 2-8-the 3rd treads wheel；
The left sides of 2-9-the 4th treads wheel；The left sides of 2-10-the 5th treads wheel；
2-11-left-side connecting bar；The left sides of 2-12-the 6th treads wheel；
Walking belt wheel on the right side of 2-13-first；2-14-right side central walking belt wheel group frame；
Walking belt wheel on the right side of 2-15-second；Walking belt wheel on the right side of 2-16-the 3rd；
Walking belt wheel on the right side of 2-17-the 4th；Walking belt wheel on the right side of 2-18-the 5th；
2-19-right-side connecting bar；Walking belt wheel on the right side of 2-20-the 6th；
3-cabinet；The explosive mechanism of 4-high pressure waterjet；5-IR remote controller；
5-1-microprocessor；5-2-serial interface；5-3-infrared signal transmission circuit；
5-4-button operation circuit；6-control system；6-1-microcontroller；
6-2-serial communication modular；The motor-drive circuits of 6-3-first；
The motor-drive circuits of 6-4-second；The motor-drive circuits of 6-5-the 3rd；
The motor-drive circuits of 6-6-the 4th；The motor-drive circuits of 6-7-the 5th；
6-8-infrared signal decoding circuit；6-9-voltage conversion circuit；
6-10-infrared signal receiving circuit；6-101-infrared receiving terminal；
6-11-relay；7-the three water-supply-pipe.
Embodiment
As shown in figure 1, the present invention intelligent water knife explosive-removal robot, including remote control, frame 1, installed in the bottom of frame 1
Crawler type walking mechanism 2 and the cabinet 3 installed in the top of frame 1, be provided with the cabinet 3 water-jet flow generating apparatus and with
Remote control wireless connection and the control system 6 to communicate, it is provided with the frame 1 positioned at the outside of cabinet 3 and X-axis, Y can be implemented
The explosive mechanism 4 of high pressure waterjet of three axially cutting operations of axle and Z axis；
With reference to Fig. 2, Fig. 3 and Fig. 4, the crawler type walking mechanism 2 includes left side traveling crawler 2-1 and right side traveling crawler
2-2, and for driving the left side movable motor 2-3 of left side traveling crawler 2-1 walkings and for driving right side traveling crawler 2-2
The right side movable motor 2-4 of walking；
With reference to Fig. 5, Fig. 6 and Fig. 7, the water-jet flow generating apparatus includes water tank 7-1, high-pressure plunger pump 7-2, abrasive can
The 7-3 and storage battery 7-4 for each electricity consumption power elements in intelligent water knife explosive-removal robot, and provide and move for high-pressure plunger pump 7-2
The gasoline engine 7-5, the high-pressure plunger pump 7-2 of power water inlet are connected by the first water-supply-pipe 7-7 and water tank 7-1 delivery port
Connect, the high-pressure plunger pump 7-2 is connected by power match device 7-6 with gasoline engine 7-5, and the water inlet of the abrasive can 7-3 leads to
Cross the second water-supply-pipe 7-8 and the safety valve 7-9, pressure regulator valve 7-10 and the pressure gauge 7-11 that are arranged on the second water-supply-pipe 7-8 with
High-pressure plunger pump 7-2 delivery port is connected, and abrasive material switch 7-12 is provided with the abrasive can 7-3；By setting safety valve 7-9
With pressure regulator valve 7-10 so that high-pressure plunger pump 7-2 has reliable overload protection, when high-pressure plunger pump 7-2 breaks down or sprays
When mouth 4-1 is blocked, pressure processing can be rushed down in time, and can easily carry out pressure regulation；When it is implemented, the water tank 7-1
Volume be 0.1m3, and it is furnished with liquid level gauge in water tank 7-1.
With reference to Fig. 8, the explosive mechanism 4 of high pressure waterjet includes X-axis motion, Y-axis motion, Z axis motion
With nozzle 4-1, the X-axis motion includes rack-mounted X-axis motion motor 4-2 and with X-axis motion motor 4-2's
X-axis feed screw nut, the X-axis leading screw are threaded with X-axis the leading screw 4-3, the X-axis leading screw 4-3 that output shaft is fixedly connected
The first connecting plate 4-6 is fixedly connected with nut, the Z axis motion includes the Z axis fortune being arranged on the first connecting plate 4-6
Move screw thread on motor 4-8 and the Z axis leading screw 4-9, the Z axis leading screw 4-9 that are fixedly connected with Z axis motion motor 4-8 output shaft
Z axis feed screw nut is connected with, the second connecting plate 4-10 is connected with the Z axis feed screw nut, the Y-axis motion includes peace
Y-axis motion motor 4-4 on the second connecting plate 4-10 and the Y-axis silk being fixedly connected with Y-axis motion motor 4-4 output shaft
Y-axis feed screw nut is threaded with thick stick 4-5, the Y-axis leading screw 4-5, the 3rd contiguous block is connected with the Y-axis feed screw nut
4-7, the nozzle 4-1 are arranged on the 3rd contiguous block 4-7, and the water inlet of the nozzle 4-1 passes through the 3rd water-supply-pipe 7 and abrasive material
Tank 7-3 delivery port connection；
With reference to Fig. 9, the control system 6 include voltage conversion circuit 6-9, microcontroller 6-1 and with microcontroller 6-1 phases
Connect and be used for the output end for connecting the serial communication modular 6-2, the voltage conversion circuit 6-9 and storage battery 7-4 of the remote control
Connection, the input of the microcontroller 6-1 are terminated with the reception of wireless signals electricity of the wireless signal for receiving remote control transmitting
Road, the output of the microcontroller 6-1 are terminated with the relay 6- of the current supply circuit for being switched on or switched off high-pressure plunger pump 7-2
11st, for drive left side movable motor 2-3 the first motor-drive circuit 6-3 and for driving right side movable motor 2-4 the
Two motor-drive circuit 6-4, and for driving X-axis motion motor 4-2 the 3rd motor-drive circuit 6-5, for driving Y-axis
Motion motor 4-4 the 4th motor-drive circuit 6-6 and the 5th motor-drive circuit 6- for driving Z axis motion motor 4-8
7, the relay 6-11 is connected in high-pressure plunger pump 7-2 current supply circuit, the left side movable motor 2-3 and the first motor
Drive circuit 6-3 output end connection, the right side movable motor 2-4 are connected with the second motor-drive circuit 6-4 output end,
The X-axis motion motor 4-2 is connected with the 3rd motor-drive circuit 6-5 output end, the Y-axis motion motor 4-4 and the 4th
Motor-drive circuit 6-6 output end connection, the output end of the Z axis motion motor 4-8 and the 5th motor-drive circuit 6-7 connect
Connect.
As shown in Figure 2, Figure 3 and Figure 4, in the present embodiment, before the left side movable motor 2-3 is arranged on the left side of frame 1
Portion, the first left side treads wheel 2-5, the left side of the frame 1 are fixedly connected with the output shaft of the left side movable motor 2-3
Middle part is fixedly connected with left side central portion walking belt wheel group frame 2-6, the left side central portion walking belt wheel group frame 2-6 and is rotatably connected to
The second left side treads wheel 2-7, the 3rd left side treads wheel 2-8 and the 4th left side treads wheel 2-9 of laying triangular in shape, institute
The left back for stating frame 1 is rotatably connected to the 5th left side treads wheel 2-10, leads on the 5th left side treads wheel 2-10
Cross left-side connecting bar 2-11 and be connected with the 6th left side treads wheel 2-12, the left side traveling crawler 2-1 is connected across the first left side
Walk belt wheel 2-5, the second left side treads wheel 2-7, the 3rd left side treads wheel 2-8, the 4th left side treads wheel 2-9, the 5th
On left side treads wheel 2-10 and the 6th left side treads wheel 2-12；The right side movable motor 2-4 is arranged on the right side of frame 1
Front portion, the first right side walking belt wheel 2-13 is fixedly connected with the output shaft of the right side movable motor 2-4, the frame 1
Right side central is fixedly connected with right side central walking belt wheel group frame 2-14, the right side central walking belt wheel group frame 2-14 and rotated
It is connected with the second right side walking belt wheel 2-15, the 3rd right side walking belt wheel 2-16 and the 4th right side treads of laying triangular in shape
2-17 is taken turns, the right side posterior rotation of the frame 1 is connected with the 5th right side walking belt wheel 2-18, the 5th right side walking belt wheel
Walking belt wheel 2-20, the right side traveling crawler 2-2 on the right side of in the of the 6th are connected with 2-18 by right-side connecting bar 2-19 to be connected across
First right side walking belt wheel 2-13, the second right side walking belt wheel 2-15, the 3rd right side walking belt wheel 2-16, the 4th right side treads
Take turns on 2-17, the 5th right side right sides of walking belt wheel 2-18 and the 6th walking belt wheel 2-20.
As shown in Figure 10, in the present embodiment, the microcontroller 6-1 is model STC89C52 single-chip microcomputer U1.
As shown in figure 9, in the present embodiment, the remote control is IR remote controller 5, and the wireless signal receiving circuit includes
For receive IR remote controller 5 transmitting infrared signal infrared signal receiving circuit 6-10 and for IR signal reception electricity
The infrared signal that road 6-10 is received carries out the infrared signal decoding circuit 6-8 of decoding process, the infrared signal receiving circuit
6-10 output end is connected with infrared signal decoding circuit 6-8 input, the output end of the infrared signal decoding circuit 6-8
It is connected with microcontroller 6-1 input.
As shown in Figure 10, in the present embodiment, the IR remote controller 5 include microprocessor 5-1 and with microprocessor 5-1 phases
The serial interface 5-2 for connecting serial communication modular 6-2 is met and is used for, the input of the microprocessor 5-1 is terminated with button operation
Circuit 5-4, the output of the microprocessor 5-1 are terminated with infrared signal transmission circuit 5-3.
It is micro- during Cao Zuoanjian operation circuit 5-4 in use, serial interface 5-2 and serial communication modular 6-2 can be connected
Control signal is transferred to microcontroller 6-1 by processor 5-1 by serial interface 5-2 and serial communication modular 6-2；Or no
Connect serial interface 5-2 and serial communication modular 6-2, during Cao Zuoanjian operation circuit 5-4, microprocessor 5-1 is by control signal
Sent by infrared signal transmission circuit 5-3, infrared signal receiving circuit 6-10 receives control signal and passes through infrared letter
Number decoding circuit 6-8 is exported after being decoded and is given microcontroller 6-1.
As shown in figure 11, in the present embodiment, the microprocessor 5-1 is model STC89C51 single-chip microcomputer U2, is such as schemed
Shown in 12, the infrared signal transmission circuit 5-3 includes chip PT2262, the chip PT2262 the 7th pin and the 8th pin
Be corresponding in turn to and connect with the 32nd pin of the single-chip microcomputer U2 and the 33rd pin, the 10th~13 pin of the chip PT2262 according to
Secondary correspondence connects with the 34th~37 pin of the single-chip microcomputer U2, the 14th pin and the single-chip microcomputer U2 of the chip PT2262
The 3rd pin connect.
In the present embodiment, as shown in figure 13, the infrared signal receiving circuit 6-10 includes infrared receiving terminal 6-101 and core
Piece LM358, the 5th pin of the chip LM358 are connected by nonpolar electric capacity C4 with infrared receiving terminal 6-101 output end,
The 6th pin of the chip LM358 is connected by the resistance R1 and nonpolar electric capacity C6 of series connection with chip LM358 the 3rd pin,
And be grounded by resistance R8, the 3rd pin of the chip LM358 is grounded by the resistance R5 and resistance R2 of series connection, the chip
LM358 the 2nd pin is connected with resistance R5 and resistance R2 connection end and by resistance R3 and voltage conversion circuit 6-9 VCC
Output end is connected, and the 7th pin of the chip LM358 is connected with resistance R1 and nonpolar electric capacity C6 connection end, the chip
LM358 the 1st pin energization resistance R4 is connected with chip LM358 the 3rd pin and is infrared signal receiving circuit 6-10 output
End；As shown in figure 14, the infrared signal decoding circuit 6-8 includes chip PT2272, the 14th pin of the chip PT2272
For infrared signal decoding circuit 6-8 input.When it is implemented, the 15th pin and the 16th pin of the chip PT2272 it
Between be connected to resistance R18, the chip PT2272 the 7th pin and the 8th pin and be corresponding in turn to and draw with the 35th of the single-chip microcomputer U1
Pin and the 34th pin connect, and the 10th~13 pin of the chip PT2272 is corresponding in turn to the with the single-chip microcomputer U1 the 36th~39
Pin connects.
As shown in figure 15, in the present embodiment, the left side movable motor 2-3 is DC brushless motor, first motor
Drive circuit 6-3 includes triode Q5, diode D6, polar capacitor C7 and polar capacitor C11, the anode of the diode D6
First motor-drive circuit 6-3 input and it is connected with microcontroller 6-1 output end, the base stage of the triode Q5 passes through
Resistance R91 is connected with diode D6 negative electrode, and the negative electrode of the diode D6 is connected with polar capacitor C11 positive pole, and described three
Pole pipe Q5 current collection extremely the first motor-drive circuit 6-3 output end OUT1 and it is connected with polar capacitor C7 positive pole, it is described
The negative pole of triode Q5 emitter stage, polar capacitor C11 negative pole and polar capacitor C7 is grounded.When it is implemented, described two
Pole pipe D6 anode connects with the 32nd pin of the single-chip microcomputer U1.
As shown in figure 16, in the present embodiment, the right side movable motor 2-4 is DC brushless motor, second motor
Drive circuit 6-4 includes triode Q6, diode D7, polar capacitor C8 and polar capacitor C12, the anode of the diode D7
Second motor-drive circuit 6-4 input and it is connected with microcontroller 6-1 output end, the base stage of the triode Q6 passes through
Resistance R92 is connected with diode D7 negative electrode, and the negative electrode of the diode D7 is connected with polar capacitor C12 positive pole, and described three
Pole pipe Q6 current collection extremely the second motor-drive circuit 6-4 output end OUT2 and it is connected with polar capacitor C8 positive pole, it is described
The negative pole of triode Q6 emitter stage, polar capacitor C12 negative pole and polar capacitor C8 is grounded.When it is implemented, described two
Pole pipe D7 anode connects with the 33rd pin of the single-chip microcomputer U1.
In the present embodiment, the X-axis motion motor 4-2, Y-axis motion motor 4-4 and Z axis motion motor 4-8 are stepping
Motor, the 3rd motor-drive circuit 6-5, the 4th motor-drive circuit 6-6 and the 5th motor-drive circuit 6-7 are stepping
Motor driver.Nozzle 4-1 is driven by X-axis motion motor 4-2, Y-axis motion motor 4-4 and Z axis motion motor 4-8, can
Implement three X-axis, Y-axis and Z axis axially cutting operations；Stepper motor has that control is accurate, is easy to the advantages of speed governing, by X
Three axle, Y-axis and Z axis directions are adjusted orientation, can adapt to various sizes of explosive, nozzle 4-1 is in most preferably
Cutting position.
The present invention is in use, first, the microcontroller 6-1 in control system 6 receives the control letter that the remote control is sent
Number, left side movable motor 2-3 is driven by the first motor-drive circuit 6-3, right side is driven by the second motor-drive circuit 6-4
Movable motor 2-4, left side movable motor 2-3 drive left side traveling crawler 2-1, right side movable motor 2-4 to drive right side walking to carry out
Band 2-2, so as to which the crawler type walking mechanism 2 is walked, drives the quick-fried robot motion of intelligent water blade row to be arranged to needs
Quick-fried position；Then, microcontroller 6-1 control relays 6-11 connects high-pressure plunger pump 7-2 current supply circuit, water tank 7-1
Interior water flows into high-pressure plunger pump 7-2 by the first water-supply-pipe 7-7, and gasoline engine 7-5 provides power for high-pressure plunger pump 7-2, high
Hydraulic plunger pump 7-2 is flowed into abrasive can 7-3 after water is pressurizeed by the second water-supply-pipe 7-8, abundant with the abrasive material in abrasive can 7-3
Mixing, and drives abrasive material to accelerate, and produces abrasive material slurry and is simultaneously sprayed by nozzle 4-1, forms abrasive water-jet, cut explosive
Operation.
When cutting explosive operation, microcontroller 6-1 drives X-axis motion motor 4-2 by the 3rd motor-drive circuit 6-5,
Y-axis motion motor 4-4 is driven by the 4th motor-drive circuit 6-6, and drives Z axis to transport by the 5th motor-drive circuit 6-7
Dynamic motor 4-8, nozzle 4-1 are driven by X-axis motion motor 4-2, Y-axis motion motor 4-4 and Z axis motion motor 4-8, Neng Goushi
Apply three X-axis, Y-axis and Z axis axially cutting operations.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (10)
- A kind of 1. intelligent water knife explosive-removal robot, it is characterised in that：Including remote control, frame (1), installed in frame (1) bottom Crawler type walking mechanism (2) and the cabinet (3) at the top of frame (1), is provided with water jet in the cabinet (3) Device and with remote control wireless connection and the control system (6) that communicates, be provided with the frame (1) outside positioned at cabinet (3) And X-axis, the explosive mechanism of high pressure waterjet (4) of three axially cutting operations of Y-axis and Z axis can be implemented；The crawler type walking mechanism (2) includes left side traveling crawler (2-1) and right side traveling crawler (2-2), and for band The left side movable motor (2-3) of dynamic left side traveling crawler (2-1) walking and the right side for driving right side traveling crawler (2-2) walking Side movable motor (2-4)；The water-jet flow generating apparatus includes water tank (7-1), high-pressure plunger pump (7-2), abrasive can (7-3) and is intelligent water knife The storage battery (7-4) of each electricity consumption power elements in explosive-removal robot, and the gasoline engine for high-pressure plunger pump (7-2) offer power (7-5), the water inlet of the high-pressure plunger pump (7-2) are connected by the delivery port of the first water-supply-pipe (7-7) and water tank (7-1) Connect, the water inlet of the abrasive can (7-3) passes through the second water-supply-pipe (7-8) and the peace being arranged on the second water-supply-pipe (7-8) Full valve (7-9), pressure regulator valve (7-10) and pressure gauge (7-11) are connected with the delivery port of high-pressure plunger pump (7-2), the high-pressure column Plug pump (7-2) is connected by power match device (7-6) with gasoline engine (7-5), and abrasive material switch is provided with the abrasive can (7-3) (7-12)；The explosive mechanism of high pressure waterjet (4) includes X-axis motion, Y-axis motion, Z axis motion and nozzle (4- 1), the X-axis motion includes rack-mounted X-axis motion motor (4-2) and defeated with X-axis motion motor (4-2) The X-axis leading screw (4-3) that shaft is fixedly connected, X-axis feed screw nut, the X-axis silk are threaded with the X-axis leading screw (4-3) The first connecting plate (4-6) is fixedly connected with thick stick nut, the Z axis motion includes being arranged on the first connecting plate (4-6) Z axis motion motor (4-8) and the Z axis leading screw (4-9) that is fixedly connected with the output shaft of Z axis motion motor (4-8), the Z axis Z axis feed screw nut is threaded with leading screw (4-9), the second connecting plate (4-10) is connected with the Z axis feed screw nut, it is described Y-axis motion include be arranged on the second connecting plate (4-10) on Y-axis motion motor (4-4) and with Y-axis motion motor (4-4) The Y-axis leading screw (4-5) that is fixedly connected of output shaft, be threaded with Y-axis feed screw nut, the Y on the Y-axis leading screw (4-5) The 3rd contiguous block (4-7) is connected with axle feed screw nut, the nozzle (4-1) is arranged on the 3rd contiguous block (4-7), the spray The water inlet of mouth (4-1) is connected by the 3rd water-supply-pipe (7) with the delivery port of abrasive can (7-3)；The control system (6) include voltage conversion circuit (6-9), microcontroller (6-1) and connect with microcontroller (6-1) and For connecting the serial communication modular (6-2) of the remote control, the voltage conversion circuit (6-9) and the output of storage battery (7-4) End connection, the wireless signal for the wireless signal that the input of the microcontroller (6-1) is terminated with launching for receiving remote control connect Circuit is received, the output of the microcontroller (6-1) is terminated with the current supply circuit for being switched on or switched off high-pressure plunger pump (7-2) Relay (6-11), for drive left side movable motor (2-3) the first motor-drive circuit (6-3) and for drive right side row The second motor-drive circuit (6-4) of motor (2-4) is walked, and for driving the 3rd motor of X-axis motion motor (4-2) to drive Circuit (6-5), the 4th motor-drive circuit (6-6) for driving Y-axis motion motor (4-4) and for drive Z axis motion electricity 5th motor-drive circuit (6-7) of machine (4-8), the power supply that the relay (6-11) is connected on high-pressure plunger pump (7-2) are returned Lu Zhong, the left side movable motor (2-3) are connected with the output end of the first motor-drive circuit (6-3), the right side walking electricity Machine (2-4) is connected with the output end of the second motor-drive circuit (6-4), and the X-axis motion motor (4-2) drives with the 3rd motor The output end connection of circuit (6-5), the Y-axis motion motor (4-4) and the output end of the 4th motor-drive circuit (6-6) connect Connect, the Z axis motion motor (4-8) is connected with the output end of the 5th motor-drive circuit (6-7).
- 2. according to the intelligent water knife explosive-removal robot described in claim 1, it is characterised in that：The left side movable motor (2-3) It is anterior installed in the left side of frame (1), the first left side is fixedly connected with the output shaft of the left side movable motor (2-3) and is walked Belt wheel (2-5), the left side central portion of the frame (1) are fixedly connected with left side central portion walking belt wheel group frame (2-6), in the left side The second left side treads wheel (2-7), the 3rd left row of laying triangular in shape are rotatably connected on portion's walking belt wheel group frame (2-6) Belt wheel (2-8) and the 4th left side treads wheel (2-9) are walked, the left back of the frame (1) is rotatably connected to the 5th left row Walk belt wheel (2-10), the 6th left row is connected with by left-side connecting bar (2-11) on the 5th left side treads wheel (2-10) Belt wheel (2-12) is walked, the left side traveling crawler (2-1) is connected across the first left side treads wheel (2-5), the second left side treads Take turns (2-7), the 3rd left side treads wheel (2-8), the 4th left side treads wheel (2-9), the 5th left side treads wheel (2-10) and On 6th left side treads wheel (2-12)；The right side movable motor (2-4) is arranged on the right front of frame (1), the right side The first right side walking belt wheel (2-13) is fixedly connected with the output shaft of side movable motor (2-4), in the right side of the frame (1) Portion is fixedly connected with right side central walking belt wheel group frame (2-14), the company of rotation on right side central walking belt wheel group frame (2-14) The the second right side walking belt wheel (2-15), the 3rd right side walking belt wheel (2-16) and the 4th right side for being connected to laying triangular in shape are walked Belt wheel (2-17), the right side posterior rotation of the frame (1) are connected with the 5th right side walking belt wheel (2-18), the 5th right side The 6th right side walking belt wheel (2-20), the right side walking are connected with by right-side connecting bar (2-19) on walking belt wheel (2-18) Crawler belt (2-2) is connected across the first right side walking belt wheel (2-13), the second right side walking belt wheel (2-15), the 3rd right side walking belt wheel (2-16), the 4th right side walking belt wheel (2-17), the 5th right side walking belt wheel (2-18) and the 6th right side walking belt wheel (2-20) On.
- 3. according to the intelligent water knife explosive-removal robot described in claim 1, it is characterised in that：The microcontroller (6-1) is type Number be STC89C52 single-chip microcomputer U1.
- 4. according to the intelligent water knife explosive-removal robot described in claim 1, it is characterised in that：The remote control is IR remote controller (5), the wireless signal receiving circuit includes the IR signal reception for being used to receive the infrared signal of IR remote controller (5) transmitting Circuit (6-10) and the infrared signal for being received to infrared signal receiving circuit (6-10) carry out the infrared letter of decoding process Number decoding circuit (6-8), the output end of the infrared signal receiving circuit (6-10) are defeated with infrared signal decoding circuit (6-8) Enter end connection, the output end of the infrared signal decoding circuit (6-8) is connected with the input of microcontroller (6-1).
- 5. according to the intelligent water knife explosive-removal robot described in claim 4, it is characterised in that：The IR remote controller (5) includes Microprocessor (5-1) and the serial interface (5-2) for connecting serial communication modular (6-2) that connects with microprocessor (5-1) and be used for, The input of the microprocessor (5-1) is terminated with button operation circuit (5-4), and the output of the microprocessor (5-1) is terminated with Infrared signal transmission circuit (5-3).
- 6. according to the intelligent water knife explosive-removal robot described in claim 5, it is characterised in that：The microprocessor (5-1) is type Number single-chip microcomputer U2 for being STC89C51, the infrared signal transmission circuit (5-3) includes chip PT2262, the chip PT2262 The 7th pin and the 8th pin be corresponding in turn to and connect with the 32nd pin of the single-chip microcomputer U2 and the 33rd pin, the chip PT2262 the 10th~13 pin is corresponding in turn to connect with the 34th~37 pin of the single-chip microcomputer U2, the chip PT2262's 14th pin connects with the 3rd pin of the single-chip microcomputer U2.
- 7. according to the intelligent water knife explosive-removal robot described in claim 4, it is characterised in that：The infrared signal receiving circuit (6-10) includes infrared receiving terminal (6-101) and chip LM358, the 5th pin of the chip LM358 pass through nonpolar electric capacity C4 It is connected with the output end of infrared receiving terminal (6-101), the resistance R1 and non-pole of the 6th pin of the chip LM358 by series connection Property electric capacity C6 is connected with chip LM358 the 3rd pin, and is grounded by resistance R8, and the 3rd pin of the chip LM358 passes through Series connection resistance R5 and resistance R2 ground connection, the 2nd pin of the chip LM358 be connected with resistance R5 and resistance R2 connection end and Be connected by resistance R3 with the VCC output ends of voltage conversion circuit (6-9), the 7th pin of the chip LM358 and resistance R1 and Nonpolar electric capacity C6 connection end connection, the 1st pin of the chip LM358, which is powered, hinders R4 and chip LM358 the 3rd pin company Connect and for infrared signal receiving circuit (6-10) output end；The infrared signal decoding circuit (6-8) includes chip PT2272, The 14th pin of the chip PT2272 is the input of infrared signal decoding circuit (6-8).
- 8. according to the intelligent water knife explosive-removal robot described in claim 1, it is characterised in that：The left side movable motor (2-3) For DC brushless motor, first motor-drive circuit (6-3) includes triode Q5, diode D6, polar capacitor C7 and pole Property electric capacity C11, the anode of the diode D6 for the first motor-drive circuit (6-3) input and with microcontroller (6-1) Output end connection, the base stage of the triode Q5 is connected by resistance R91 with diode D6 negative electrode, the diode D6's Negative electrode is connected with polar capacitor C11 positive pole, the output of current collection extremely the first motor-drive circuit (6-3) of the triode Q5 Hold OUT1 and be connected with polar capacitor C7 positive pole, the emitter stage of the triode Q5, polar capacitor C11 negative pole and polarity electricity The negative pole for holding C7 is grounded.
- 9. according to the intelligent water knife explosive-removal robot described in claim 1, it is characterised in that：The right side movable motor (2-4) For DC brushless motor, second motor-drive circuit (6-4) includes triode Q6, diode D7, polar capacitor C8 and pole Property electric capacity C12, the anode of the diode D7 for the second motor-drive circuit (6-4) input and with microcontroller (6-1) Output end connection, the base stage of the triode Q6 is connected by resistance R92 with diode D7 negative electrode, the diode D7's Negative electrode is connected with polar capacitor C12 positive pole, the output of current collection extremely the second motor-drive circuit (6-4) of the triode Q6 Hold OUT2 and be connected with polar capacitor C8 positive pole, the emitter stage of the triode Q6, polar capacitor C12 negative pole and polarity electricity The negative pole for holding C8 is grounded.
- 10. according to the intelligent water knife explosive-removal robot described in claim 1, it is characterised in that：The X-axis motion motor (4-2), Y-axis motion motor (4-4) and Z axis motion motor (4-8) are stepper motor, the 3rd motor-drive circuit (6-5), the 4th Motor-drive circuit (6-6) and the 5th motor-drive circuit (6-7) are stepper motor driver.
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| US11554461B1 (en) | 2018-02-13 | 2023-01-17 | Omax Corporation | Articulating apparatus of a waterjet system and related technology |
| CN109483406A (en) * | 2018-11-22 | 2019-03-19 | 湖北航天技术研究院总体设计所 | A kind of portable jet cutting apparatus |
| CN110228014B (en) * | 2019-06-27 | 2020-12-22 | 广西科技大学 | Mobile robot for underground support dismantling operation |
| CN110397038A (en) * | 2019-08-19 | 2019-11-01 | 陕西中建建乐智能机器人有限公司 | One kind abolishing clamping robot |
| WO2021127253A1 (en) | 2019-12-18 | 2021-06-24 | Hypertherm, Inc. | Liquid jet cutting head sensor systems and methods |
| CN112775928B (en) * | 2021-02-01 | 2022-06-07 | 威海星空软体机器人科技有限公司 | Explosive-handling robot with hole opening and wire cutting functions |
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