CN206493323U - A kind of explosive-removal robot system - Google Patents
A kind of explosive-removal robot system Download PDFInfo
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- CN206493323U CN206493323U CN201720138951.4U CN201720138951U CN206493323U CN 206493323 U CN206493323 U CN 206493323U CN 201720138951 U CN201720138951 U CN 201720138951U CN 206493323 U CN206493323 U CN 206493323U
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Abstract
The utility model is related to a kind of explosive-removal robot system, robot and control cabinet including wireless connection, robot include car body, universal binodal leading screw arm, connector, hinged cantilever, manipulator, hydraulic giant big gun, two first antennas, rotating waist disk, electric and hydraulic system, the first central processing unit and drive devices.The explosive-removal robot system that the utility model is provided, its robot is adapted to a variety of landform, more convenient operation simple and fast, the dragging ability of existing heavy-duty machines people, also the speed and climbing capacity of small scale robot are had concurrently, can be rapidly close to target, operation flexibly and fast, can be investigated with complete independently, suspicious item crawl and the function such as destroy；Two operation handles are provided with control cabinet, are rocker-type operation handle, only need two hands hold two operation handles just can control machine people completely motion, it is simple to operate, coherent, sensitive, conveniently, the need for practical application can be met well.
Description
Technical field
The utility model belongs to explosive-removal robot technical field, and in particular to a kind of explosive-removal robot system.
Background technology
The key of explosive-removal robot is independently obtain, handle and recognize object information, with certain autonomous point
Analysis ability, can independently complete complex operation task, have greater flexibility than general industrial robot.They
General volume less, is turned to flexibly, is easy in narrow local work, and operating personnel can be logical beyond hundreds of meters to several kilometers
Cross radio or optical cable controls its activity.Therefore, explosive-removal robot be widely used in fire reconnaissance, anti-quick-fried, the military cause of anti-terrorism,
The multiple fields such as the inspection and maintenance of nuclear facilities.
But like product generally existing volume in the market, flexibility and frictional ground force are mutually unmatched to ask
Topic, it is poorer to be mainly reflected in the bigger flexibility of volume, and integral power is equipped with not perfect enough；Traction is smaller, ramp angle
It is small, easily cause the phenomenons such as rollover skidding；It is difficult to suitable for complicated urban environment and mountain road；Overall pace controllability
Not strong, control system is complicated, the gait of march of extremely difficult control machine people during human users；And be to the manipulation of robot
Manipulated by button mode of operation, complex operation, discontinuous, insensitive, inconvenience.
Utility model content
For above-mentioned problems of the prior art, the purpose of this utility model is that providing one kind can avoid the occurrence of
State the explosive-removal robot system of technological deficiency.
In order to realize above-mentioned utility model purpose, the technical solution adopted in the utility model is as follows：
A kind of explosive-removal robot system, includes the robot and control cabinet 16 of wireless connection, and robot includes car body 1, ten thousand
To binodal leading screw arm 2, connector 3, hinged cantilever 4, manipulator 5, hydraulic giant big gun 6, two first antennas 9, rotating waist disk 15, electrically
And hydraulic system, the first central processing unit and drive device, wherein：
First central processing unit and the electric and hydraulic system are arranged on the inside of the car body 1, described first
Central processing unit is connected with the electric and hydraulic system；
The drive device is arranged on the two bottom sides of the car body 1, and is connected with the electric and hydraulic system；
The rotating waist disk 15 is arranged on the rear end of the car body 1, and is connected with the electric and hydraulic system；
The universal binodal leading screw arm 2 is arranged on the rotating waist disk 15, and is connected with the electric and hydraulic system
Connect；
The connector 3 is arranged on one end of the universal binodal leading screw arm 2；
The hinged cantilever 4 is connected with the connector 3；
The manipulator 5 is connected with the hinged cantilever 4；
The hydraulic giant big gun 6 is arranged on the connector 3；
Described two first antennas 9 are arranged on the car body 1, are connected with first central processing unit；
The control cabinet 16 includes the second central processing unit that interconnection is provided with casing 22 and case lid 18, casing 22
With control panel 29, the second central processing unit is located at below control panel 29, and the inner side of case lid 18 is provided with display screen 19, chain of command
Be provided with the second antenna 17, third antenna 21 and two operation handles 24 on plate 29, the second antenna 17, third antenna 21 respectively with
Two wireless connections of first antenna 9.
Further, robot also includes water cutter device assembly 25, and water cutter device assembly 25 is arranged on car body 1.
Further, water cutter device assembly 25 includes the explosive mechanism 58 of high pressure waterjet, housing 30 and is arranged on housing 30
Interior water-jet flow generating apparatus；Wherein：
The water-jet flow generating apparatus includes water tank 41, high-pressure plunger pump 42, abrasive can 43, and is high-pressure plunger pump
42 provide the gasoline engine 45 of power, and the water inlet of the high-pressure plunger pump 42 passes through the water outlet of the first water-supply-pipe 47 and water tank 41
Mouth connection, the water inlet of the abrasive can 43 passes through the second water-supply-pipe 48 and the safety valve being arranged on the second water-supply-pipe 48
49th, pressure regulator valve 50 and pressure gauge 51 are connected with the delivery port of high-pressure plunger pump 42, and the high-pressure plunger pump 42 passes through power match
Device 46 is connected with gasoline engine 45, and abrasive material switch 44 is provided with the abrasive can 43；
The explosive mechanism 58 of high pressure waterjet includes X-axis motion, Y-axis motion, Z axis motion and nozzle
31, the X-axis motion includes rack-mounted X-axis motion motor 32 and consolidated with the output shaft of X-axis motion motor 32
Surely it is threaded with the X-axis leading screw 33 connected, the X-axis leading screw 33 on X-axis feed screw nut, the X-axis feed screw nut fixed
Be connected with the first connecting plate 36, the Z axis motion include the Z axis motion motor 38 being arranged on the first connecting plate 36 and with
Z axis leading screw spiral shell is threaded with the Z axis leading screw 39 that the output shaft of Z axis motion motor 38 is fixedly connected, the Z axis leading screw 39
The second connecting plate 40 is connected with mother, the Z axis feed screw nut, the Y-axis motion includes being arranged on the second connecting plate 40
On Y-axis motion motor 34 and the Y-axis leading screw 35 that is fixedly connected with the output shaft of Y-axis motion motor 34, on the Y-axis leading screw 35
It is threaded with Y-axis feed screw nut, the Y-axis feed screw nut and is connected with the 3rd contiguous block 37, the nozzle 31 is arranged on the
On three contiguous blocks 37, the water inlet of the nozzle 31 is connected by the 3rd water-supply-pipe 52 with the delivery port of abrasive can 43.
Further, the explosive-removal robot also includes the first camera 11, second camera 12, the and of the 3rd camera 13
Support bar 14, wherein：
First camera 11 is arranged on the manipulator 5；
The second camera 12 is arranged on the hydraulic giant big gun 6；
3rd camera 13 is arranged on the car body 1 by the support bar 14.
Further, the drive device is made up of motor, six driving wheels 7 and two crawler belts 8, the driving electricity
Machine is arranged on the inside of the car body 1, is connected with first central processing unit and six driving wheels 7, every three institutes
The side that driving wheel 7 is arranged on the car body 1 is stated, every crawler belt 8 is arranged on every three driving wheels 7.
Further, the universal binodal leading screw arm 2 is by gear train 53, motor 54, rotating threaded shaft 55, Universal rotary rotary head 56
Constituted with arm shell 57, wherein：
The rotating threaded shaft 55 is arranged on the inside of the arm shell 57；
The gear train 53 is arranged on one end of the arm shell 57, is connected with the rotating threaded shaft 55；
The motor 54 is connected with the gear train 53；
The Universal rotary rotary head 56 is arranged on the other end of the rotating threaded shaft 55.
Further, the first hall sensing being connected with first central processing unit is provided with the manipulator
Device.
Further, two crawler belts 6 are that polybutadiene rubber synthesizes crawler belt.
Further, it is provided with the second Hall sensor in the operation handle 24.
Further, the hydraulic giant big gun 6 includes base 60, muffler 61, gun barrel 62, and gun barrel 62 is arranged on base 60,
Water bullet is placed with close to one end of base 60 in gun barrel 62, muffler 61 is arranged on the other end of gun barrel 62.
The explosive-removal robot system that the utility model is provided, its robot is adapted to a variety of landform, more convenient operation letter
Single quick, the dragging ability of existing heavy-duty machines people also has the speed and climbing capacity of small scale robot concurrently, can approached rapidly
Target, operation flexibly and fast, can be investigated with complete independently, suspicious item crawl and destroy etc. function；Two are provided with control cabinet
Operation handle, is rocker-type operation handle, only needs two hands to hold motion of two operation handles with regard to energy control machine people completely, behaviour
Make simple, coherent, sensitive, conveniently, the need for practical application can be met well.
Brief description of the drawings
Fig. 1 is the structural representation of the robot of embodiment 1；
Fig. 2 is the perspective structure schematic diagram of the universal binodal leading screw arm of embodiment 1；
Fig. 3 is the structural representation of the control cabinet of embodiment 1；
Fig. 4 is the structural representation of the robot of embodiment 2；
Fig. 5 is the structural representation of the water cutter device assembly of embodiment 2；
Fig. 6 is the structural representation of the water-jet flow generating apparatus of embodiment 2；
Fig. 7 is the structural representation of another angle of the water-jet flow generating apparatus of embodiment 2；
Fig. 8 is the annexation schematic diagram of the water-jet flow generating apparatus of embodiment 2；
Fig. 9 is the structural representation of the explosive mechanism of high pressure waterjet of embodiment 2；
Figure 10 is the structural representation of the hydraulic giant big gun of embodiment 1；
In figure, 1- car bodies, the universal binodal leading screw arms of 2-, 3- connectors, 4- hinged cantilevers, 5- manipulators, 6- hydraulic giant big guns, 7-
Driving wheel, 8- crawler belts, 9- first antennas, 10- support frames, the cameras of 11- first, 12- second cameras, the cameras of 13- the 3rd,
14- support bars, 15- rotating waist disks, 16- control cabinets, the antennas of 17- second, 18- case lids, 19- display screens, 20- display screens switch,
21- third antennas, 22- casings, 23- hydraulic giant big guns open voltage flame proof switch, 24- operation handles, 25- water cutter device assemblies, 26- supports, 27-
Power switch, 28- electricity display screens, 29- control panels, 30- housings, 31- nozzles, 32-X axle motion motors, 33-X axial filament thick sticks,
34-Y axle motion motors, 35-Y axial filament thick sticks, the connecting plates of 36- first, the contiguous blocks of 37- the 3rd, 38-Z axle motion motors, 39-Z axial filaments
Thick stick, the connecting plates of 40- second, 41- water tanks, 42- high-pressure plunger pumps, 43- abrasive cans, 44- abrasive materials switch, 45- gasoline engines, 46-
Power match device, the water-supply-pipes of 47- first, the water-supply-pipes of 48- second, 49- safety valves, 50- pressure regulator valves, 51- pressure gauges, 52- the 3rd
Water-supply-pipe, 53- gear trains, 54- motors, 55- rotating threaded shafts, 56- Universal rotary rotary heads, 57- arm shells, the explosive machine of 58- high pressure waterjets
Structure, 59- rangefinders, 60- bases, 61- mufflers, 62- gun barrels.
Embodiment
The utility model is described further with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in figure 1, a kind of explosive-removal robot system, including wireless connection robot and control cabinet 16 (such as Fig. 3 institutes
Show), robot by car body 1, universal binodal leading screw arm 2, connector 3, hinged cantilever 4, manipulator 5, hydraulic giant big gun 6, two first
Antenna 9, electric and hydraulic system, the first central processing unit and drive device composition, wherein：First central processing unit and institute
State electrically and hydraulic system is arranged on the inside of the car body 1, first central processing unit and the electric and hydraulic system
It is connected；The drive device is arranged on the two bottom sides of the car body 1, and is connected with the electric and hydraulic system；Institute
State rotating waist disk 15 be arranged on the car body 1 rear end and with it is described electrically and hydraulic system is connected, rotating waist disk 15 can 360
Degree rotation；The universal binodal leading screw arm 2 is arranged on the rotating waist disk 15, and is connected with the electric and hydraulic system
Connect；Support frame 10 is arranged on rotating waist disk 15 and is connected with universal binodal leading screw arm 2, can support universal binodal leading screw arm
2 motion；The connector 3 is arranged on one end of the universal binodal leading screw arm 2；The hinged cantilever 4 and the connector 3
It is connected；The manipulator 5 is connected with the hinged cantilever 4；The hydraulic giant big gun 6 is arranged on the connector 3；Described two
Individual first antenna 9 is arranged on the car body 1, is connected with first central processing unit, for transmitting/receiving wireless signal；Such as
Shown in Fig. 3, the control cabinet 16 includes the second central processing unit that interconnection is provided with casing 22 and case lid 18, casing 22
With control panel 29, the second central processing unit is covered in casing 22, below control panel 29, by control panel 29, case
The inner side of lid 18 is provided with the display screen 19 being connected with the second central processing unit, display screen switch 20, control panel 29 and set
There are the second antenna 17, third antenna 21, two hydraulic giant big guns to open voltage flame proof switch 23, two operation handles 24, power switch 27 and electricity
Display screen 28, the second antenna 17, third antenna 21 respectively with two wireless connections of first antenna 9.Set in the operation handle 24
It is equipped with the second Hall sensor.Second antenna 17 is used to receive vision signal, and third antenna 21 is used to send control signal.
Hydraulic giant big gun 6 can open any one electronics detonation in voltage flame proof switch 23 by two hydraulic giant big guns.As shown in Figure 10, water
Firearms 6 are made up of base 60, muffler 61, gun barrel 62, and gun barrel 62 is arranged on base 60, close to base 60 in gun barrel 62
One end is placed with water bullet, and muffler 61 is arranged on the other end of gun barrel 62, and gun barrel 62 is metal barrel, after the hydraulic giant big gun 6 that detonates, water
Bullet sprays from gun barrel 62, can be with destroying explosive substance, and muffler 61 is used to eliminate sound when hydraulic giant big gun 6 detonates.
The first Hall sensor being connected with first central processing unit is provided with the manipulator 5, first suddenly
Transducing signal is input to the first central processing unit by sensor by you；Position signalling is converted to electric current letter by the first Hall sensor
Number, different voltages are produced by resistance, voltage and displacement or angle have a proportionate relationship, the center of control source first
Processor is identified the displacement or angle that manipulator 5 is passed by, and more desirably to reach the operating process of diversification, makes
The operation of manipulator 5 is more convenient, easily-controllable.
The explosive-removal robot system also includes the first camera 11, second camera 12, the 3rd camera 13 and support
Bar 14, wherein：First camera 11 is arranged on the manipulator 5；The second camera 12 is arranged on the hydraulic giant
On big gun 6；3rd camera 13 is arranged on the car body 1 by the support bar 14.First camera 11, second is imaged
First 12, the image transmission captured by the 3rd camera 13 is to the first central processing unit, and the first central processing unit is again by signal of video signal
Transmitted wirelessly away by two first antennas 9, by the second antenna 17 receive after shown on display screen 19.
The drive device is made up of motor, six driving wheels 7 and two crawler belts 8, and the motor is arranged on
The inside of the car body 1, is connected with first central processing unit and six driving wheels 7, every three driving wheels 7
The side of the car body 1 is arranged on, every crawler belt 8 is arranged on every three driving wheels 7.Two crawler belts 8 are poly- fourth
Diene rubber synthesizes crawler belt, drastically increases the ramp angle of robot and the stationarity of traveling.Motor is using original-pack
The high-power hollow-cup motor of import, realizes the power of complete machine, speed, the overall co-ordination of volume in terms of following four：1) save
Can characteristic：Energy conversion efficiency is very high；2) control characteristic：Start, brake rapid, response is exceedingly fast, and mechanical time constant is less than 28
Millisecond, portioned product can reach within 10 milliseconds (iron core motors are typically more than 100 milliseconds), recommend in operation area
Run at high speed under state, easily rotating speed sensitively can be adjusted；3) drag characteristics：Operation stability very may be used
Lean on, the fluctuation very little of rotating speed, as micromotor, its fluctuation of speed can be easily controlled within 2%；4) weight, body
Product, energy density are increased substantially, and compared with the iron core motors of Same Efficieney, its weight, volume alleviate 1/3-1/2.
First central processing unit carries out radio communication by two first antennas 9 and control cabinet 16, can be by the first shooting
First 11, the incoming signal of video signal of second camera 12, the 3rd camera 13 is wirelessly transmitted to the second antenna 17, and the second antenna 17 connects
Shown after receiving signal of video signal on display screen 19.Staff can be remotely controlled operation to robot by control cabinet 16
And monitoring, and two operation handles 24 are rocker-type operation handle, operation handle 24 is to be set in double gear change hand levers, operation handle 24
The second Hall sensor is equipped with, only needs two hands to hold everything of two operation handles 24 with regard to energy control machine people completely, nothing
Operation button need to be observed, stepless time adjustment is carried out using double gear change hand levers, operation is more easily convenient, overcomes Traditional control panel
Button operation it is complicated, discontinuous the shortcomings of.
As shown in Fig. 2 the universal binodal leading screw arm 2 is by gear train 53, motor 54, rotating threaded shaft 55, Universal rotary rotary head
56 and arm shell 57 constitute, wherein：The rotating threaded shaft 55 is arranged on the inside of the arm shell 57；The gear train 53 is arranged on institute
One end of arm shell 57 is stated, is connected with the rotating threaded shaft 55；The motor 54 is connected with the gear train 53；It is described universal
Swivel head 56 is arranged on the other end of the rotating threaded shaft 55.Spring is provided between rotating threaded shaft 55 and Universal rotary rotary head 56 to subtract
Device is shaken, the effect of spring vibration damper is the subsidence velocity for slowing down rotating threaded shaft in the case where gravity overloads, so as to more preferable
Ground reaches the linear motion effect of universal binodal leading screw arm 2.The universal overall operation process of binodal leading screw arm 2 is positive and negative by motor 54
Rotating band moving gear group 53 rotation produce power, rotated leading screw 55 is transmitted the power of generation again, then through Universal rotary rotary head 56 eliminate before
The tenesmus strength of snatch thing, makes overall stress point fall within the strong point of universal binodal leading screw arm 2, efficiently utilizes rotation
The stationarity of leading screw 55, and reasonably accomplished the integration of strength, realize overall balance.Robot is used rotating waist disk
15 rearmounted set-up modes, universal binodal leading screw arm 2 is arranged on the rear end of car body 1 by rotating waist disk 15, effectively reduces machine
The overall volume of device people, can make robot increase the balance and stability of its own when capturing article, be more convenient for narrow and small
Space in work, and more flexibility.
Embodiment 2
As shown in figure 4, the difference of embodiment 2 and embodiment 1 is, the robot of embodiment 2 also includes water knife and filled
Put on assembly 25 and support 26, support 26 is fixed on the upper surface of car body 1, water cutter device assembly 25 is fixed on support 26, is located at
The side of car body 1.As shown in figure 5, water cutter device assembly 25 includes the explosive mechanism 58 of high pressure waterjet, housing 30 and is arranged on shell
Water-jet flow generating apparatus in body 30；Wherein：As shown in figs 6-8, the water-jet flow generating apparatus includes water tank 41, high-pressure column
Pump 42, abrasive can 43 are filled in, and is the gasoline engine 45 of the offer power of high-pressure plunger pump 42, the water inlet of the high-pressure plunger pump 42
It is connected by the first water-supply-pipe 47 with the delivery port of water tank 41, the high-pressure plunger pump 42 passes through power match device 46 and gasoline
Machine 45 is connected, and the water inlet of the abrasive can 43 passes through the second water-supply-pipe 48 and the safety valve being arranged on the second water-supply-pipe 48
49th, pressure regulator valve 50 and pressure gauge 51 are connected with the delivery port of high-pressure plunger pump 42, and abrasive material switch is provided with the abrasive can 43
44；By setting safety valve 49 and pressure regulator valve 50 so that high-pressure plunger pump 42 has reliable overload protection, works as high-pressure plunger pump
When 42 failures or nozzle 31 are blocked, pressure processing can be rushed down in time, and can easily carry out pressure regulation；When it is implemented,
The volume of the water tank 41 is 0.1m3, and equipped with liquid level gauge in water tank 41；As shown in figure 4, the front end of car body 1 is also installed
There is the rangefinder 59 being connected with the first central processing unit, for detecting the distance between barrier on car body 1 and road, with
Just robot can effective avoiding obstacles when advancing.
As shown in figure 9, the explosive mechanism 58 of high pressure waterjet includes X-axis motion, Y-axis motion, Z axis fitness machine
Structure and nozzle 31, the X-axis motion include rack-mounted X-axis motion motor 32 and with X-axis motion motor 32
X-axis feed screw nut, the X-axis leading screw spiral shell are threaded with the X-axis leading screw 33 that output shaft is fixedly connected, the X-axis leading screw 33
The first connecting plate 36 is fixedly connected with mother, the Z axis motion includes the Z axis motion electricity being arranged on the first connecting plate 36
Z axis is threaded with machine 38 and the Z axis leading screw 39 being fixedly connected with the output shaft of Z axis motion motor 38, the Z axis leading screw 39
The second connecting plate 40 is connected with feed screw nut, the Z axis feed screw nut, the Y-axis motion includes being arranged on the second company
Y-axis motion motor 34 on fishplate bar 40 and the Y-axis leading screw 35 being fixedly connected with the output shaft of Y-axis motion motor 34, the Y-axis silk
It is threaded with thick stick 35 on Y-axis feed screw nut, the Y-axis feed screw nut and is connected with the 3rd contiguous block 37, the nozzle 31 is pacified
On the 3rd contiguous block 37, the water inlet of the nozzle 31 is connected by the 3rd water-supply-pipe 52 with the delivery port of abrasive can 43；
The X-axis motion motor 32, Y-axis motion motor 34 and Z axis motion motor 38 are stepper motor.Nozzle 31 is moved by X-axis
Motor 32, Y-axis motion motor 34 and Z axis motion motor 38 drive, and can implement X-axis, the three axially cutting operations of Y-axis and Z axis；
Stepper motor has the advantages that control is accurate, is easy to speed governing, by being adjusted orientation, energy to X-axis, three directions of Y-axis and Z axis
Various sizes of explosive is enough adapted to, nozzle 31 is in optimal cutting position.Water cutter device assembly 25 is by the first centre
Manage device control.High-pressure plunger pump 42 is connected by relay with the first central processing unit, X-axis motion motor 32, Y-axis motion electricity
Machine 34 and Z axis motion motor 38 are connected by a motor-drive circuit with the first central processing unit respectively.Except above-mentioned knot
Outside structure, the other structures of embodiment 2 are same as Example 1.
Robot, which is advanced to, to be needed to carry out explosive position, nozzle 31 is aligned after explosive, and the first central processing unit leads to
The water crossed in the current supply circuit that relay connects high-pressure plunger pump 42, water tank 41 flows into high-pressure plunger by the first water-supply-pipe 47
Pump 42, gasoline engine 45 is that high-pressure plunger pump 42 provides power, and high-pressure plunger pump 42 is flowed after water is pressurizeed by the second water-supply-pipe 48
Enter in abrasive can 43, be sufficiently mixed with the abrasive material in abrasive can 43, and drive abrasive material to accelerate, produce abrasive material slurry and pass through nozzle
31 are sprayed, and form abrasive water-jet, and the explosive operation of cutting is carried out for explosive.When cutting explosive operation, the first center processing
Device drives X-axis motion motor 32, Y-axis motion motor 34 and Z axis motion motor 38 by motor-drive circuit, and nozzle 31 passes through X
Axle motion motor 32, Y-axis motion motor 34 and Z axis motion motor 38 drive, and can implement X-axis, three axial directions of Y-axis and Z axis and cut
Cut operation.
Water cutter device assembly 25 belongs to cold conditions cutting, strong to environmental suitability, and all kinds of common explosives are being destroyed on the spot
During, continuous cutting operation can be implemented to any part of explosive, it is lost brisance within the extremely short time,
Smokeless, spark, heat are produced during explosive, are effectively reduced degree of danger, have been ensured personal safety and farthest protected
Related clue to solve the case is stayed, the defect for causing evidence to destroy with hydraulic giant big gun destroying explosive substance is overcome.The cumulatives such as water cannon rifle destroy dress
Put and the application point of explosive is extremely limited to, be typically only priming device, such as detonator, primacord；If acting on blast
Other positions of device, such as main charge does not ensure that explosive fails；The use of water cutter device assembly 25 then overcomes hydraulic giant
These defects of big gun.By changing the hybrid mode of abrasive material, water jet is set still to have in the case where outlet pressure is relatively low stronger
Cutting power, it is cutting process safety, rapid, effectively reduce degree of danger, ensured the person and Environmental security；Can penetrate compared with
Thick carbon steel steel plate, can disposably cut off electric cap；Temperature rise in cutting process is smaller, and electrostatic electrification voltage is relatively low.Therefore, adopt
Explosive operation is carried out with water cutter device assembly 25 can obtain good explosive effect.
The explosive-removal robot system that the utility model is provided, its robot is adapted to a variety of landform, more convenient operation letter
Single quick, the dragging ability of existing heavy-duty machines people also has the speed and climbing capacity of small scale robot concurrently, can approached rapidly
Target, operation flexibly and fast, can be investigated with complete independently, suspicious item crawl and destroy etc. function；Two are provided with control cabinet
Operation handle, is rocker-type operation handle, only needs two hands to hold motion of two operation handles with regard to energy control machine people completely, behaviour
Make simple, coherent, sensitive, conveniently, the need for practical application can be met well.
Embodiment described above only expresses embodiment of the present utility model, and it describes more specific and detailed, but simultaneously
Therefore the limitation to the utility model the scope of the claims can not be interpreted as.It should be pointed out that for the ordinary skill of this area
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection domain of utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of explosive-removal robot system, it is characterised in that robot and control cabinet (16) including wireless connection, robot bag
Include car body (1), universal binodal leading screw arm (2), connector (3), hinged cantilever (4), manipulator (5), hydraulic giant big gun (6), two
One antenna (9), rotating waist disk (15), electric and hydraulic system, the first central processing unit and drive device, wherein：
First central processing unit and the electric and hydraulic system are arranged in the inside of the car body (1), described first
Central processor is connected with the electric and hydraulic system；
The drive device is arranged on the car body（1）Two bottom sides, and with it is described electrically and hydraulic system be connected；
The rotating waist disk (15) is arranged on the car body（1）Rear end, and with it is described electrically and hydraulic system be connected；
The universal binodal leading screw arm (2) is arranged on the rotating waist disk (15), and is connected with the electric and hydraulic system
Connect；
The connector (3) is arranged on one end of the universal binodal leading screw arm (2)；
The hinged cantilever (4) is connected with the connector (3)；
The manipulator (5) is connected with the hinged cantilever (4)；
The hydraulic giant big gun (6) is arranged on the connector (3)；
Described two first antennas (9) are arranged on the car body (1), are connected with first central processing unit；
The control cabinet (16) includes being provided with the second centre of interconnection in casing (22) and case lid (18), casing (22)
Device and control panel (29) are managed, the second central processing unit is located at control panel (29) below, and display is provided with the inside of case lid (18)
Shield (19), the second antenna (17), third antenna (21) and two operation handles (24), second day are provided with control panel (29)
Line (17), third antenna (21) respectively with two first antenna (9) wireless connections.
2. explosive-removal robot system according to claim 1, it is characterised in that robot also includes water cutter device assembly
(25), water cutter device assembly (25) is arranged on car body (1).
3. explosive-removal robot system according to claim 2, it is characterised in that water cutter device assembly (25) is cut including water knife
Cut explosive mechanism (58), housing (30) and the water-jet flow generating apparatus being arranged in housing (30)；Wherein：
The water-jet flow generating apparatus includes water tank (41), high-pressure plunger pump (42), abrasive can (43), and is high-pressure plunger
Pump (42) provides the gasoline engine (45) of power, and the water inlet of the high-pressure plunger pump (42) passes through the first water-supply-pipe (47) and retaining
Tank (41) delivery port connection, the abrasive can (43) water inlet is by the second water-supply-pipe (48) and is arranged on the second water delivery
Safety valve (49), pressure regulator valve (50) and pressure gauge (51) on pipe (48) are connected with the delivery port of high-pressure plunger pump (42), described
High-pressure plunger pump (42) is connected by power match device (46) with gasoline engine (45), and being provided with abrasive material on the abrasive can (43) opens
Close (44)；
The explosive mechanism of high pressure waterjet (58) includes X-axis motion, Y-axis motion, Z axis motion and nozzle
(31), the X-axis motion includes rack-mounted X-axis motion motor (32) and defeated with X-axis motion motor (32)
X-axis feed screw nut, the X-axis leading screw are threaded with the X-axis leading screw (33) that shaft is fixedly connected, the X-axis leading screw (33)
The first connecting plate (36) is fixedly connected with nut, the Z axis motion includes the Z axis being arranged on the first connecting plate (36)
Motion motor (38) and the Z axis leading screw (39) being fixedly connected with the output shaft of Z axis motion motor (38), the Z axis leading screw (39)
On be threaded with Z axis feed screw nut, the Z axis feed screw nut and be connected with the second connecting plate (40), the Y-axis motion
Company is fixed including the Y-axis motion motor (34) on the second connecting plate (40) and with the output shaft of Y-axis motion motor (34)
It is threaded with Y-axis feed screw nut, the Y-axis feed screw nut and connects on the Y-axis leading screw (35) connect, the Y-axis leading screw (35)
There is the 3rd contiguous block (37), the nozzle (31) is arranged on the 3rd contiguous block (37), and the water inlet of the nozzle (31) passes through
3rd water-supply-pipe (52) is connected with the delivery port of abrasive can (43).
4. explosive-removal robot system according to claim 1, it is characterised in that the explosive-removal robot is also taken the photograph including first
As head (11), second camera (12), the 3rd camera (13) and support bar (14), wherein：
First camera (11) is arranged on the manipulator (5)；
The second camera (12) is arranged on the hydraulic giant big gun (6)；
3rd camera (13) is arranged on the car body (1) by the support bar (14).
5. explosive-removal robot system according to claim 1, it is characterised in that the drive device is by motor, six
Individual driving wheel (7) and two crawler belts (8) composition, the motor are arranged on the inside of the car body (1), and in described first
Central processor is connected with six driving wheels (7), and every three driving wheels (7) are arranged on the side of the car body (1),
Every crawler belt (8) is arranged on every three driving wheels (7).
6. explosive-removal robot system according to claim 1, it is characterised in that the universal binodal leading screw arm (2) is by tooth
Wheel group (53), motor (54), rotating threaded shaft (55), Universal rotary rotary head (56) and arm shell (57) composition, wherein：
The rotating threaded shaft (55) is arranged on the inside of the arm shell (57)；
The gear train (53) is arranged on one end of the arm shell (57), is connected with the rotating threaded shaft (55)；
The motor (54) is connected with the gear train (53)；
The Universal rotary rotary head (56) is arranged on the other end of the rotating threaded shaft (55).
7. explosive-removal robot system according to claim 6, it is characterised in that be provided with the manipulator and described
The first Hall sensor that one central processing unit is connected.
8. explosive-removal robot system according to claim 5, it is characterised in that two crawler belts (8) are polybutadiene
Rubber synthesizes crawler belt.
9. explosive-removal robot system according to claim 1, it is characterised in that be provided with the in the operation handle (24)
Two Hall sensors.
10. explosive-removal robot system according to claim 1, it is characterised in that the hydraulic giant big gun (6) includes base
(60), muffler (61), gun barrel (62), gun barrel (62) are arranged on base (60), close to base (60) in gun barrel (62)
One end is placed with water bullet, and muffler (61) is arranged on the other end of gun barrel (62).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720138951.4U CN206493323U (en) | 2017-02-16 | 2017-02-16 | A kind of explosive-removal robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720138951.4U CN206493323U (en) | 2017-02-16 | 2017-02-16 | A kind of explosive-removal robot system |
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| CN206493323U true CN206493323U (en) | 2017-09-15 |
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ID=59805375
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| CN201720138951.4U Expired - Fee Related CN206493323U (en) | 2017-02-16 | 2017-02-16 | A kind of explosive-removal robot system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253599A (en) * | 2019-07-16 | 2019-09-20 | 陕西中建建乐智能机器人有限公司 | A kind of high pressure waterjet machine people |
| CN112059638A (en) * | 2020-07-28 | 2020-12-11 | 张学河 | Automatic mobile rescue robot for chemical plant |
| CN113799676A (en) * | 2021-10-12 | 2021-12-17 | 山东科技大学 | Liquid nitrogen auxiliary cooling formula water cutting explosion-proof vehicle |
-
2017
- 2017-02-16 CN CN201720138951.4U patent/CN206493323U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253599A (en) * | 2019-07-16 | 2019-09-20 | 陕西中建建乐智能机器人有限公司 | A kind of high pressure waterjet machine people |
| CN112059638A (en) * | 2020-07-28 | 2020-12-11 | 张学河 | Automatic mobile rescue robot for chemical plant |
| CN113799676A (en) * | 2021-10-12 | 2021-12-17 | 山东科技大学 | Liquid nitrogen auxiliary cooling formula water cutting explosion-proof vehicle |
| CN113799676B (en) * | 2021-10-12 | 2022-07-15 | 山东科技大学 | Liquid nitrogen auxiliary cooling formula water cutting explosion-proof vehicle |
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