Intelligent explosive ordnance disposal vehicle

Abstract

The invention discloses an intelligent explosive ordnance disposal vehicle which comprises a vehicle frame, a mechanical arm, an explosion-proof plate and powder boxes, the powder boxes are arranged on the two sides of the rear end of the vehicle frame, the explosion-proof plate is arranged at the front end of the vehicle frame, and the mechanical arm is arranged on the vehicle frame. The independent motor set of the frame drives the auxiliary crawler belt to rotate around the front wheels of the driving crawler belt so as to cross obstacles on the field ground, the path finding camera on the frame is used for remotely driving and observing the explosive-handling environment, and the mechanical arm can drive the mine sweeping detector to carry out plane detection on landmines and drive the rotating claw to work at multiple degrees of freedom. The explosion-proof plate has the functions of protecting the crawler belt and relieving explosion impact, and during explosive ordnance disposal operation, the ink jet valve at the bottom of the powder box jets lines convenient to recognize on the two sides of a safe road, so that the sapper can move forwards safely.

Description

Technical Field

[0001] The invention belongs to the technical field of explosive ordnance disposal equipment, and specifically refers to an intelligent explosive ordnance disposal vehicle. Background Art

[0002] At present, in my country, the work of removing explosives, especially unexploded bombs such as mines and artillery shells, is mostly done by manual operation of a single soldier, and the personnel work at close range to the unexploded bombs. Although the bomb disposal personnel have individual protective equipment, once an accidental explosion occurs during the bomb disposal process, it often causes serious injuries. The operation risk is extremely high, the work efficiency is low, the unexploded bombs are difficult to move, and they are restricted by the environment where the unexploded bombs landed. Therefore, there is an urgent need to solve the technical problems of bomb disposal by personnel operating at close range. Summary of the invention

[0003] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an intelligent bomb disposal vehicle, which effectively solves the above problems.

[0004] The technical solution adopted by the present invention is as follows: The present invention proposes an intelligent bomb disposal vehicle, including a frame, a mechanical arm, an explosion-proof plate and a powder box, the powder box is arranged on both sides of the rear end of the frame, the explosion-proof plate is arranged at the front end of the frame, and the mechanical arm is arranged on the frame; the frame includes a frame body, a driving track, a driving box and an auxiliary track, the driving track is arranged on both sides of the frame body, the driving box is arranged on the frame body, the rear wheels of the driving track are driven by the driving box, the auxiliary track is arranged on both sides of the driving track, the auxiliary track is connected to the front wheel of the driving track, the auxiliary track is independently provided with a motor group, and the motor group is arranged at the bottom of the frame body.

[0005] Furthermore, the frame is provided with a CNC box and a pathfinder camera, a telescopic rod is provided at the bottom of the pathfinder camera, the bottom of the telescopic rod is provided on the frame body, an explosion-proof plate rotating seat is provided on the front side of the frame body, a control rod is provided on the explosion-proof plate rotating seat, and a mechanical arm support rod is provided on the rear side of the center of the frame body.

[0006] Furthermore, the mechanical arm includes a rotating vertical arm, a rear arm and a forearm, the rotating vertical arm is arranged at the front side of the center of the frame body, one end of the rear arm is arranged on the rotating vertical arm, and the forearm is arranged at the other end of the rear arm.

[0007] Furthermore, a rotating seat is provided on the front end side wall of the forearm, a minesweeper detector is provided on the front end of the forearm, and the mechanical arm also includes a rotating claw, which is provided on the rotating seat, and a universal camera device is provided on the top of the rotating seat.

[0008] Furthermore, the explosion-proof panel includes a front main board, side panels and a hydraulic rod, the side panels are arranged on both sides of the rear wall of the front main board, the hydraulic rod is arranged at the center bottom of the rear wall of the front main board, and both ends of the hydraulic rod are connected to the side panels.

[0009] Furthermore, a groove is provided on the front wall surface of the front main board, a hinge support and a dovetail groove are provided on the rear wall of the front main board, the control rod is arranged on the hinge support, a slide is provided on the surface of the side panel, and the slide slides in the dovetail groove.

[0010] Furthermore, the powder box is provided with a feeding port and a discharging port, and an inkjet valve is provided at the bottom of the discharging port.

[0011] The beneficial effects achieved by the present invention using the above structure are as follows: 1. The drive box drives the rear wheels of the driving tracks to rotate, thereby driving the EOD vehicle forward. At the same time, the auxiliary tracks on both sides are driven by independent motor groups to rotate, and can also drive the auxiliary tracks to rotate around the front wheels of the driving tracks to cross obstacles on the ground in the field.

[0012] 2. The telescopic rod of the pathfinder camera can be retracted or rotated to facilitate the adjustment of the pathfinder camera. The pathfinder camera is used to remotely drive and observe the bomb disposal environment.

[0013] 3. The rotating vertical arm drives the rear arm to rotate while it can rotate independently. The rear arm drives the forearm to rotate, and the rotating seat can drive the rotating claw to rotate, thereby achieving the technical effect of the minesweeper detector detecting mines in a plane and the rotating claw working in multiple degrees of freedom.

[0014] 4. The groove on the front main board increases the impact area of ​​the front main board, thereby reducing the impact power. At the same time, the control rod is a hydraulic rod, which has the function of controlling the lifting and lowering of the front main board and mitigating the impact of the explosion. When the bomb disposal vehicle is performing bomb disposal work, the hydraulic rod controls the side panels to extend to protect the tracks on both sides.

[0015] 5. The inkjet valve sprays marking powder downwards at regular intervals. While the bomb disposal operation is in progress, the inkjet valves on both sides spray out easily identifiable lines on both sides of the safe road so that the engineers can move forward safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional diagram of an intelligent bomb disposal vehicle proposed by the present invention; Figure 2 This is a top view of an intelligent bomb disposal vehicle proposed by the present invention; Figure 3 This is a rear view of an intelligent bomb disposal vehicle proposed by the present invention; Figure 4 This is a bottom view of an intelligent bomb disposal vehicle proposed by the present invention; Figure 5 A schematic diagram of a partial structure of a mechanical arm of an intelligent bomb disposal vehicle proposed by the present invention; Figure 6 This is a structural schematic diagram of an explosion-proof plate of an intelligent bomb disposal vehicle proposed by the present invention; Figure 7 A schematic diagram of the working condition of an intelligent bomb disposal vehicle proposed in the present invention to climb over obstacles.

[0017] Among them, 1. frame, 11. frame body, 12. drive track, 121. drive box, 13. auxiliary track, 131. motor group, 14. CNC box, 15. pathfinder camera, 151. telescopic rod, 16. explosion-proof plate rotating seat, 161. control rod, 17. mechanical arm support rod, 2. mechanical arm, 21. rotating vertical arm, 22. rear arm, 23. forearm, 231. rotating seat, 232. mine detector, 24. rotating claw, 241. universal camera device, 3. explosion-proof plate, 31. front main board, 311. groove, 312. articulated support, 313. dovetail groove, 32. side plate, 321. slide, 33. hydraulic rod, 4. powder box, 41. feed port, 42. discharge port, 43. inkjet valve.

[0018] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “top”, “bottom”, “inside” and “outside” indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0021] like Figure 1-Figure 7As shown, the present invention proposes an intelligent bomb disposal vehicle, including a frame 1, a mechanical arm 2, an explosion-proof plate 3 and a powder box 4, the powder box 4 is arranged on both sides of the rear end of the frame 1, the explosion-proof plate 3 is arranged at the front end of the frame 1, and the mechanical arm 2 is arranged on the frame 1; the frame 1 includes a frame body 11, a driving track 12, a driving box 121 and an auxiliary track 13, the driving track 12 is arranged on both sides of the frame body 11, the driving box 121 is arranged on the frame body 11, the rear wheel of the driving track 12 is driven by the driving box 121, the auxiliary track 13 is arranged on both sides of the driving track 12, the auxiliary track 13 is connected to the front wheel of the driving track 12, and the auxiliary track 13 is independently provided with a motor group 131, and the motor group 131 is arranged at the bottom of the frame body 11.

[0022] Among them, the drive box 121 drives the rear wheel of the driving track 12 to rotate, and then drives the bomb disposal vehicle forward. At the same time, the auxiliary tracks 13 on both sides are driven to rotate by independent motor groups 131, and can also drive the auxiliary tracks 13 to rotate around the front wheel of the driving track 12 to cross obstacles on the ground in the field.

[0023] The frame 1 is provided with a numerical control box 14 and a pathfinder camera 15. A telescopic rod 151 is provided at the bottom of the pathfinder camera 15. The bottom of the telescopic rod 151 is arranged on the frame body 11. An explosion-proof plate rotating seat 16 is provided on the front side of the frame body 11. A control rod 161 is provided on the explosion-proof plate rotating seat 16. A mechanical arm support rod 17 is provided on the rear side of the center of the frame body 11.

[0024] Among them, the telescopic rod 151 of the pathfinder camera 15 can be retracted or rotated to facilitate the regulation of the pathfinder camera 15. The pathfinder camera 15 is used to remotely drive and observe the bomb disposal environment, and the robotic arm support rod 17 is used to support the robotic arm 2.

[0025] The mechanical arm 2 includes a rotating vertical arm 21 , a rear arm 22 and a front arm 23 . The rotating vertical arm 21 is arranged at the front center of the frame body 11 , one end of the rear arm 22 is arranged on the rotating vertical arm 21 , and the front arm 23 is arranged at the other end of the rear arm 22 .

[0026] A rotating seat 231 is provided on the front side wall of the forearm 23 , a minesweeper detector 232 is provided at the front end of the forearm 23 , and the mechanical arm 2 further includes a rotating claw 24 , which is provided on the rotating seat 231 , and a universal camera device 241 is provided on the top of the rotating seat 231 .

[0027] Among them, the rotating vertical arm 21 can rotate independently while driving the rear arm 22 to rotate. The rear arm 22 drives the front arm 23 to rotate, and the rotating seat 231 can drive the rotating claw 24 to rotate, thereby achieving the technical effect of the minesweeping detector 232 detecting mines in a plane and the rotating claw 24 working with multiple degrees of freedom.

[0028] The explosion-proof panel 3 includes a front main panel 31 , side panels 32 and a hydraulic rod 33 . The side panels 32 are arranged on both sides of the rear wall of the front main panel 31 . The hydraulic rod 33 is arranged at the bottom center of the rear wall of the front main panel 31 . Both ends of the hydraulic rod 33 are connected to the side panels 32 .

[0029] A groove 311 is provided on the front wall surface of the front main board 31 , a hinge support 312 and a dovetail groove 313 are provided on the rear wall of the front main board 31 , the control rod 161 is arranged on the hinge support 312 , a slide 321 is provided on the surface of the side panel 32 , and the slide 321 slides in the dovetail groove 313 .

[0030] Among them, the groove 311 of the front main board 31 increases the impact area of ​​the front main board 31, thereby reducing the impact power. At the same time, the control rod 161 is a hydraulic rod, which has the function of controlling the lifting and lowering of the front main board 31 and mitigating the impact of the explosion. When the bomb disposal vehicle is performing bomb disposal work, the hydraulic rod 33 controls the side plate 32 to extend to protect the tracks on both sides.

[0031] The powder box 4 is provided with a material inlet 41 and a material outlet 42 , and an inkjet valve 43 is provided at the bottom of the material outlet 42 .

[0032] The inkjet valve 43 sprays marking powder downward at regular intervals. While the bomb disposal operation is in progress, the inkjet valves 43 on both sides spray easily identifiable lines on both sides of the safe road so that the engineers can move forward safely.

[0033] During specific use, the engineer remotely controls the bomb disposal vehicle, the CNC box 14 receives signals and controls the movement and operation of the bomb disposal vehicle, the drive box 121 drives the rear wheel of the drive track 12 to rotate, the motor group 131 drives the auxiliary track 13 to rotate, and then drives the bomb disposal vehicle forward. When encountering a higher obstacle on the ground, the motor group 131 drives the auxiliary track 13 to rotate around the front wheel of the drive track 12, driving the bomb disposal vehicle to cross the obstacle and move forward. During the movement, the road condition and bomb disposal environment are observed through the pathfinding camera 15.

[0034] During the forward movement, the rear arm 22 is driven by the rotating vertical arm 21 to rotate while the rear arm 22 can rotate independently. The rear arm 22 drives the front arm 23 to rotate, and then the mine detector 232 is controlled to perform a plane sweep at a certain height from the ground to complete the detection of mines. After the mine is found, the rotating claw 24 clamps the explosive and places it on the surface of the mine. The bomb disposal vehicle is controlled to retreat a certain distance and lower the explosion-proof plate 3. The hydraulic rod 33 controls the side plate 32 to extend to protect the tracks on both sides, and the explosive is controlled to explode, so that the mines are detonated together. During the forward movement of the bomb disposal vehicle, the inkjet valve 43 at the bottom of the powder box 4 on both sides sprays out lines that are easy to identify on both sides of the safe road, and the engineers move forward safely according to the sprayed powder markings.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

[0037] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. An intelligent bomb disposal vehicle, characterized by: It comprises a vehicle frame (1), a mechanical arm (2), an explosion-proof plate (3) and a powder box (4), wherein the powder box (4) is arranged on both sides of the rear end of the vehicle frame (1), the explosion-proof plate (3) is arranged at the front end of the vehicle frame (1), and the mechanical arm (2) is arranged on the vehicle frame (1); The vehicle frame (1) comprises a vehicle frame body (11), a driving crawler (12), a driving box (121) and an auxiliary crawler (13); the driving crawler (12) is arranged on both sides of the vehicle frame body (11); the driving box (121) is arranged on the vehicle frame body (11); the rear wheels of the driving crawler (12) are driven by the driving box (121); the auxiliary crawler (13) is arranged on both sides of the driving crawler (12); the auxiliary crawler (13) is connected to the front wheels of the driving crawler (12); the auxiliary crawlers (13) are independently provided with motor groups (131); and the motor groups (131) are arranged at the bottom of the vehicle frame body (11).

2. The intelligent bomb disposal vehicle according to claim 1, characterized in that: The vehicle frame (1) is provided with a numerical control box (14) and a pathfinder camera (15); a telescopic rod (151) is provided at the bottom of the pathfinder camera (15); the bottom of the telescopic rod (151) is arranged on the vehicle frame body (11); an explosion-proof plate rotating seat (16) is provided at the front side of the vehicle frame body (11); a control rod (161) is provided on the explosion-proof plate rotating seat (16); and a mechanical arm support rod (17) is provided at the rear center of the vehicle frame body (11).

3. The intelligent bomb disposal vehicle according to claim 2, characterized in that: The mechanical arm (2) comprises a rotating vertical arm (21), a rear upper arm (22) and a front arm (23); the rotating vertical arm (21) is arranged at the front center of the frame body (11); one end of the rear upper arm (22) is arranged on the rotating vertical arm (21); and the front arm (23) is arranged at the other end of the rear upper arm (22).

4. The intelligent bomb disposal vehicle according to claim 3, characterized in that: A rotating seat (231) is provided on the front end side wall of the forearm (23), and a minesweeper detector (232) is provided on the front end of the forearm (23). The mechanical arm (2) further comprises a rotating claw (24), and the rotating claw (24) is provided on the rotating seat (231). A universal camera device (241) is provided on the top of the rotating seat (231).

5. The intelligent bomb disposal vehicle according to claim 4, characterized in that: The explosion-proof panel (3) comprises a front main panel (31), side panels (32) and a hydraulic rod (33); the side panels (32) are arranged on both sides of the rear wall of the front main panel (31); the hydraulic rod (33) is arranged at the bottom center of the rear wall of the front main panel (31); and both ends of the hydraulic rod (33) are connected to the side panels (32).

6. The intelligent bomb disposal vehicle according to claim 5, characterized in that: A groove (311) is provided on the front wall surface of the front main board (31), a hinge support (312) and a dovetail groove (313) are provided on the rear wall of the front main board (31), the control rod (161) is arranged on the hinge support (312), and a slide (321) is provided on the surface of the side board (32), and the slide (321) slides in the dovetail groove (313).

7. The intelligent bomb disposal vehicle according to claim 6, characterized in that: The powder box (4) is provided with a material inlet (41) and a material discharge outlet (42), and an inkjet valve (43) is provided at the bottom of the material discharge outlet (42).

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