Trigger Manipulator and Unmanned Vehicle-mounted Obstacle Breaker

Abstract

The present invention belongs to the field of manipulators, and discloses a triggering manipulator and an unmanned vehicle-mounted obstacle breaker. The triggering manipulator includes a mounting base, a traction claw, a push rod, a driving member and a driving rod. The proximal end of the traction claw is hinged to the mounting base, and its distal end is used to connect an external triggering traction rope. One end of the push rod is hinged to the traction claw and is used to push the traction claw to rotate from a preparatory position to a triggering position under driving, so as to complete 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, thereby driving the push rod to move, and finally pushing 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 remote control and other methods, realize the automatic triggering operation of the lead wire, effectively avoid the situation that the operator is directly exposed to a dangerous environment, and improve the safety and reliability of the operation.

Description

Technical Field

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

[0002] In existing civilian obstacle clearing operations, ignition of the obstacle breaker's motor primarily relies on manual triggering of a fuse. This traditional method requires the operator to be in close proximity to the obstacle breaker to trigger the fuse, exposing the operator to the blast, flying fragments, and other potential threats, posing an extremely high risk. Currently, there is a lack of a solution that can remotely trigger the fuse to reduce operator exposure and improve the reliability and safety of obstacle clearing 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.

[0004] To achieve the above objectives, the technical solution adopted in this application is:

[0005] A trigger manipulator is provided for use in an unmanned vehicle-mounted obstacle remover, comprising:

[0006] Install the base;

[0007] A traction claw, the proximal end of which is hinged to the mounting base and the distal end of which is used to connect to an external trigger traction rope;

[0008] A push rod, one end of which is hinged to the traction claw to push the traction claw to rotate from the ready position to the trigger position;

[0009] A driving member and a driving rod, wherein the driving member is mounted on the mounting base and is connected to the remote control component signal 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, thereby driving the push rod to push the traction claw to rotate from the ready position to the trigger position.

[0010] As a further improvement of the above technical solution:

[0011] 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 mounting 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 so that the first claw arm and the second claw arm extend in the same straight line direction.

[0012] Optionally, the latching mechanism includes a button and a latching member. The button is movably connected to the first claw arm, and the latching member is connected to one end of the button. The latching member 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 latching member to withdraw from the slot, thereby releasing the lock on the second claw arm.

[0013] Optionally, the latching 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.

[0014] Optionally, a through hole is provided on the second claw arm, and the through hole is used to connect an external triggering traction rope.

[0015] 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 driving rod.

[0016] The electric limit lock includes a telescopically movable limit projection. When the limit projection extends, it locks the driving rod. When the limit projection retracts, the lock on the driving rod is released.

[0017] 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 driving rod contacts the first position sensor. When the traction claw is in the trigger position, the driving rod contacts the second position sensor.

[0018] 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 traction rope of the barrier-breaking rocket.

[0019] As a further improvement of the above technical solution:

[0020] Optionally, a slide rail is provided on the unmanned vehicle, and the barrier-breaking rocket is slidably connected to the slide rail.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 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 the shape of a box 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 pre-setting or remote control, etc., 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.

[0023] The obstacle-breaking device for an unmanned vehicle 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

[0024] 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.

[0025] Figure 1 It is a three-dimensional structural schematic diagram of the triggering manipulator and the obstacle-breaking rocket of the present application;

[0026] Figure 2 It is a cross-sectional structural schematic diagram of the traction claw of the triggering manipulator of the present application Figure 1 ;

[0027] Figure 3 It is a cross-sectional structural schematic diagram of the traction claw of the triggering manipulator of the present application Figure 2 ;

[0028] Figure 4 It is a three-dimensional structural schematic diagram of the triggering manipulator of the present application in the non-working state;

[0029] Figure 5 It is a three-dimensional structural schematic diagram of the triggering manipulator of the present application after triggering.

[0030] Among them, the reference numerals in the drawings are as follows:

[0031] 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 mode

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0033] 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.

[0034] 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 drawings, and is only for the convenience of describing this 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 therefore cannot be understood as a limitation to this application.

[0035] 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 this application, "a plurality of" means two or more unless otherwise specifically defined.

[0036] 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.

[0037] As Figure 1 shown, this 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.

[0038] Among them, the installation base 1 is specifically in the shape of a box structure, used to accommodate the remaining components of the trigger 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 by a hinged manner, and its distal end is used to connect an external trigger traction rope to achieve the traction trigger 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 trigger position under the driving action, so as to complete the trigger 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 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 trigger position.

[0039] The trigger manipulator can control the operation of the driving member 4 by means of presetting in advance or remote control, etc., realizing the automatic trigger 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.

[0040] 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 by 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.

[0041] 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.

[0042] As Figure 5 shown, when the trigger 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, thereby obtaining 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 trigger operation, ensuring that the traction claw 2 maintains a stable straight state during the traction process, and avoiding affecting the trigger effect due to structural loosening or deviation.

[0043] 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. 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 withdraws 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.

[0044] 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 inner side 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, driving the button 23 to reset and 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.

[0045] 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.

[0046] As Figure 1As shown, in a specific embodiment of the present application, the trigger manipulator further includes an electric limit lock 6. The electric limit lock 6 serves as a safety mechanism for the trigger 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 drive rod 5 from rotating, so that the drive rod 5 cannot drive the push rod 3 and the traction claw 2 to move, ensuring that the trigger 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 trigger manipulator can be improved by the electric limit lock 6.

[0047] As Figure 1 shown, in a specific embodiment of the present application, the trigger 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 trigger 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 precise detection of the position of the traction claw 2, but also provide necessary feedback information for the automatic control of the trigger manipulator, thereby improving the operation accuracy and reliability of the device.

[0048] The present application also provides an unmanned vehicle-mounted obstacle breaker, which includes an unmanned vehicle, an obstacle-breaking rocket 9, and the trigger manipulator in the above embodiment. The obstacle-breaking rocket 9 and the trigger manipulator are both fixedly mounted on the unmanned vehicle, and the traction claw 2 of the trigger manipulator is connected to the trigger 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 trigger manipulator to the target location, avoiding the workload of manual handling of obstacle-breaking equipment and reducing the exposure risk of operators in dangerous environments. After arriving at the target location, the unmanned vehicle starts the trigger 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 trigger manipulator in the above embodiment, it also has the advantages of the trigger manipulator in the above embodiment.

[0049] 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.

[0050] 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 is applied to an unmanned vehicle-mounted obstacle breaker, and is characterized in that, Comprising: An installation base (1); A traction claw (2), the proximal end of which is hinged to the installation base (1), and the distal end is used for connecting an external trigger traction rope; 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 hinged to the installation 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 along the same straight line direction; A push rod (3), one end of which is hinged to the traction claw (2) to push the traction claw (2) to rotate from a preparatory position to a trigger position; A driving member (4) and a driving rod (5), the driving member (4) is installed on the installation base (1) and is signal-connected to a 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 on a plane, thereby driving the push rod (3) to push the traction claw (2) to rotate from a preparatory position to a trigger position.

2. The trigger manipulator according to claim 1, wherein 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 connected to one end of the button (23); the buckle member (24) has a hook portion, and the second claw arm (22) has a card 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 snaps into the card slot to lock the second claw arm (22); when the button (23) is pressed to drive the hook portion of the buckle member (24) to withdraw from the card slot, the locking of the second claw arm (22) is released.

3. The triggering manipulator according to claim 2, characterized in that, The locking mechanism further includes an elastic member (25), one end of the elastic member (25) is connected to the button (23), and one end of the elastic member (25) is connected to the first claw arm (21). The elastic force of the elastic member (25) is used to drive the hook portion to extend into the inner side of the card slot.

4. The triggering manipulator according to claim 1, wherein, A through hole is provided on the second claw arm (22), and the through hole is used for connecting an external trigger traction rope.

5. The trigger manipulator according to any one of claims 1 to 4, characterized in that It further includes an electric limit lock (6), the electric limit lock (6) is installed on the installation base (1) and is located on the rotation path of the driving rod (5); The electric limit lock (6) includes a telescopically movable limit protrusion (61), and when the limit protrusion (61) extends out, it locks the driving rod (5); when the limit protrusion (61) retracts, the locking of the driving rod (5) is released.

6. The trigger manipulator according to any one of claims 1 to 4, characterized in that, It further includes a first position sensor (7) and a second position sensor (8) both installed on the installation base (1). When the traction claw (2) is in the preparatory position, the drive rod (5) contacts the first position sensor (7). When the traction claw (2) is in the trigger position, the drive rod (5) contacts the second position sensor (8).

7. An unmanned vehicle-mounted obstacle breaker, characterized in that, It includes an unmanned vehicle, a barrier-breaking rocket (9) and a trigger manipulator as described in any one of claims 1 to 6. The barrier-breaking rocket (9) and the trigger manipulator are both carried on the unmanned vehicle, and the traction claw (2) of the trigger manipulator is connected to the trigger tow rope of the barrier-breaking rocket (9).

8. The unmanned vehicle-mounted obstacle breaker according to claim 7, characterized in that, A slide rail (10) is provided on the unmanned vehicle, and the barrier-breaking rocket (9) is slidably connected to the slide rail (10).

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