Triggering manipulator and unmanned vehicle-mounted barrier breaker

Abstract

The invention belongs to the field of manipulators, and discloses a trigger manipulator and an unmanned vehicle-mounted barrier breaker, and the trigger manipulator comprises a mounting base, a traction claw, a push rod, a driving piece and a driving rod. The near end of the traction claw is connected to the mounting base in a hinged mode, and the far end of the traction claw is used for being connected with an external triggering traction rope. One end of the push rod is hinged to the traction claw and used for pushing the traction claw to rotate from the preparation position to the triggering position under the driving effect, and therefore the triggering action is completed. The driving part is fixedly mounted on the mounting base, and the driving rod is in driving connection to the driving part and hinged to the other end of the push rod; the driving piece is used for driving the driving rod to rotate in the plane, then the push rod is driven to move, and finally the traction claw is pushed to rotate from the preparation position to the triggering position. The trigger manipulator can control the work of the driving piece in a remote control mode and the like, automatic trigger operation of a lead is achieved, the situation that an operator is directly exposed in a dangerous environment is effectively avoided, and the safety and reliability of operation are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and more specifically, relates to a triggering manipulator and an unmanned vehicle-mounted obstacle breaker. Background Art

[0002] In existing civilian obstacle-breaking operations, the ignition of the obstacle breaker engine mainly relies on the manual triggering of the lead wire by operators. This traditional method requires operators to be in close contact with the obstacle breaker and complete the triggering operation of the lead wire. The operators are directly exposed to explosion shocks, flying fragments, and other potential threats, which is extremely dangerous. Currently, there is a lack of a solution that can trigger the lead wire at a long distance to reduce the risk of personnel exposure and improve the reliability and safety of obstacle-breaking operations. Summary of the Invention

[0003] The purpose of this application is to provide a triggering manipulator and an unmanned vehicle-mounted obstacle breaker to solve the technical problem in the prior art that the obstacle breaker engine relies on manual triggering of the lead wire.

[0004] To achieve the above purpose, the technical solution adopted in this application is: Provide a triggering manipulator, which is applied to an unmanned vehicle-mounted obstacle breaker, and includes: An installation base; A traction claw, the proximal end of which is hinged to the installation base, and the distal end is used to connect an external triggering traction rope; A push rod, one end of which is hinged to the traction claw to push the traction claw to rotate from a preparatory position to a triggering position; A driving member and a driving rod, the driving member is installed on the installation base and is signal-connected to a remote control component on the unmanned vehicle-mounted obstacle breaker; the driving rod is drivingly connected to the driving member and is hinged to the other end of the push rod; the driving member is used to drive the driving rod to rotate on a plane, so as to drive the push rod to push the traction claw to rotate from a preparatory position to a triggering position.

[0005] As a further improvement of the above technical solution: Optionally, the traction claw includes a first claw arm, a second claw arm and a locking mechanism. One end of the first claw arm is hinged to the installation base, and the other end of the first claw arm is hinged to the second claw arm; the locking mechanism is arranged between the first claw arm and the second claw arm to make the first claw arm and the second claw arm extend along the same straight line direction.

[0006] Optionally, the locking mechanism includes a button and a buckle. The button is movably connected to the first claw arm, and the buckle is connected to one end of the button. The buckle has a hook portion, and the second claw arm has a slot. When the second claw arm rotates to extend in the same straight line direction as the first claw arm, the hook portion snaps into the slot to lock the second claw arm. Press the button to drive the hook portion on the buckle to withdraw from the slot, thereby releasing the lock on the second claw arm.

[0007] Optionally, the locking mechanism further includes an elastic member. One end of the elastic member is connected to the button, and the other end of the elastic member is connected to the first claw arm. The elastic force of the elastic member is used to drive the hook portion to extend inwardly into the slot.

[0008] Optionally, a through hole is provided on the second claw arm, and the through hole is used to connect an external triggering tow rope.

[0009] Optionally, it further includes an electric limit lock. The electric limit lock is installed on the mounting base and is located on the rotation path of the drive rod. The electric limit lock includes a telescopically movable limit projection. When the limit projection extends out, it locks the drive rod. When the limit projection retracts, the lock on the drive rod is released.

[0010] Optionally, it further includes a first position sensor and a second position sensor both installed on the mounting base. When the traction claw is in the preparatory position, the drive rod contacts the first position sensor. When the traction claw is in the trigger position, the drive rod contacts the second position sensor.

[0011] This application also provides an unmanned vehicle-mounted obstacle breaker, which includes an unmanned vehicle, a barrier-breaking rocket, and the above-mentioned triggering manipulator. The barrier-breaking rocket and the triggering manipulator are both carried on the unmanned vehicle, and the traction claw of the triggering manipulator is connected to the triggering tow rope of the barrier-breaking rocket.

[0012] As a further improvement of the above technical solution: Optionally, a slide rail is provided on the unmanned vehicle, and the barrier-breaking rocket is slidably connected to the slide rail.

[0013] Compared with the prior art, the beneficial effects of the present invention are: The triggering manipulator provided by the present application includes a mounting base, a traction claw, a push rod, a driving member, and a driving rod. The mounting base is specifically in a box-shaped structure and is used to accommodate the remaining components of the triggering manipulator, such as the traction claw, the push rod, the driving member, and the driving rod, providing a stable support and installation environment for them. The proximal end of the traction claw is connected to the mounting base by a hinged manner, and its distal end is used to connect an external triggering traction rope to achieve the traction triggering operation of the lead wire. One end of the push rod is hinged to the traction claw and is used to push the traction claw to rotate from the preparatory position to the triggering position under the driving action, thereby completing the triggering action. The driving member is fixedly installed on the mounting base, the driving rod is drivingly connected to the driving member, and is hinged to the other end of the push rod; the driving member is used to drive the driving rod to rotate in a plane, and then drive the push rod to move, and finally push the traction claw to rotate from the preparatory position to the triggering position. The triggering manipulator can control the operation of the driving member by means of presetting in advance or remote control, etc., realizing the automatic triggering operation of the lead wire, effectively avoiding the situation that the operator is directly exposed to a dangerous environment, and significantly improving the safety and reliability of the operation.

[0014] The unmanned vehicle-mounted obstacle breaker provided by the present application includes an unmanned vehicle, an obstacle-breaking rocket, and the above-mentioned triggering manipulator. Therefore, it also has the advantages of the above-mentioned triggering manipulator. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 is a three-dimensional structural schematic diagram of the triggering manipulator and the obstacle-breaking rocket of the present application; Figure 2 is a cross-sectional structural schematic diagram of the traction claw of the triggering manipulator of the present application Figure 1 ; Figure 3 is a cross-sectional structural schematic diagram of the traction claw of the triggering manipulator of the present application Figure 2 ; Figure 4 is a three-dimensional structural schematic diagram of the triggering manipulator in a non-working state; Figure 5 is a three-dimensional structural schematic diagram of the triggering manipulator after triggering.

[0017] Among them, the reference numerals in the drawings: 1. Mounting base; 2. Towing claw; 21. First claw arm; 22. Second claw arm; 23. Button; 24. Buckle; 25. Elastic member; 3. Push rod; 4. Driving member; 5. Driving rod; 6. Electric limit lock; 61. Limit projection; 7. First position sensor; 8. Second position sensor; 9. Obstacle-breaking rocket; 10. Slide rail. Detailed implementation manners

[0018] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0020] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application.

[0021] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0022] Unless otherwise defined, all professional terms used hereinafter have the same meaning as commonly understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of the present invention.

[0023] As Figure 1 shown, the present application provides a triggering manipulator, which is applied to an unmanned vehicle-mounted obstacle breaker and includes a mounting base 1, a towing claw 2, a push rod 3, a driving member 4 and a driving rod 5.

[0024] Among them, the installation base 1 is specifically in the shape of a box structure, which is used to accommodate the remaining components of the triggering manipulator, such as the traction claw 2, the push rod 3, the driving member 4 and the driving rod 5, providing a stable support and installation environment for them. The proximal end of the traction claw 2 is connected to the installation base 1 in a hinged manner, and its distal end is used to connect an external triggering traction rope to realize the traction triggering operation of the lead wire. One end of the push rod 3 is hinged to the traction claw 2 and is used to push the traction claw 2 to rotate from the preparatory position to the triggering position under the driving action, so as to complete the triggering action. The driving member 4 is fixedly installed on the installation base 1 and is signal-connected to the remote control component on the unmanned vehicle-mounted obstacle breaker. The driving rod 5 is drivingly connected to the driving member 4 and is hinged to the other end of the push rod 3; the driving member 4 is used to drive the driving rod 5 to rotate in a plane, and then drive the push rod 3 to move, and finally push the traction claw 2 to rotate from the preparatory position to the triggering position.

[0025] The triggering manipulator can control the operation of the driving member 4 by means of presetting or remote control in advance, realizing the automatic triggering operation of the lead wire, effectively avoiding the situation that the operator is directly exposed to the dangerous environment, and significantly improving the safety and reliability of the operation.

[0026] As Figure 2 and Figure 3 shown, in a specific embodiment of the present application, the traction claw 2 includes a first claw arm 21, a second claw arm 22 and a locking mechanism. One end of the first claw arm 21 is connected to the installation base 1 in a hinged manner, and one end of the push rod 3 is hinged to the first claw arm 21 to realize the driving effect of the push rod 3 on the first claw arm 21. The other end of the first claw arm 21 is hinged to the second claw arm 22, so that the first claw arm 21 and the second claw arm 22 can rotate relative to each other to adapt to different working states.

[0027] As Figure 4 shown, in the non-working state, the first claw arm 21 and the second claw arm 22 are arranged at a certain angle, so that the second claw arm 22 can effectively avoid the obstacle-breaking rocket 9 and prevent structural interference with the obstacle-breaking rocket 9, ensuring the safety and stability of the device.

[0028] As Figure 5 shown, when the triggering operation needs to be performed, the first claw arm 21 and the second claw arm 22 are flattened by the action of the locking mechanism, so that the whole traction claw 2 extends along the same straight line direction, so as to obtain a sufficient traction length to meet the operation requirements of triggering the lead wire. The locking mechanism is specifically arranged between the first claw arm 21 and the second claw arm 22 and is used to lock the relative positions of the two during the triggering operation, ensuring that the traction claw 2 maintains a stable straight state during the traction process and avoiding affecting the triggering effect due to structural loosening or deviation.

[0029] As Figure 2 and Figure 3As shown, in a specific embodiment of the present application, the locking mechanism includes a button 23 and a buckle member 24. The button 23 is movably connected to the first claw arm 21, and the buckle member 24 is fixedly connected to one end of the button 23 and is linked with the button 23. The end of the buckle member 24 is provided with a hook portion, and a card slot is correspondingly provided on the second claw arm 22. When the second claw arm 22 rotates to extend in the same straight line direction as the first claw arm 21, the hook portion on the buckle member 24 is automatically snapped into the card slot of the second claw arm 22 under the drive of the button 23, thereby realizing the locking of the second claw arm 22 and ensuring that the traction claw 2 maintains a stable straight state during the triggering operation. When it is necessary to release the lock, the operator presses the button 23, and the button 23 drives the buckle member 24 to move, so that the hook portion exits from the card slot of the second claw arm 22, thereby releasing the lock on the second claw arm 22 and enabling it to rotate freely. This locking mechanism is simple and reliable in design and convenient to operate. It not only ensures the stability of the traction claw 2 during the working state but also can be quickly unlocked in the non-working state, facilitating the state switching and maintenance of the device.

[0030] As Figure 2 and Figure 3 shown, in a specific embodiment of the present application, the locking mechanism further includes an elastic member 25, and the elastic member 25 is preferably a spring. One end of the elastic member 25 is connected to the button 23, and the other end is connected to the first claw arm 21, providing a reset driving force for the button 23 through its own elastic force. When the second claw arm 22 rotates to extend in the same straight line direction as the first claw arm 21, the elastic force of the elastic member 25 drives the buckle member 24 to move towards the inside of the card slot, so that the hook portion on the buckle member 24 is automatically snapped into the card slot of the second claw arm 22, realizing the reliable locking of the second claw arm 22. When the operator presses the button 23 to release the lock, the elastic member 25 is compressed and stores elastic potential energy; when the pressing operation ends, the elastic member 25 releases the stored elastic potential energy to drive the button 23 to reset, preparing for the next locking operation. The setting of the elastic member 25 not only enhances the automatic locking function of the locking mechanism but also improves the convenience and reliability of the operation.

[0031] As Figure 2 and Figure 3 shown, in a specific embodiment of the present application, the second claw arm 22 is provided with a through hole for connecting an external triggering traction rope. The specific position of the through hole is preferably set at the distal end of the second claw arm 22 to facilitate the threading and fixing of the external triggering traction rope. The external triggering traction rope can be connected to the second claw arm 22 by directly passing through the through hole, or can be tied to the through hole by knotting, binding or other fixing methods, thereby realizing a reliable connection between the traction rope and the traction claw 2.

[0032] As Figure 1As shown, in a specific embodiment of the present application, the triggering manipulator further includes an electric limit lock 6. This electric limit lock 6 serves as a safety mechanism for the triggering manipulator, is installed on the mounting base 1, and is located on the rotation path of the drive rod 5. The electric limit lock 6 includes a telescopically movable limit protrusion 61, and the telescopic movement of the limit protrusion 61 is realized by electric control. When the limit protrusion 61 is in the extended state, it contacts the drive rod 5 and forms a mechanical lock, preventing the rotation of the drive rod 5, so that the drive rod 5 cannot drive the push rod 3 and the traction claw 2 to move, ensuring that the triggering manipulator remains locked in the non-working state and preventing misoperation or accidental triggering. When the limit protrusion 61 retracts, its locking effect on the drive rod 5 is released, and the drive rod 5 can rotate freely, and then drive the push rod 3 and the traction claw 2 to complete the triggering operation. The safety of the triggering manipulator can be improved by the electric limit lock 6.

[0033] As Figure 1 shown, in a specific embodiment of the present application, the triggering manipulator further includes a first position sensor 7 and a second position sensor 8, both of which are installed on the mounting base 1. The first position sensor 7 and the second position sensor 8 are respectively used to detect the position state of the traction claw 2. When the traction claw 2 is in the preparatory position, the drive rod 5 contacts the first position sensor 7, and the first position sensor 7 generates a corresponding signal, indicating that the traction claw 2 is in the preparatory state. At this time, the device can perform initialization or preparatory work. When the traction claw 2 rotates to the triggering position, the drive rod 5 contacts the second position sensor 8, and the second position sensor 8 generates a corresponding signal, indicating that the traction claw 2 has completed the triggering operation. The device can enter the next work process or stop running. The settings of the first position sensor 7 and the second position sensor 8 not only achieve accurate detection of the position of the traction claw 2, but also provide necessary feedback information for the automatic control of the triggering manipulator, thereby improving the operation accuracy and reliability of the device.

[0034] The present application also provides an unmanned vehicle-mounted obstacle breaker, which includes an unmanned vehicle, an obstacle-breaking rocket 9, and the triggering manipulator in the above embodiment. The obstacle-breaking rocket 9 and the triggering manipulator are both fixedly carried on the unmanned vehicle. Among them, the traction claw 2 of the triggering manipulator is connected to the triggering traction rope of the obstacle-breaking rocket 9 to realize the remote triggering operation of the fuse of the obstacle-breaking rocket 9. The unmanned vehicle serves as a transportation and operation platform, which can transport the obstacle-breaking rocket 9 and the triggering manipulator to the target location, avoiding the work burden of manually carrying obstacle-breaking equipment, and at the same time reducing the exposure risk of operators in dangerous environments. After arriving at the target location, the unmanned vehicle starts the triggering manipulator through a remote control command, and drives the traction claw 2 to complete the triggering operation of the fuse of the obstacle-breaking rocket 9, thereby realizing the automatic execution of the obstacle-breaking task. Since the unmanned vehicle-mounted obstacle breaker includes the triggering manipulator in the above embodiment, it also has the advantages of the triggering manipulator in the above embodiment.

[0035] AsFigure 1 As shown, in a specific embodiment of the present application, a slide rail 10 is provided on the driverless vehicle. The slide rail 10 is fixedly installed on the bearing platform of the driverless vehicle and is used to support and guide the movement of the obstacle-breaking rocket 9. The obstacle-breaking rocket 9 is slidably installed on the slide rail 10 so that it can move along the extension direction of the slide rail 10. The design of the slide rail 10 not only provides a stable installation foundation for the obstacle-breaking rocket 9, but also enables it to remain fixed during the transportation of the driverless vehicle, avoiding displacement or damage caused by bumps or vibrations. The setting of the slide rail 10 enhances the positioning flexibility and operation convenience of the obstacle-breaking rocket 9, and at the same time improves the overall stability and reliability of the obstacle-breaking device carried by the driverless vehicle.

[0036] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A trigger manipulator, applied to an unmanned vehicle-mounted obstacle remover, characterized in that: include: Mounting base (1); A traction claw (2), the proximal end of which is hinged on the mounting base (1), and the distal end of which is used to connect to an external trigger traction rope; A push rod (3), one end of which is hinged to the traction claw (2) so as to push the traction claw (2) to rotate from the ready position to the trigger position; A driving member (4) and a driving rod (5), wherein the driving member (4) is mounted on the mounting base (1) and is signal-connected to a remote control component on an unmanned vehicle-mounted obstacle breaker; the driving rod (5) is drivingly connected to the driving member (4) and is hinged to the other end of the push rod (3); the driving member (4) is used to drive the driving rod (5) to rotate on a plane, thereby driving the push rod (3) to push the traction claw (2) to rotate from a ready position to a trigger position.

2. The trigger manipulator according to claim 1, characterized in that: The traction claw (2) comprises a first claw arm (21), a second claw arm (22) and a locking mechanism; one end of the first claw arm (21) is hinged to the mounting base (1), and the other end of the first claw arm (21) is hinged to the second claw arm (22); the locking mechanism is arranged between the first claw arm (21) and the second claw arm (22), so that the first claw arm (21) and the second claw arm (22) extend in the same straight line direction.

3. The trigger manipulator according to claim 2, characterized in that: The locking mechanism comprises a button (23) and a latch (24); the button (23) is movably connected to the first claw arm (21); the latch (24) is connected to one end of the button (23); the latch (24) has a hook portion, and the second claw arm (22) has a slot; when the second claw arm (22) rotates to extend in the same straight line direction as the first claw arm (21), the hook portion is latched into the slot to lock the second claw arm (22); when the button (23) is pressed to drive the hook portion on the latch (24) to withdraw from the slot, the locking of the second claw arm (22) is released.

4. The trigger manipulator according to claim 3, characterized in that: The locking mechanism further comprises an elastic member (25), one end of the elastic member (25) being connected to the button (23), and one end of the elastic member (25) being connected to the first claw arm (21), and the elastic force of the elastic member (25) being used to drive the hook portion to extend into the inner side of the slot.

5. The trigger manipulator according to claim 2, characterized in that: The second claw arm (22) is provided with a through hole, and the through hole is used to connect an external trigger traction rope.

6. The trigger manipulator according to any one of claims 1 to 5, characterized in that: It also includes an electric limit lock (6), which is mounted on the mounting base (1) and is located on the rotation path of the driving rod (5); The electric limit lock (6) comprises a telescopic limit protrusion (61), wherein the limit protrusion (61) locks the driving rod (5) when it is extended, and releases the lock on the driving rod (5) when it is retracted.

7. The trigger manipulator according to any one of claims 1 to 5, characterized in that: It also comprises a first position sensor (7) and a second position sensor (8) both mounted on the mounting base (1); when the traction claw (2) is in the ready position, the drive rod (5) contacts the first position sensor (7); and when the traction claw (2) is in the trigger position, the drive rod (5) contacts the second position sensor (8).

8. An unmanned vehicle-mounted obstacle breaker, characterized in that: It comprises an unmanned vehicle, an obstacle-clearing rocket (9) and a trigger manipulator as described in any one of claims 1 to 7, wherein the obstacle-clearing rocket (9) and the trigger manipulator are both mounted on the unmanned vehicle, and the traction claw (2) of the trigger manipulator is connected to the trigger traction rope of the obstacle-clearing rocket (9).

9. The unmanned vehicle-mounted obstacle breaker according to claim 8, characterized in that: The unmanned vehicle is provided with a slide rail (10), and the obstacle-breaking rocket (9) is slidably connected to the slide rail (10).

Images