Explosive Ordnance Disposal Robot

Abstract

The invention discloses a bomb disposal robot, the rotating waist disk unit of the bomb disposal robot is composed of a turntable, a waist disk driving device, a positioning spring, a positioning bearing, and a speed reduction block. A circular opening is opened on the upper end surface of the rear part of a vehicle body, the diameter of the opening is smaller than the diameter of the turntable, and other components of the rotating waist disk unit except the turntable are accommodated in the vehicle body through the opening, the turntable is located outside the opening, the positioning bearing is fixedly combined with the vehicle body, the driving shaft end of the waist disk driving device passes through the positioning bearing and is fixedly combined with the center of the lower end surface of the turntable, the positioning spring compression sleeve is arranged on the driving shaft between the waist disk driving device and the positioning bearing and presses against the waist disk driving device and the positioning bearing, the speed reduction block is fixedly arranged on the outer edge of the opening, and the speed reduction block is in friction and sliding contact with the turntable; the bomb disposal robot of the invention runs accurately, can implement delicate operations, and is suitable for an operating environment with all-time and multiple road conditions.

Description

Technical Field

[0001] The invention relates to a robot, in particular to an explosive disposal robot for eliminating dangerous sources such as explosives. Background Art

[0002] As the international anti-terrorism situation becomes increasingly severe, the safe disposal of dangerous objects and explosives has become an important part of the anti-terrorism work of various countries. Since the disposal of dangerous objects and explosives is a very dangerous job, in order to reduce the danger level of the working environment of eliminating dangerous sources and avoid casualties caused by anti-terrorist personnel in the process of handling dangerous objects and explosives, the use of explosive disposal robots to dismantle and dispose of dangerous objects and explosives has gradually become the main technical means for countries around the world to carry out this anti-terrorism task.

[0003] At present, many countries have developed various types of bomb disposal robots, among which the bomb disposal robots with medium and long-range wired or wireless control, as well as walking units, monitoring units, and arm claw operation units are the most widely used. However, since the operation of eliminating dangerous sources requires very high operating precision, the slightest mistake may cause mission failure, or even cause catastrophic consequences such as explosions and leakage of dangerous materials. Therefore, how to eliminate the inertia of the bomb disposal robot components during operation and improve the operating accuracy has become an important issue that needs to be solved in the development and research of bomb disposal robots. Summary of the invention

[0004] In view of this, the technical problem to be solved by the present invention is to provide a bomb disposal robot, the robotic arm of the bomb disposal robot can eliminate the lateral and longitudinal clearances of the robotic arm when it is operating horizontally, that is, eliminate the movement inertia of the robotic arm in the horizontal rotation and the offset angle of the robotic arm from the vertical direction, and prevent the side clearance between the transmission gears when the transmission gear group drives the robotic arm to rotate horizontally, so that there is no lag when the robotic arm rotates horizontally, and the robotic arm can stop immediately when it stops rotating, without inertia, thereby making the operation of the bomb disposal robot more precise.

[0005] In order to solve the above technical problems, the present invention provides a bomb disposal robot, including: a vehicle body, a walking unit, a power supply unit, a control unit, a communication unit, a rotating waist disk unit, a mechanical arm, a manipulator, a pan-tilt head, and a camera; the walking unit includes a walking device and a walking drive device, the walking device is installed on both sides of the vehicle body, the walking drive device drives the walking device to operate, the walking drive device, the power supply unit, the control unit, and the communication unit are all installed inside the vehicle body, the rotating waist disk unit is installed at the rear of the vehicle body, one end of the mechanical arm is hinged on the upper end surface of the rotating waist disk unit, and the other end of the mechanical arm is connected to the manipulator, the pan-tilt head is arranged at the rear of the vehicle body through a supporting device, the number of cameras is at least 4 and they are respectively fixedly arranged at the front and rear ends of the vehicle body, the pan-tilt head, and the mechanical arm near one end of the manipulator, the power supply unit provides power for the bomb disposal robot, and the communication unit receives signal instructions issued by the user or sends the camera in a wired or wireless manner. The captured image information is fed back to the user, and the communication unit transmits the signal command to the control unit. The control unit controls the operation of the walking unit, the mechanical arm, the pan-tilt head, and the camera according to the signal command. The rotating waist disk unit is composed of a turntable, a waist disk drive device, a positioning spring, a positioning bearing, and a speed reduction block. A circular opening is provided on the upper end surface of the rear part of the vehicle body, and the diameter of the opening is smaller than the diameter of the turntable. The other components of the rotating waist disk unit except the turntable are accommodated inside the vehicle body through the opening, and the turntable is located outside the opening. The positioning bearing is fixedly combined with the vehicle body, and the driving shaft end of the waist disk drive device passes through the positioning bearing and is fixedly combined with the center of the lower end surface of the turntable. The positioning spring compression sleeve is arranged on the driving shaft between the waist disk drive device and the positioning bearing and presses against the waist disk drive device and the positioning bearing. A speed reduction block is fixedly arranged on the outer edge of the opening, and the speed reduction block is in friction and sliding contact with the turntable. The control unit controls the operation of the waist disk drive device according to the signal command.

[0006] In order to enable the robotic arm to have a lifting function, and the robotic hand to have a rotating trajectory close to a circle in the vertical direction, so that the robotic hand can flexibly perform various delicate movements, as a further improvement of the present invention, the robotic arm includes: a robotic arm, a joint unit, an arm driving device, and a robotic fork arm, wherein one end of the robotic arm is hinged to the upper end surface of the turntable, and the other end of the robotic arm is fixedly connected to the joint unit, the arm driving device is hinged to the upper end surface of the turntable, the telescopic rod end of the arm driving device is hinged to the robotic arm, and a fork arm driving device is provided inside the joint unit, and a driving shaft of the fork arm driving device laterally passes through one of the side surfaces of the joint unit and is fixedly connected to one of the side surfaces of one end of the robotic fork arm, a camera is fixedly arranged on the robotic fork arm, and a robotic hand driving device is provided inside the robotic fork arm, the robotic hand driving device is connected to control the robot, and the control unit is connected to control the operation of the arm driving device, the fork arm driving device, and the robotic hand driving device according to signal instructions.

[0007] In order to make the robot arm have a telescopic function and thus have a larger range of operating space, as a further improvement of the present invention, the robot arm is mainly composed of an outer sleeve, an inner sleeve, and a boom telescopic drive device. One end of the outer sleeve is closed and hinged to the upper end surface of the rotating waist disc unit, and the other end of the outer sleeve has an opening. One end of the inner sleeve has an opening, and the other end of the inner sleeve is closed and fixedly connected to the joint unit. The end of the inner sleeve with the opening is sleeved in the outer sleeve through the opening of the outer sleeve, and the boom telescopic drive device is fixedly installed in the outer sleeve. The telescopic rod end of the boom telescopic drive device is fixedly connected to the inner side of the closed end of the inner sleeve, and the telescopic rod end of the boom drive device is hinged to the outer sleeve. The control unit controls the operation of the boom telescopic drive device according to the signal instruction connection.

[0008] In order to make the manipulator have a larger opening and closing grasping space, and to gradually increase or decrease the grasping force of the manipulator, so that the manipulator can perform the elimination and disposal of various sizes and types of dangerous sources, as a further improvement of the present invention, the manipulator is mainly composed of a base, two arc-shaped support plates, an arc-shaped drive slot, two inner claw rods, two outer claw rods, and two claw parts, wherein the middle parts of the two arc-shaped support plates are fixed to the two sides of the base respectively, and the base and the arc-shaped support plates form a slot space for accommodating the arc-shaped drive slot, and two identical arc-shaped slot holes are respectively provided on both sides of the slot of the arc-shaped drive slot, and one end of the inner claw rod forms a branch end The branch end includes a long end and a short end, wherein the long end is arranged in the arc-shaped driving groove body and slides within the arc-shaped driving groove body through a positioning rod passing through the corresponding arc-shaped groove hole and the long end, the short end is hinged to the inner side of the end of the groove body space, the other end of the inner claw rod is hinged to the inner side of the end of the hand claw part, one end of the outer claw rod is hinged to the outer side of the end of the groove body space, and the other end of the outer claw rod is hinged to the outer side of the end of the hand claw part, a through hole is formed in the middle of the base, the manipulator driving device is connected to the base to control the manipulator to perform radial rotation operation, and the manipulator driving device is also connected to the arc-shaped driving groove body through the through hole to control the manipulator to perform opening and closing operation.

[0009] In order to enable the manipulator to achieve 360-degree rotation in the axial direction, and to achieve overload protection for the manipulator arm components when grasping heavier dangerous sources for axial rotation, so as to prevent the weight of the dangerous source from exceeding the axial rotation force after the manipulator grasps and damaging the driving components, as a further improvement of the present invention, the manipulator drive device includes: a wrist joint drive device, a claw drive device, and the manipulator forearm also has an anti-overload shaft and a wrist joint drive sleeve. The anti-overload shaft is mainly composed of a shell, an input shaft end, an output shaft end, an anti-overload spring, and a positioning bead, wherein the input shaft end and the output shaft end are both cylinders with the same diameter and respectively have connecting end planes that are opposite to each other, and the connecting end planes of the input shaft end and the output shaft end both have flanges extending radially outward, and the connecting end plane of the input shaft end has a plurality of accommodating portions that are equidistant from the center of the connecting end plane and are recessed into the connecting end plane, each accommodating portion is equipped with an anti-overload spring, and a positioning bead is arranged on the upper end of the anti-overload spring. When the anti-overload spring is not compressed, the positioning bead is completely The connecting end plane is exposed at the input shaft end, and the connecting end plane of the output shaft end has multiple pushing parts corresponding to the accommodating parts on the connecting end plane of the input shaft end and recessed toward the inner side of the connecting end plane. The pushing parts are semi-spherical and can accommodate less than 50% of the positioning beads. The shell covers the flanges at one end of the connecting end planes of the input shaft end and the output shaft end, so that the connecting end planes of the input shaft end and the output shaft end are aligned with each other and can rotate relative to each other. By aligning the connecting end planes of the input shaft end and the output shaft end, the pushing parts partially accommodate the positioning beads and push the positioning beads to compress the anti-overload spring. The driving shaft of the wrist joint driving device is fixedly connected to the input shaft end of the anti-overload rotating shaft, and the output shaft end of the anti-overload rotating shaft is engaged with one end of the wrist joint driving sleeve through a gear, and the other end of the wrist joint driving sleeve is fixedly connected to the base. The telescopic rod end of the gripper driving device passes through the wrist joint driving sleeve and the through hole in turn and is fixedly connected to the arc-shaped driving groove body. The control unit controls the operation of the wrist joint driving device and the gripper driving device according to the signal instruction connection.

[0010] In order to ensure that the above-mentioned various driving devices have a large torque and a moderate operating speed, as a further improvement of the present invention, the walking driving device, the waist plate driving device, the forearm driving device, and the wrist joint driving device are mainly composed of a motor and a reducer; the hand claw driving device, the upper arm driving device, and the upper arm telescopic driving device are mainly composed of a motor, a reducer, a screw with an external thread, and a telescopic rod end with an internal thread, which are connected in sequence.

[0011] In order to realize the folding of the pan-tilt head to facilitate the transportation and storage of the bomb disposal robot and to realize all-round camera control of the camera on the pan-tilt head, the supporting device includes a supporting rod and a retractable rod unit, the pan-tilt head includes a camera driving unit, one end of the supporting rod is hinged to the rear upper end surface of the vehicle body, the other end of the supporting rod is connected to the camera driving unit of the pan-tilt head, the retractable rod unit is mainly composed of a motor, a reducer, a screw with an external thread and a telescopic rod end with an internal thread which are connected in sequence, the retractable rod unit is hinged to the rear upper end surface of the vehicle body, the telescopic rod end of the retractable rod unit is hinged to the supporting rod, the side of the camera on the pan-tilt head is installed on the camera driving unit through a rotating rod, the camera driving unit has a motor, the output shaft of the motor is transmission-connected to the rotating rod and the supporting rod, and the control unit controls the operation of the retractable rod unit and the camera driving unit according to signal instructions.

[0012] In order to make the bomb disposal robot suitable for driving control on various road surfaces and to save driving power during driving so as to increase the standby time of the bomb disposal robot when performing tasks, as a further improvement of the present invention, the walking device includes: 2 driving wheels, 2 load-bearing wheels, 2 driven wheels and 2 tracks of the same specifications, wherein the driving wheels, the load-bearing wheels and the driven wheels are all pneumatic tires and the treads are inwardly concave with a plurality of equally spaced interlocking parts, the 2 load-bearing wheels are correspondingly installed at the middle of both sides of the vehicle body, and the 2 driving wheels and the 2 driven wheels are correspondingly installed at both ends of both sides of the vehicle body. The center positions of the tires of the driving wheel and the driven wheel are on the same horizontal line, the center position of the tire of the load-bearing wheel is lower than the horizontal line and is 3mm to 8mm below the horizontal line. The two tracks are respectively mounted on the driving wheel, load-bearing wheel and driven wheel on both sides of the vehicle body, and the inner side surface of the track is convexly provided with a plurality of protrusions corresponding to the fitting part, the protrusions are fitted in the fitting part, the outer side surface of the track is convexly provided with a plurality of protrusions with equal intervals, and the outer edge of the track is provided with a plurality of limit plates with equal intervals toward the walking device. The walking drive device drives the two driving wheels, and the control unit connects and controls the walking drive device according to the signal instruction.

[0013] In order to make the bomb disposal robot more stable when going uphill and up stairs and prevent slipping, as a further improvement of the present invention, it also includes: a tail wing, the tail wing includes a connecting plate, a connecting piece, an adjustment frame, a support plate, two support wheels, a support shaft, and an adjustment rod, wherein the adjustment frame is fixed to the middle of the connecting plate, one end of the support plate is hinged to the bottom of the adjustment frame, the other end of the support plate is provided with a support shaft, two support wheels are respectively installed at both ends of the support shaft, one end of the adjustment rod is hinged to the upper part of the adjustment frame, the other end of the adjustment rod is hinged to one end of the support plate provided with the support shaft, the adjustment rod is composed of a screw rod with external threads and sleeved in a sleeve with external threads, and the connecting plate is detachably connected and fixed to the rear end of the vehicle body through the connecting piece. The tail wing in the present invention can adjust the angle (between 0 degrees and 45 degrees) between the support plate and the slope or the inclined surface of the stairs by the adjustment rod, so that the bomb disposal robot can be suitable for roads with different slopes.

[0014] In order to facilitate the bomb disposal robot to perform the task of eliminating dangerous sources all the time, as a further improvement of the present invention, it also includes: at least 3 lighting components, the 3 lighting components are respectively installed at the front end and rear end of the vehicle body, and on the mechanical arm, and the control unit controls the operation of the lighting components according to the signal command connection.

[0015] Compared with the currently widely used robots of this type, the bomb disposal robot of the present invention has the following beneficial effects: the bomb disposal robot of the present invention can eliminate the inertia of the movement of the mechanical arm in the horizontal rotation and the offset angle of the mechanical arm from the vertical direction, so that there is no lag phenomenon when the mechanical arm rotates horizontally, and it can stop immediately when the mechanical arm stops rotating, without inertia phenomenon, thereby ensuring that the operation of the bomb disposal robot of the present invention is more accurate; the mechanical arm in the present invention can be raised and lowered, and the manipulator can rotate in the vertical direction and the axial direction, and the manipulator has a larger opening and closing grasping space, and can gradually or reduce the grasping force according to the size and type of the dangerous source, so that the bomb disposal robot of the present invention has a larger range of operating space and can perform various meticulous actions; when grasping heavier dangerous sources, the driving component of the manipulator has a force overload protection function; the bomb disposal robot of the present invention can also realize the operation operation of all-time, multiple road types, and multiple slope terrains, and can save driving power. Therefore, the bomb disposal robot of the present invention is a bomb disposal robot that operates accurately, can implement meticulous operations, and is suitable for all-time and multiple road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the bomb disposal robot of the present invention;

[0017] Figure 2 is a schematic diagram of a rotating waist disc unit in the present invention;

[0018] Figure 3 A schematic diagram of a manipulator in the present invention;

[0019] Figure 4 is a schematic diagram of the anti-overload shaft in the present invention;

[0020] Figure 5 It is a schematic diagram of the pan / tilt head and the supporting device in the present invention.

[0021] Explanation of symbols in the accompanying drawings:

[0022] 1 Car body; 101 Connecting plate; 102 Connecting piece; 103 Support wheel; 104 Adjusting rod; 105 Adjusting frame; 106 Support plate; 11 Opening; 2 Rotating waist plate unit; 21 Turntable; 22 Positioning spring; 23 Positioning bearing; 24 Speed ​​reduction block; 31 Mechanical arm; 32 Joint unit; 33 Mechanical forearm; 34 Arm drive device; 4 Manipulator; 41 Base; 42 Support plate; 43 Arc-shaped drive slot; 44 Inner claw rod; 441 Long end; 442 Short end; 443 Positioning rod; 45 Outer claw rod; 46 Hand claw; 47 Arc-shaped slot; 5 Pan / tilt; 51 Camera drive unit; 6 Camera; 71 Driving wheel; 72 Load-bearing wheel; 73 Driven wheel; 74 Track; 741 Protrusion; 742 Limiting piece; 8 Support device; 81 support rod; 82 retractable rod unit; 9 anti-overload shaft; 91 housing; 92 input shaft end; 93 output shaft end; 94 anti-overload spring; 95 positioning bead; 96 accommodating portion; 97 pushing portion; D distance. DETAILED DESCRIPTION

[0023] The detailed description and technical contents of the present invention will be described as follows in the form of specific embodiments and with reference to the accompanying drawings. However, the embodiments and the accompanying drawings are only provided for reference and description and are not intended to limit the present invention.

[0024] The present invention provides a bomb disposal robot, wherein the mechanical arm of the bomb disposal robot can eliminate the lateral and longitudinal clearances of the mechanical arm when the mechanical arm is operating horizontally, that is, eliminate the movement inertia of the mechanical arm in horizontal rotation and the offset angle of the mechanical arm from the vertical direction, and prevent the generation of side clearances between the transmission gears when the transmission gear set drives the mechanical arm to rotate horizontally, so that there is no lag phenomenon when the mechanical arm rotates horizontally, and the mechanical arm can stop immediately when it stops rotating without inertia phenomenon, thereby making the operation of the bomb disposal robot more precise.

[0025] like Figure 1As shown, an embodiment of the present invention provides a bomb disposal robot, including a vehicle body 1, a walking unit, a power supply unit, a control unit, a communication unit, a rotating waist disk unit 2, a mechanical arm, a manipulator 4, a pan-tilt 5, and a camera 6; wherein the walking unit includes a walking device and a walking drive device, the walking device is installed on both sides of the vehicle body 1, and the walking drive device drives the walking device to run; the walking drive device, the power supply unit, the control unit, and the communication unit are all installed inside the vehicle body 1, the rotating waist disk unit 2 is installed at the rear of the vehicle body 1, one end of the mechanical arm is hinged on the upper end surface of the rotating waist disk unit 2, and the other end of the mechanical arm is connected to the manipulator 4, the pan-tilt 5 is arranged at the rear of the vehicle body 1 through a supporting device 8, and the number of cameras 6 There are at least 4 cameras, which are respectively fixedly arranged at the front and rear ends of the vehicle body 1, the pan-tilt head 5, and the mechanical arm near one end of the manipulator 4. In order to achieve a better monitoring effect, the number of cameras in the present invention may be more than 4, and they are installed on other components of the bomb disposal robot according to the needs of actual applications. The number and application of cameras belong to the prior art and are not limited thereto. The power supply unit provides power to the bomb disposal robot, and the communication unit receives the signal instructions sent by the user by wired or wireless means or feeds back the image information taken by the camera to the user. The communication unit transmits the signal instructions to the control unit, and the control unit connects and controls the operation of the walking unit, the mechanical arm, the pan-tilt head 5, and the camera 6 according to the signal instructions. In order to facilitate the bomb disposal robot to perform the task of eliminating dangerous sources all the time, an embodiment of the present invention also includes at least 3 lighting components, which can be LED lamps, halogen lamps, etc. The 3 lighting components are respectively installed at the front and rear ends of the vehicle body 1, and the mechanical arm to achieve good lighting conditions, and the control unit connects and controls the operation of the lighting components according to the signal instructions. Figure 2As shown, in order to eliminate the inertia of movement in the horizontal rotation of the robot arm and the offset angle of the robot arm from the vertical direction, the rotating waist disk unit 2 can be composed of a turntable 21, a waist disk driving device, a positioning spring 22, a positioning bearing 23, and a speed reduction block 24. A circular opening 11 is opened on the upper end surface of the rear part of the vehicle body, and it can also be a square or other shaped opening 11. The diameter of the opening 11 is smaller than the diameter of the turntable 21. The other components of the rotating waist disk unit 2 except the turntable 21 are accommodated in the interior of the vehicle body through the opening 11. The turntable 21 is located outside the opening 11, and the positioning bearing 23 is fixedly combined with the vehicle body. The driving shaft end of the waist disk driving device passes through the positioning bearing 23 and is fixedly combined with the center of the lower end surface of the turntable 21. The positioning spring 22 is compressed and sleeved on the driving shaft between the waist disk driving device and the positioning bearing 23 and presses against the waist disk driving device and the positioning bearing 23. A speed reduction block 24 is fixedly set on the outer edge of the opening 11. The speed reduction block 24 is in friction and sliding contact with the turntable 21. The control unit controls the operation of the waist disk driving device according to the signal instruction connection. In the present invention, the deceleration block 24 can be made of rubber, polyethylene material or a mixture of rubber and polyethylene materials. The friction coefficient of the deceleration block 24 is greater than the friction coefficient of the turntable 21. Under the large torque of the waist disk drive device and the resistance of the positioning spring 22, the stall of the robot arm when it starts to rotate horizontally (the speed is too fast at the moment of starting), and the deviation angle from the vertical direction caused by the center of gravity offset when the robot arm operates the dangerous source can be effectively eliminated. When the waist disk drive device stops driving, the deceleration block 24 has a higher friction coefficient and the robot arm can stop rotating immediately, eliminating the inertia of movement, thereby ensuring the operation accuracy of the robot arm.

[0026] In order to make the bomb disposal robot suitable for driving control on various road surfaces and to save driving power during driving so as to increase the standby time of the bomb disposal robot when performing tasks, the walking device in the embodiment of the present invention includes two driving wheels 71, two load-bearing wheels 72, two driven wheels 73 of the same specifications, and two crawlers 74, wherein the driving wheels 71, the load-bearing wheels 72, and the driven wheels 73 are all pneumatic tires and the treads are inwardly concave with multiple equally spaced interlocking parts, the two load-bearing wheels 72 are correspondingly installed at the middle of both sides of the vehicle body 1, the two driving wheels 71 and the two driven wheels 73 are respectively correspondingly installed at the two ends of both sides of the vehicle body 1, and the driving wheels 71, the load-bearing wheels 72, and the driven wheels 73 are respectively installed at the two ends of both sides of the vehicle body 1. The tire center positions of the driving wheel 73 are on the same horizontal line, and the tire center positions of the load-bearing wheel 72 are lower than the horizontal line by a distance D, and the distance D is between 3 mm and 8 mm. The two tracks 74 are respectively mounted on the driving wheel 71, the load-bearing wheel 72, and the driven wheel 73 on both sides of the vehicle body 1, and the inner side surface of the track 74 is convexly provided with a plurality of protrusions corresponding to the fitting part, and the protrusions are fitted in the fitting part. The outer side surface of the track 74 is convexly provided with a plurality of protrusions 741 with equal intervals, and the outer edge of the track 74 is provided with a plurality of limit plates 742 with equal intervals toward the walking device. The walking drive device drives the two driving wheels 71, and the control unit connects and controls the walking drive device according to the signal instruction. The design structure in which the center position of the tire of the load-bearing wheel 72 is lower than the horizontal line can effectively enhance the stability of the center of gravity of the vehicle body 1 and reduce the contact area between the entire track 74 and the ground, while increasing the effective pressure between the track 74 in the area of ​​the load-bearing wheel 72 and the ground, thereby ensuring the effective friction between the track 74 and the ground and reducing the useless friction between the track 74 and the ground, thereby making the bomb disposal robot suitable for driving control on a variety of road surfaces, especially for dirt roads and sandy roads with low road hardness and bonding strength, as well as roads with slopes or potholes, and can reduce the energy loss of the bomb disposal robot during travel and increase the standby time of the bomb disposal robot when performing tasks. In order to make the bomb disposal robot more stable when going uphill and up stairs and prevent slipping, an embodiment of the present invention also includes a tail wing, which includes a connecting plate 101, a connecting piece 102, an adjustment frame 105, a support plate 106, two support wheels 103, a support shaft, and an adjustment rod 104, wherein the adjustment frame 105 is fixed to the middle of the connecting plate 101, one end of the support plate 106 is hinged to the bottom of the adjustment frame 105, and the other end of the support plate 106 is penetrated by the support shaft, and two support wheels 103 are respectively installed at both ends of the support shaft, one end of the adjustment rod 104 is hinged to the upper part of the adjustment frame 105, and the other end of the adjustment rod 104 is hinged to one end of the support plate 106 penetrated by the support shaft, and the adjustment rod 104 is composed of a screw with an external thread and a sleeve with an external thread. The connecting plate 101 is detachably connected and fixed to the rear end of the vehicle body 1 through the connecting piece 102, and the connecting piece 102 can be a screw structure or a snap-on structure.The tail wing of the present invention can adjust the angle (between 0 and 45 degrees) between the support plate 106 and the slope or the stair slope by the adjustment rod 104, so that the bomb disposal robot can be adapted to roads with different slopes.

[0027] In order to make the robot arm have the function of lifting and lowering, and the robot hand has a rotation trajectory close to the circumference in the vertical direction, so that the robot hand can flexibly perform various subtle actions, such as Figure 1 As shown, the robotic arm in the embodiment of the present invention includes a robotic arm 31, a joint unit 32, an arm driving device 34, and a robotic forearm 33; wherein, one end of the robotic arm 31 is hinged to the upper end surface of the turntable 21, and the other end of the robotic arm 31 is fixedly connected to the joint unit 32, the arm driving device 34 is hinged to the upper end surface of the turntable 21, the telescopic rod end of the arm driving device 34 is hinged to the robotic arm 31, and a forearm driving device is provided inside the joint unit 32, and the driving shaft of the forearm driving device laterally passes through one of the side surfaces of the joint unit 32 and is fixedly connected to one of the side surfaces of one end of the robotic forearm 33, the camera 6 is fixedly arranged on the robotic forearm 33, and a manipulator driving device is provided inside the robotic forearm 33, the manipulator driving device is connected to control the manipulator 4, and the control unit is connected to control the operation of the arm driving device 34, the forearm driving device, and the manipulator driving device according to the signal instruction.

[0028] In order to enable the robotic arm to have a telescopic function and thus have a larger range of operating space, the robotic arm in the embodiment of the present invention is mainly composed of an outer sleeve, an inner sleeve, and a boom telescopic drive device. One end of the outer sleeve is closed and hinged to the upper end surface of the rotating waist disc unit, and the other end of the outer sleeve has an opening. One end of the inner sleeve has an opening, and the other end of the inner sleeve is closed and fixedly connected to the joint unit. The end of the inner sleeve with the opening is sleeved in the outer sleeve through the opening of the outer sleeve, and the boom telescopic drive device is fixedly installed in the outer sleeve. The telescopic rod end of the boom telescopic drive device is fixedly connected to the inner side of the closed end of the inner sleeve, and the telescopic rod end of the boom drive device is hinged to the outer sleeve. The control unit controls the operation of the boom telescopic drive device according to the signal instruction connection.

[0029] In order to make the manipulator have a larger opening and closing grasping space, and to gradually increase or decrease the grasping force of the manipulator, the manipulator can perform the elimination and disposal of various sizes and types of dangerous sources, such as Figure 3As shown, the manipulator 4 in the embodiment of the present invention is mainly composed of a base 41, two arc-shaped support plates 42, an arc-shaped driving groove body 43, two inner claw rods 44, two outer claw rods 45, and two hand claw parts 46, wherein the middle parts of the two arc-shaped support plates 42 are fixed to the two sides of the base 41, and the base 41 and the arc-shaped support plates 42 form a groove space for accommodating the arc-shaped driving groove body 43, and two identical arc-shaped slot holes 47 are respectively provided on both sides of the groove body of the arc-shaped driving groove body 43, and one end of the inner claw rod 44 forms a branch end, and the branch end includes a long end 441 and a short end 442, wherein the long end 441 is arranged on the arc-shaped driving groove body 43. The long end 441 is limitedly slid in the arc-shaped driving groove body 43 by passing through the corresponding arc-shaped slot hole 47 and the positioning rod 443 in the long end 441, and the short end 442 is hinged to the inner side of the end of the groove body space, the other end of the inner claw rod 44 is hinged to the inner side of the end of the hand claw part 46, one end of the outer claw rod 45 is hinged to the outer side of the end of the groove body space, and the other end of the outer claw rod 45 is hinged to the outer side of the end of the hand claw part 46. A through hole is formed in the middle of the base 41, and the manipulator driving device is connected to the base 41 to control the manipulator 4 to perform radial rotation operations. The manipulator driving device is also connected to the arc-shaped driving groove body 43 through the through hole to control the manipulator 4 to perform opening and closing operations.

[0030] In order to make the manipulator rotate 360 ​​degrees in the axial direction, and to realize overload protection of the manipulator components when grasping heavier dangerous sources for axial rotation, to prevent the weight of the dangerous source from exceeding the axial rotation force after the manipulator grasps and damaging the driving components, such as Figure 4As shown, the manipulator driving device in the embodiment of the present invention includes a wrist joint driving device and a hand claw driving device. The manipulator forearm also has an anti-overload shaft 9 and a wrist joint driving sleeve. The anti-overload shaft 9 is mainly composed of a shell 91, an input shaft end 92, an output shaft end 93, an anti-overload spring 94, and a positioning bead 95. The input shaft end 92 and the output shaft end 93 are both cylinders with the same diameter and have connecting end planes that are opposite to each other. The connecting end planes of the input shaft end 92 and the output shaft end 93 are radially The input shaft end 92 has a flange extending outward, and the connecting end plane of the input shaft end 92 has a plurality of accommodating portions 96 equidistant from the center of the connecting end plane and recessed into the connecting end plane. Preferably, the layout of the accommodating portions 96 can be arranged in a circular shape with respect to the center of the connecting end plane. An anti-overload spring 93 is installed in each accommodating portion 96, and a positioning bead 95 is arranged on the upper end of the anti-overload spring 93. When the anti-overload spring 94 is not compressed, the positioning bead 95 is completely exposed from the connecting end plane of the input shaft end 92. The connecting end plane of the output shaft end 93 has a A plurality of push-butt portions 97 are provided which correspond to the receiving portions 96 on the connecting end plane of the input shaft end 92 and are recessed toward the inner side of the connecting end plane. The push-butt portions 97 are semi-spherical and can accommodate less than 50% of the positioning beads 95. The housing 91 covers the flanges at one end of the connecting end planes of the input shaft end 92 and the output shaft end 93, so that the connecting end planes of the input shaft end 92 and the output shaft end 93 are aligned with each other and can rotate relative to each other. By aligning the connecting end planes of the input shaft end 92 and the output shaft end 93, the push-butt portions 97 are The positioning bead 95 is partially accommodated and pushed against the positioning bead 95 to compress the anti-overload spring 94; the driving shaft of the wrist joint driving device is fixedly connected to the input shaft end of the anti-overload rotating shaft; the output shaft end of the anti-overload rotating shaft is engaged with one end of the wrist joint driving sleeve through a gear; the other end of the wrist joint driving sleeve is fixedly connected to the base; the telescopic rod end of the gripper driving device passes through the wrist joint driving sleeve and the through hole in turn and is fixedly connected to the arc-shaped driving groove body; the control unit controls the operation of the wrist joint driving device and the gripper driving device according to the signal command.

[0031] In order to ensure that the above various drive devices have large torque and moderate operating speed, the walking drive device, waist plate drive device, forearm drive device, and wrist joint drive device in the present invention are mainly composed of a motor and a reducer. The claw drive device, the upper arm drive device, and the upper arm telescopic drive device are mainly composed of a motor, a reducer, a screw with an external thread, and a telescopic rod end with an internal thread connected in sequence; in addition, the above telescopic control drive device can also be replaced by a pneumatic or hydraulic drive rod according to actual needs.

[0032] In order to realize the folding of the PTZ, so as to facilitate the transportation and storage of the bomb disposal robot, and to realize the all-round camera control of the camera on the PTZ, Figure 5As shown, the supporting device in the present invention includes a support rod 81 and a retractable rod unit 82, the pan-tilt head includes a camera driving unit 51, one end of the support rod 81 is hinged to the rear upper end surface of the vehicle body, and the other end of the support rod 81 is connected to the camera driving unit 51 of the pan-tilt head, the retractable rod unit 82 is mainly composed of a motor, a reducer, a screw with an external thread and a telescopic rod end with an internal thread, which are connected in sequence, the retractable rod unit 82 is hinged to the rear upper end surface of the vehicle body, and the telescopic rod end of the retractable rod unit 82 is hinged to the support rod 81, the side of the camera on the pan-tilt head is installed on the camera driving unit 51 through a rotating rod, the camera driving unit 51 has a motor, the output shaft of the motor is connected to the rotating rod and the support rod for transmission, and the control unit controls the operation of the retractable rod unit and the camera driving unit according to the signal instruction connection.

[0033] The above marking symbols are only used to assist in understanding the embodiments of the present invention and cannot limit the structure of the present invention. The components without marking symbols are all prior arts and cannot hinder the understanding of the embodiments of the present invention.

[0034] When the bomb disposal robot in the embodiment of the present invention is stored and transported, the mechanical arm, mechanical forearm, manipulator and pan-tilt head can be folded, reset and recovered respectively through the waist plate drive device, the upper arm drive device, the lower arm drive device, the wrist joint drive device, the upper arm telescopic drive device and the retractable rod unit, thereby reducing the space occupied by the bomb disposal robot and preventing sensitive components such as the pan-tilt head and manipulator from being touched and damaged during transportation.

[0035] The bomb disposal robot of the present invention has the advantages of more precise operation, larger operating space range, and can perform various meticulous actions, and can be applied to operating environments at all times, on various road types, and on various slope terrains.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the patent scope of the present invention. Other equivalent changes made using the patent concept of the present invention should fall within the patent protection scope of the present invention.

Claims

1. A bomb disposal robot, comprising: Vehicle body, walking unit, power supply unit, control unit, communication unit, rotating waist unit, robotic arm, manipulator, pan / tilt, camera; The walking unit includes a walking device and a walking drive device, the walking device is installed on both sides of the vehicle body, the walking drive device drives the walking device to operate, the walking drive device, the power supply unit, the control unit, and the communication unit are all installed inside the vehicle body, the rotating waist disk unit is installed at the rear of the vehicle body, one end of the mechanical arm is hinged on the upper end surface of the rotating waist disk unit, and the other end of the mechanical arm is connected to the manipulator, the pan-tilt head is arranged at the rear of the vehicle body through a supporting device, the number of the cameras is at least 4 and they are respectively fixedly arranged at the front and rear ends of the vehicle body, the pan-tilt head and the manipulator arm near one end of the manipulator, the power supply unit provides power for the bomb disposal robot, the communication unit receives the signal command issued by the user or feeds back the image information taken by the camera to the user by wired or wireless means, the communication unit transmits the signal command to the control unit, and the control unit receives the signal command according to the signal The command connection controls the operation of the walking unit, the robotic arm, the pan-tilt head, and the camera, and is characterized in that the rotating waist disk unit is composed of a turntable, a waist disk driving device, a positioning spring, a positioning bearing, and a speed reduction block. A circular opening is provided on the upper end surface of the rear part of the vehicle body, and the diameter of the opening is smaller than the diameter of the turntable. The other components of the rotating waist disk unit except the turntable are accommodated inside the vehicle body through the opening, and the turntable is located outside the opening. The positioning bearing is fixedly combined with the vehicle body, and the driving shaft end of the waist disk driving device passes through the positioning bearing and is fixedly combined with the center of the lower end surface of the turntable. The positioning spring compression sleeve is arranged on the driving shaft between the waist disk driving device and the positioning bearing and presses against the waist disk driving device and the positioning bearing. A speed reduction block is fixedly arranged on the outer edge of the opening, and the speed reduction block is in frictional and sliding contact with the turntable. The control unit controls the operation of the waist disk driving device according to the signal command connection.

2. The bomb disposal robot according to claim 1, characterized in that: The robotic arm includes: a robotic arm, a joint unit, an arm driving device, and a robotic forearm. One end of the robotic arm is hinged to the upper end surface of the turntable, and the other end of the robotic arm is fixedly connected to the joint unit. The arm driving device is hinged to the upper end surface of the turntable, and the telescopic rod end of the arm driving device is hinged to the robotic arm. A forearm driving device is provided inside the joint unit. The driving shaft of the forearm driving device laterally passes through one of the side surfaces of the joint unit and is fixedly connected to one of the side surfaces of one end of the robotic forearm. The camera is fixedly arranged on the robotic forearm. A manipulator driving device is provided inside the robotic forearm. The manipulator driving device is connected to control the manipulator, and the control unit is connected to control the operation of the arm driving device, the forearm driving device, and the manipulator driving device according to the signal instruction.

3. The bomb disposal robot according to claim 2, characterized in that: The mechanical boom is mainly composed of an outer sleeve, an inner sleeve, and a boom telescopic drive device. One end of the outer sleeve is closed and hinged to the upper end surface of the rotating waist disc unit, and the other end of the outer sleeve has an opening. One end of the inner sleeve has an opening, and the other end of the inner sleeve is closed and fixedly connected to the joint unit. The end of the inner sleeve with the opening is sleeved in the outer sleeve through the opening of the outer sleeve, and the boom telescopic drive device is fixedly installed in the outer sleeve. The telescopic rod end of the boom telescopic drive device is fixedly connected to the inner side of the closed end of the inner sleeve, and the telescopic rod end of the boom drive device is hinged to the outer sleeve. The control unit controls the operation of the boom telescopic drive device according to the signal instruction connection.

4. The bomb disposal robot according to claim 3, characterized in that: The manipulator is mainly composed of a base, two arc-shaped support plates, an arc-shaped driving groove, two inner claw rods, two outer claw rods, and two claw parts, wherein the middle parts of the two arc-shaped support plates are fixed to the two sides of the base respectively, and the base and the arc-shaped support plates form a groove space for accommodating the arc-shaped driving groove, and the two sides of the groove of the arc-shaped driving groove are respectively provided with two identical arc-shaped slot holes, and one end of the inner claw rod forms a branch end, and the branch end includes a long end and a short end, wherein the long end is arranged in the arc-shaped driving groove and passes through the corresponding arc-shaped slot hole and a positioning rod in the long end, so that the long end can slide within the arc-shaped driving groove, the short end is hinged to the inner side of the end of the groove space, the other end of the inner claw rod is hinged to the inner side of the end of the hand claw part, one end of the outer claw rod is hinged to the outer side of the end of the groove space, and the other end of the outer claw rod is hinged to the outer side of the end of the hand claw part, a through hole is formed in the middle of the base, the manipulator driving device is connected to the base to control the manipulator to perform radial rotation operation, and the manipulator driving device is also connected to the arc-shaped driving groove through the through hole to control the manipulator to perform opening and closing operation.

5. The bomb disposal robot according to claim 4, characterized in that: The manipulator driving device includes: a wrist joint driving device and a gripper driving device. The manipulator forearm also has an anti-overload rotating shaft and a wrist joint driving sleeve. The anti-overload rotating shaft is mainly composed of a shell, an input shaft end, an output shaft end, an anti-overload spring, and a positioning bead. The input shaft end and the output shaft end are both cylinders with the same diameter and respectively have connecting end planes that are opposite to each other. The connecting end planes of the input shaft end and the output shaft end both have flanges extending radially outward. The connecting end plane of the input shaft end has a plurality of accommodating portions that are equidistant from the center of the connecting end plane and are recessed into the connecting end plane. The anti-overload spring is installed in each of the accommodating portions. The positioning bead is arranged on the upper end of the anti-overload spring. When the anti-overload spring is in an uncompressed state, the positioning bead is completely exposed from the connecting end plane of the input shaft end. The connecting end plane of the output shaft end has a plurality of accommodating portions that correspond to the accommodating portions on the connecting end plane of the input shaft end and are recessed into the connecting end plane. The recessed pushing portion is semi-spherical and can accommodate less than 50% of the bead body of the positioning bead. The shell covers the flange at one end of the connecting end plane of the input shaft end and the output shaft end, so that the connecting end planes of the input shaft end and the output shaft end are aligned with each other and can rotate relative to each other. By aligning the connecting end planes of the input shaft end and the output shaft end, the pushing portion partially accommodates the positioning bead and pushes the positioning bead to compress the anti-overload spring. The driving shaft of the wrist joint driving device is fixedly connected to the input shaft end of the anti-overload rotating shaft, and the output shaft end of the anti-overload rotating shaft is engaged with one end of the wrist joint driving sleeve through a gear, and the other end of the wrist joint driving sleeve is fixedly connected to the base. The telescopic rod end of the gripper driving device passes through the wrist joint driving sleeve and the through hole in sequence and is fixedly connected to the arc-shaped driving groove body. The control unit controls the operation of the wrist joint driving device and the gripper driving device according to the signal instruction connection.

6. The bomb disposal robot according to claim 5, characterized in that: The walking drive device, waist plate drive device, forearm drive device and wrist joint drive device are mainly composed of a motor and a reducer connected together; the gripper drive device, upper arm drive device and upper arm telescopic drive device are mainly composed of a motor, a reducer, a screw with an external thread and a telescopic rod end with an internal thread connected in sequence.

7. The bomb disposal robot according to claim 1, characterized in that: The supporting device includes a supporting rod and a retractable rod unit, the pan-tilt head includes a camera driving unit, one end of the supporting rod is hinged to the upper rear end surface of the vehicle body, the other end of the supporting rod is connected to the camera driving unit of the pan-tilt head, the retractable rod unit is mainly composed of a motor, a reducer, a screw with an external thread and a telescopic rod end with an internal thread, which are connected in sequence, the retractable rod unit is hinged to the upper rear end surface of the vehicle body, the telescopic rod end of the retractable rod unit is hinged to the supporting rod, the side surface of the camera on the pan-tilt head is installed on the camera driving unit through a rotating rod, the camera driving unit has a motor, the output shaft of the motor is transmission-connected to the rotating rod and the supporting rod, and the control unit controls the operation of the retractable rod unit and the camera driving unit according to the signal instruction connection.

8. The bomb disposal robot according to claim 1, characterized in that: The walking device includes: two driving wheels, two load-bearing wheels, two driven wheels and two crawler tracks of the same specifications, wherein the driving wheels, the load-bearing wheels and the driven wheels are all pneumatic tires and the treads are inwardly concave with a plurality of equally spaced interlocking parts, the two load-bearing wheels are correspondingly mounted at the middle of both sides of the vehicle body, the two driving wheels and the two driven wheels are correspondingly mounted at both ends of both sides of the vehicle body, the tire center positions of the driving wheels and the driven wheels are on the same horizontal line, the tire center position of the load-bearing wheel is lower than the The horizontal line, the two crawlers are respectively mounted on the driving wheels, load-bearing wheels and driven wheels on both sides of the vehicle body, and the inner side surface of the crawler is convexly provided with a plurality of protrusions corresponding to the fitting portion, the protrusion is fitted in the fitting portion, the outer side surface of the crawler is convexly provided with a plurality of protrusions with equal intervals, the outer edge of the crawler is provided with a plurality of limit plates with equal intervals toward the walking device, the walking drive device drives the two driving wheels, and the control unit connects and controls the walking drive device according to the signal instruction.

9. The bomb disposal robot according to claim 1, characterized in that: Also includes: The tail wing includes a connecting plate, a connecting piece, an adjustment frame, a support plate, two support wheels, a support shaft, and an adjustment rod, wherein the adjustment frame is fixed to the middle part of the connecting plate, one end of the support plate is hinged to the bottom of the adjustment frame, the other end of the support plate is penetrated by the support shaft, two support wheels are respectively installed at both ends of the support shaft, one end of the adjustment rod is hinged to the upper part of the adjustment frame, the other end of the adjustment rod is hinged to one end of the support plate penetrated by the support shaft, the adjustment rod is composed of a screw rod with an external thread cooperated and sleeved in a sleeve with an external thread, and the connecting plate is detachably connected and fixed to the rear end of the vehicle body through the connecting piece.

10. The bomb disposal robot according to claim 1, characterized in that: Also includes: At least three lighting components are provided, and the three lighting components are respectively installed at the front end and the rear end of the vehicle body and the mechanical arm. The control unit controls the operation of the lighting components according to the signal instructions.

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