Unmanned search and exhaust vehicle

Abstract

The utility model provides an unmanned search and exhaust vehicle. The unmanned search and exhaust vehicle comprises an industrial personal computer, a navigation and positioning device and a crawler chassis, the crawler chassis is provided with a side A and a side B which are oppositely arranged, a support is vertically arranged on the side A of the crawler chassis, a second camera and a radar are arranged on the outer surface of the side B of the crawler chassis, a multi-shaft mechanical arm is arranged at the upper end, close to the side B, of the crawler chassis, and the industrial personal computer is connected with the industrial personal computer. A clamping jaw and a first camera are arranged at the tail end of the mechanical arm, a holder is arranged on the support, and the navigation positioning device, the first camera, the second camera, the radar, the holder, the mechanical arm and the crawler chassis are electrically connected with the industrial personal computer. The mechanical arm is higher in flexibility, higher in grabbing capacity and wider in operation range, and the trafficability of complex terrains is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of bomb disposal, in particular to an unmanned search and disposal vehicle. Background Art

[0002] In the hazardous source working environment, there may be dangerous objects or explosives, which need to be eliminated. Existing bomb disposal devices generally use search and disposal vehicles, such as the mechanical arm, bomb disposal vehicle and search method disclosed in the existing patent publication number CN109664321A, which adopts the first clamping arm and the second clamping arm to be pivotally connected to the mounting seat respectively, and the first clamping arm and the second clamping arm are linked; the first torsion member is connected to the mounting seat and is used to drive the second clamping arm so that the first clamping arm and the second clamping arm swing in opposite directions around their respective pivot axes, and the first clamping arm and the second clamping arm ensure synchronous movement through gear meshing transmission, thereby achieving stable clamping. However, it has the following problems: (1) It uses an ordinary mobile crawler chassis with poor off-road performance; (2) It uses a homemade mechanical arm with poor flexibility and stability; (3) The gear meshing gripping method does not have enough gripping force.

[0003] Another example is the visualized search and bomb disposal collaborative processing device disclosed in the existing patent publication number CN114390253A. It improves the passability during movement by setting five running wheels in each group of driving components, and the lifting and lowering of the running wheels do not interfere with each other. The driving gear and the limit gear ensure good driving ability when the running wheels are lifted and lowered, which is convenient for passing through uneven areas and reducing the shaking amplitude of the bomb disposal device. The two mechanical arms facilitate collaborative operation, facilitate the clearing of obstacles and the removal of explosives, and the pneumatic lifting component facilitates the adjustment of the height of the video acquisition component, thereby improving the video acquisition effect and the visualization effect. The protective cover and the protective ring facilitate the protection of the camera during the explosion to avoid the loss of video data. It has better walking ability, but its mechanical arm is set on the front side end face of the chassis, so that the operating range of the mechanical arm is limited to the front side of the chassis. If the operating direction is to be changed, the chassis needs to be rotated by a certain angle, which is inconvenient to operate. Utility Model Content

[0004] The utility model aims to provide an unmanned search and sorting vehicle, which not only improves the walking ability of the search and sorting vehicle, but also improves the stability during search and sorting and grabbing and expands the operating range of the mechanical arm.

[0005] The technical solution of the utility model is: an unmanned search and sorting vehicle, including an industrial computer, a navigation and positioning device and a track chassis, the track chassis has an A side and a B side arranged relatively to each other, a support is vertically provided on the A side of the track chassis, a second camera and a radar are provided on the outer surface of the B side of the track chassis, a multi-axis mechanical arm is provided at the upper end of the track chassis close to the B side, a clamp and a first camera are provided at the end of the mechanical arm, a pan-tilt platform is provided on the support, and the navigation and positioning device, the first camera, the second camera, the radar, the pan-tilt platform, the mechanical arm and the track chassis are electrically connected to the industrial computer respectively.

[0006] In the above scheme, the chassis is selected as a crawler chassis, which has better off-road performance and improved walking ability; the robotic arm is selected as a multi-axis robotic arm, which has higher flexibility and stronger grasping ability; the robotic arm is arranged at the upper end of the chassis, and a support is arranged on the side of the chassis away from the robotic arm. The robotic arm and the support can ensure that the center of gravity of the crawler chassis is more stable, and the multi-axis robotic arm arranged at the upper end of the chassis has a wider operating range.

[0007] Preferably, the unmanned search and drainage vehicle also includes a first support rod, a second support rod, a driving member and an auxiliary wheel arranged on the B side of the track chassis, one end of the first support rod and the second support rod are hinged to the track chassis, the driving member is hinged between the track chassis and the second support rod, the auxiliary wheel is rotatably arranged on the first support rod, and the driving member is retracted to drive the second support rod to unfold or fold to drive the first support rod to be lowered or lifted.

[0008] Preferably, one end of the first support rod is hinged to the track chassis via a first hinge point, the first support rod is provided with a second hinge point, one end of the second support rod is hinged to the second hinge point, the other end of the second support rod is hinged to the track chassis via a third hinge point, the second support rod is provided with a fourth hinge point capable of folding the second support rod, one end of the driving member is hinged to the fourth hinge point, the other end of the driving member is hinged to the support via a fifth hinge point, and the first hinge point, the third hinge point and the fifth hinge point are arranged in sequence from bottom to top.

[0009] Preferably, the second support rod comprises a first rod and a second rod hinged to each other to form the fourth hinge point, the end of the second rod away from the first rod is hinged to the third hinge point, and the end of the first rod away from the second rod is hinged to the second hinge point.

[0010] Preferably, the first support rod includes a first arm and a second arm connected in sequence, an obtuse angle is formed between the first arm and the second arm, one end of the first arm away from the second arm is hinged to the crawler chassis, a plurality of auxiliary wheels are arranged on the second arm, and the second support rod is hinged between the first arm and the second arm.

[0011] Preferably, the clamping jaw comprises two grippers which slide relative to or away from each other.

[0012] Compared with the related art, the beneficial effects of the utility model are:

[0013] 1. The chassis is selected as a crawler chassis, which has better off-road performance and improved walking ability; and the robot arm is selected as a multi-axis robot arm, which has higher flexibility and stronger grasping ability;

[0014] Second, the mechanical arm is set at the upper end of the chassis, and a support is set on the side of the chassis away from the mechanical arm. The mechanical arm and the support can ensure that the center of gravity of the crawler chassis is more stable, and the mechanical arm set at the upper end of the chassis has a wider operating range;

[0015] 3. In case of complex terrain, the auxiliary wheels can be deployed to enhance the passing ability of the auxiliary terrain and improve the passing stability of the whole vehicle;

[0016] 4. It is designed with a pan / tilt and two cameras to provide operators with a multi-angle view;

[0017] 5. A radar is installed at the front end of the unmanned search and sorting vehicle in the direction of movement, which can perform autonomous obstacle avoidance in emergency situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the three-dimensional structure of the unmanned search and sorting vehicle provided by the utility model from a first viewing angle;

[0019] Figure 2 A schematic diagram of the three-dimensional structure of the unmanned search and sorting vehicle provided by the utility model from a second viewing angle;

[0020] Figure 3 This is a front structural schematic diagram of the unmanned search and sorting vehicle provided by the utility model.

[0021] In the attached drawings: 1. crawler chassis; 2. support; 3. mechanical arm; 4. clamp; 41. gripper; 5. radar; 6. first camera; 7. second camera; 8. pan / tilt; 9. first support rod; 91. first arm; 92. second arm; 10. second support rod; 101. first rod; 102. second rod; 11. driving member; 12. auxiliary wheel; 13. first hinge point; 14. second hinge point; 15. third hinge point; 16. fourth hinge point; 17. fifth hinge point. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict. For the convenience of description, if the words "upper", "lower", "left" and "right" appear in the following text, they only indicate that the upper, lower, left and right directions are consistent with the drawings themselves, and do not limit the structure.

[0023] like Figure 1 , Figure 2 , Figure 3 As shown, an unmanned search and sorting vehicle provided in this embodiment includes an industrial computer, a navigation and positioning device, a crawler chassis 1, a first support rod 9, a second support rod 10, a driving member 11 and an auxiliary wheel 12. The crawler chassis 1 has an A side and a B side arranged opposite to each other. A support 2 is vertically provided on the A side of the crawler chassis 1. A second camera 7 and a radar 5 are provided on the outer surface of the B side of the crawler chassis 1. A multi-axis mechanical arm 3 is provided at the upper end of the crawler chassis 1 near the B side. A clamp 4 and a first camera 6 are provided at the end of the mechanical arm 3. The mechanical arm 3 is an outsourced part, and the clamp 4 is a customized part. Two grippers 41 that slide relative to or against each other are provided on the clamp 4, which can grab explosives in an embracing manner. A pan-tilt 8 is provided on the support 2. The navigation and positioning device, the first camera 6, the second camera 7, the radar 5, the pan-tilt 8, the mechanical arm 3 and the crawler chassis 1 are electrically connected to the industrial computer respectively.

[0024] First, the industrial computer plans the path of the target point position and the map, and then controls the crawler chassis 1 to move to the position. The first camera 6 obtains the image captured by the mechanical arm 3, and the second camera 7 obtains the image of the crawler chassis 1 when it moves. The pan-tilt 8 has a shooting device that can obtain the impact of the surrounding environment of the unmanned search and sorting vehicle. The pan-tilt 8, the first camera 6 and the second camera 7 can provide the operator with a multi-angle field of view.

[0025] The first support rod 9, the second support rod 10, the driving member 11 and the auxiliary wheel 12 are arranged on the B side of the crawler chassis 1. One end of the first support rod 9 and the second support rod 10 are both hinged to the crawler chassis 1, the driving member 11 is hinged between the crawler chassis 1 and the second support rod 10, the auxiliary wheel 12 is rotatably arranged on the first support rod 9, and the driving member 11 is telescopic to drive the second support rod 10 to unfold or fold to drive the first support rod 9 to be lowered or raised.

[0026] In a specific embodiment, the second support rod 10 includes a first rod 101 and a second rod 102 which are hinged to each other to form the fourth hinge point 16. The first support rod 9 includes a first arm 91 and a second arm 92 which are connected in sequence. An obtuse angle is formed between the first arm 91 and the second arm 92. The end of the first arm 91 away from the second arm 92 is hinged to the track chassis 1 through a first hinge point 13. A second hinge point 14 is provided at the connection between the first arm 91 and the second arm 92. The end of the second rod 102 away from the first rod 101 is hinged to the track chassis 1 through a third hinge point 15, and the end of the first rod 101 away from the second rod 102 is hinged to the second hinge point 14. The driving member 11 is an electric cylinder, one end of which is hinged to the fourth hinge point 16, and the other end of the driving member 11 is hinged to the support 2 through a fifth hinge point 17. The first hinge point 13, the third hinge point 15 and the fifth hinge point 17 are arranged in sequence from bottom to top. As Figure 2As shown, the first support rod 9 , the second support rod 10 , and the driving member 11 are provided in two groups, and three auxiliary wheels 12 are arranged on each of the second arms 92 .

[0027] When the driving member 11 is extended, the fourth hinge point 16 is pushed downward, so that the first rod 101 and the second rod 102 are unfolded to form a straight line, and the first rod 101 pushes the first support rod 9 downward until the auxiliary wheel 12 contacts the ground; conversely, when the driving member 11 is retracted, the fourth hinge point 16 is pulled upward, so that the first rod 101 and the second rod 102 are folded, and the first rod 101 pulls the first support rod 9 upward to lift the auxiliary wheel 12 off the ground. When crossing vertical obstacles (such as stairs) and trenches, the first support rod 9 and the auxiliary wheel 12 are lowered by the driving member 11, thereby enhancing the ability to pass through complex terrain.

[0028] The autonomous movement and search functions of the unmanned search and sorting vehicle provided by the utility model are the same as those of the existing patents and will not be described in detail here.

[0029] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An unmanned search and sorting vehicle, characterized in that: The invention comprises an industrial computer, a navigation and positioning device and a crawler chassis (1), wherein the crawler chassis (1) has an A side and a B side which are arranged opposite to each other, a support (2) is vertically arranged on the A side of the crawler chassis (1), a second camera (7) and a radar (5) are arranged on the outer surface of the B side of the crawler chassis (1), a multi-axis mechanical arm (3) is arranged at the upper end of the crawler chassis (1) close to the B side, a clamping claw (4) and a first camera (6) are arranged at the end of the mechanical arm (3), a pan-tilt platform (8) is arranged on the support (2), and the navigation and positioning device, the first camera (6), the second camera (7), the radar (5), the pan-tilt platform (8), the mechanical arm (3) and the crawler chassis (1) are respectively electrically connected to the industrial computer.

2. The unmanned search and sorting vehicle according to claim 1, characterized in that: The invention also comprises a first support rod (9), a second support rod (10), a driving member (11) and an auxiliary wheel (12) arranged on the B side of the crawler chassis (1), one end of each of the first support rod (9) and the second support rod (10) being hinged to the crawler chassis (1), the driving member (11) being hinged between the crawler chassis (1) and the second support rod (10), the auxiliary wheel (12) being rotatably arranged on the first support rod (9), and the driving member (11) being retracted to drive the second support rod (10) to unfold or fold so as to drive the first support rod (9) to be lowered or raised.

3. The unmanned search and sorting vehicle according to claim 2, characterized in that: One end of the first support rod (9) is hinged to the crawler chassis (1) via a first hinge point (13); a second hinge point (14) is provided on the first support rod (9); one end of the second support rod (10) is hinged to the second hinge point (14); the other end of the second support rod (10) is hinged to the crawler chassis (1) via a third hinge point (15); a fourth hinge point (16) is provided on the second support rod (10) for folding the second support rod (10); one end of the driving member (11) is hinged to the fourth hinge point (16); the other end of the driving member (11) is hinged to the support (2) via a fifth hinge point (17); the first hinge point (13), the third hinge point (15) and the fifth hinge point (17) are arranged in sequence from bottom to top.

4. The unmanned search and sorting vehicle according to claim 3, characterized in that: The second support rod (10) comprises a first rod (101) and a second rod (102) which are hinged to each other to form the fourth hinge point (16); an end of the second rod (102) away from the first rod (101) is hinged to the third hinge point (15); and an end of the first rod (101) away from the second rod (102) is hinged to the second hinge point (14).

5. The unmanned search and sorting vehicle according to claim 2, characterized in that: The first support rod (9) comprises a first arm (91) and a second arm (92) which are connected in sequence, an obtuse angle is formed between the first arm (91) and the second arm (92), one end of the first arm (91) away from the second arm (92) is hinged to the crawler chassis (1), a plurality of auxiliary wheels (12) are arranged on the second arm (92), and the second support rod (10) is hinged between the first arm (91) and the second arm (92).

6. The unmanned search and sorting vehicle according to claim 1, characterized in that: The clamping jaw (4) comprises two grippers (41) which slide relative to or away from each other.

Images