Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination

A robot, precise technology, applied in manipulators, motor vehicles, program-controlled manipulators, etc., can solve problems such as on-site damage and loss, and achieve the effect of wide range of use and environmental adaptability

Inactive Publication Date: 2012-09-19
EAST CHINA JIAOTONG UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Since entering the 21st century, the anti-terrorist war has become the main war situation today. Terrorists have brought considerable harm to society, and the means of committing crimes of terrorists has changed from planting bombs to attack targets, which has brought many problems to society. There is a lot of anxiety and fear, so many EOD robots are used in the war against terrorism, but traditional EOD robots generally detonate bombs or violently destroy bombs, which also have certain damage to the scene
However, sometimes the destruction of the scene will also bring huge losses, and the traditional EOD robots also have certain requirements for the terrain, which can adapt to various terrains

Method used

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  • Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination
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  • Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination

Examples

Experimental program
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Effect test

Embodiment 1

[0023] Embodiment 1, a master-slave robot for high obstacle-surmounting and precise bomb disposal, including a gripping hand device, a tool hand device, a frame 10 and a crawler walking mechanism; wherein: the gripping hand device is composed of a gripping hand 3, Clamping arm 4, the first rotating pair 21 of the clamping arm, the second rotating pair 22 of the clamping arm, the third rotating pair 23 of the clamping arm, the fourth rotating pair 24 of the clamping arm, the fifth rotating pair 25 of the clamping arm, The sixth rotating pair 26 of the clamping arm and the seventh rotating pair 27 of the clamping arm are composed; the clamping hand 3 is composed of a root rotating finger 28, a root fixed finger 29, a finger rotating arm 30, a manipulator palm seat 31, and a first finger. Rotating pair 32, the second rotating pair 33 of fingers and the third rotating pair 34 of fingers are formed; the tool hand device is composed of tool hand 1, tool arm 2, the first rotating pair...

Embodiment 2

[0024] Embodiment 2, a master-slave robot for high obstacle-surmounting and precise bomb disposal, including a gripping hand device, a tool hand device, a frame 10 and a crawler walking mechanism; wherein: the gripping hand device is composed of a gripping hand 3, Clamping arm 4, the first rotating pair 21 of the clamping arm, the second rotating pair 22 of the clamping arm, the third rotating pair 23 of the clamping arm, the fourth rotating pair 24 of the clamping arm, the fifth rotating pair 25 of the clamping arm, The sixth rotating pair 26 of the clamping arm and the seventh rotating pair 27 of the clamping arm are composed; the clamping arm 4 passes through the first rotating pair 21 of the clamping arm, the second rotating pair 22 of the clamping arm, and the third rotating pair of the clamping arm 23. The fourth rotating pair 24 of the clamping arm, the fifth rotating pair 25 of the clamping arm, the sixth rotating pair 26 of the clamping arm, and the seventh rotating pa...

Embodiment 3

[0031] Embodiment 3, a master-slave robot for high obstacle-surmounting and precise bomb disposal and detonation, wherein: the clamping hand device and the tool hand device have a total of 7 degrees of freedom; the clamping arm of the clamping hand device has a first rotating pair 21 , the second rotating pair 22 of the clamping arm, the third rotating pair 23 of the clamping arm, the fourth rotating pair 24 of the clamping arm, the fifth rotating pair 25 of the clamping arm, the sixth rotating pair 26 of the clamping arm and the fifth rotating pair of the clamping arm Seven revolving pairs 27 There are seven revolving pairs in total, the maximum elongation is 950mm; the first revolving pair 14 of the tool arm of the tool hand device, the second revolving pair 15 of the tool arm, the third revolving pair 16 of the tool arm, and the fourth revolving pair 17 of the tool arm , the fifth rotating pair 18 of the tool arm, the sixth rotating pair 19 of the tool arm and the seventh ro...

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PUM

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Abstract

The invention relates to a master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination, which is used for carrying out bomb disposal and explosion elimination by imitating the action of an operator in various complex terrains. The master-slave robot is characterized in that a left clamping hand and a right tool hand are respectively arranged on a rotating disc of a rack; the left clamping hand and the right tool hand are respectively provided with seven rotating pairs designed by imitating the hand of a human; small-sized motors and bevel gears are arranged at the finger joints of the clamping hands; a tool drum of the tool hand is provided with a rack which form a gear pair together with gears of the motors; the tool hand is respectively provided with tool pliers, a tool drilling knife and a screwdriver; the two sides of the rack are provided with crawler wheels in a staggered manner; the crawler wheels are in an assembling connection with vibrators, swinging arms and rotating-angle transmission shafts; and the front wheels of the crawler wheels are driving wheels, the motors are arranged in the axial direction of the driving wheels, a big gear is arranged in the middle and bearing wheels are arranged at the two sides. The master-slave robot has the advantages that the adaptability to more complex terrains is achieved, the obstacle-crossing capability is strong, complex and accurate bomb disposal action can be realized and the tool is easy to change due to modularization.

Description

technical field [0001] The invention relates to a master-slave robot for dismantling and detonating bombs by imitating the actions of background operators in various complex terrains, in particular to a master-slave robot for high-obstacle-surmounting and accurate bomb dismantling and detonation. Background technique [0002] Since entering the 21st century, the anti-terrorist war has become the main war situation today. Terrorists have brought considerable harm to society, and the means of committing crimes of terrorists has changed from planting bombs to attack targets, which has brought many problems to society. There is a lot of anxiety and fear, so many EOD robots are used in the war against terrorism, but traditional EOD robots generally detonate bombs or violently destroy bombs, which also cause certain damage to the scene. However, sometimes the destruction of the scene will also bring huge losses, and the traditional EOD robots also have certain requirements on the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B62D55/065
CPCB25J11/0025B25J9/0087B25J15/0009B25J15/10
Inventor 肖乾吴松琪袁丁吴西诗
Owner EAST CHINA JIAOTONG UNIVERSITY
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