A Pneumatic-Based Obstacle-Crossing Explosive Disposal Robot

Abstract

The invention relates to a pneumatic obstacle crossing explosive-handling robot. A caterpillar band driving device and wheel driving devices are separately fixed to a side face of a bottom plate, andan arm device is fixed to the upper part of the bottom plate; wheel swinging air cylinders of the caterpillar band driving device are separately arranged at four corners of the bottom plate, the wheelswinging air cylinders drive a connecting rod to rotate, wheels are separately arranged at two ends of the connecting rod, and the wheels are engaged to a caterpillar band; at least four wheel driving devices symmetrically arranged are arranged in the middle of the bottom plate, one end of a first connecting part of each wheel driving device is fixed to the bottom plate while two thin-wall air cylinders are fixed to the other end of the first connecting part, the thin-wall air cylinders are connected to rotating wheel swinging air cylinders through second connecting parts, and the rotating wheel swinging air cylinders are in driving connection to rotating wheels. The pneumatic obstacle crossing explosive-handling robot is compact in structure, high in adaptive capacity and obstacle crossing ability, more in degree of freedom, clean and good in explosion-proof performance.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pneumatic obstacle-surmounting and detonation-removal robot based on compact structure, strong adaptability and obstacle-surmounting ability, many degrees of freedom, cleanliness, and good explosion-proof performance. Background technique [0002] In the face of complex terrain, such as flat terrain, muddy road conditions, and road conditions with obstacles, how to make the robot adapt to various terrains is one of the necessary capabilities of the robot. Chinese patents CN106314577A, CN109436112A, and CN108594820A propose crawler-type obstacle-surmounting robots, but the obstacle-surmounting ability is limited by the size of the crawler wheels, and can also move in a single direction as much as possible, so the adaptability is poor. [0003] Because the mecanum wheel has the ability to move horizontally and vertically at the same time, the Chinese patents CN206579402U, CN208355...

AI Technical Summary

Problems solved by technology

Chinese patents CN106314577A, CN109436112A, and CN108594820A propose crawler-type obstacle-surmounting robots, but the obstacle-surmounting ability is limited by the size of the crawler wheels, and it can also move in a single direction as much as possible, and its adaptability is poor.

[0003] Because the mecanum wheel has the ability to move horizontally and vertically at the same time, the Chinese patents CN206579402U, CN208355667U, CN206088035U, CN109501885A, and CN104325857A all use the mecanum wheel to design different trolley devices. When only moving laterally, only two wheels are at work. state, but the adaptability and load capacity are not strong

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