A double-track and low gravity center anti-overturning operation light-type explosive disposal robot

Abstract

The present application relates to the technical field of special operation robots, and discloses a light EOD robot with double tracks and low gravity center for preventing overturning, which comprises a mounting platform, two tracks arranged on the two sides of the mounting platform, a mechanical arm arranged at the front of the mounting platform, an inclination sensor and a controller, the mechanical arm is provided with an end effector for clamping and transferring explosives, and the light EOD robot further comprises a water tank, a counterweight tank, a bidirectional water pump and a ground traction mechanism; the water tank is arranged in the middle of the mounting platform and between the two tracks, the counterweight tank is arranged at the tail of the mounting platform, and the bidirectional water pump is connected with the water tank and the counterweight tank. The light EOD robot with double tracks and low gravity center for preventing overturning can inhibit the tail from continuing to be raised and promote the tail to fall back; the swing support plate can swing with the change of the ground height and the tail posture of the robot, so that the ground support roller can continuously play the roles of grounding and guiding. The posture stability and the overturning prevention capability in the process of forward extension of the mechanical arm, heavy load clamping and fixed point disposal are improved.

Description

Technical Field

[0001] This invention relates to the field of special operation robot technology, and in particular to a lightweight bomb disposal robot with dual tracks and a low center of gravity to prevent tipping over. Background Technology

[0002] Bomb disposal robots are specialized robots used to replace human operators in the detection, handling, transfer, and disposal of explosives, suspected explosives, and other hazardous materials. Existing bomb disposal robots typically include a mobile chassis, a robotic arm, an end effector, and a remote control device. Among them, tracked mobile chassis have better ground adaptability and can carry robotic arms into indoor and outdoor work areas to approach objects to be disposed of.

[0003] To facilitate transportation and rapid deployment, the overall weight and chassis size of lightweight bomb disposal robots are typically limited. When the robotic arm extends forward to lift or grip a large object, the load-bearing position of the robotic arm and the gripped object moves forward, causing the robot's longitudinal center of gravity to shift forward as well. This increases the overturning moment at the front of the robot, which can easily lead to issues such as tail tilting, reduced effective ground contact length of the tracks, and overall instability, thus affecting the positioning accuracy and gripping stability of the robotic arm.

[0004] Some existing bomb disposal robots improve operational stability by adding fixed counterweights, increasing chassis size, or installing rigid outriggers. Fixed counterweights increase the overall weight and energy consumption over the long term, while increasing chassis size affects the robot's ability to maneuver in confined spaces. Ordinary outriggers may struggle to provide sustained and effective support when the ground is uneven or the robot's tail has tilted upwards, and they may also be unable to actively pull back the tilted tail. Therefore, existing lightweight bomb disposal robots still face the challenge of simultaneously achieving good mobility, a low center of gravity, and stable operation under heavy loads. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that existing lightweight bomb disposal robots are prone to longitudinal center of gravity shifting forward during the extension of the robotic arm or heavy-load clamping. Existing fixed counterweights and ordinary support structures are difficult to balance the overall lightweight design, mobility, and active reset capability after the tail is tilted upward. To address this, we propose a lightweight bomb disposal robot with dual tracks and a low center of gravity to prevent tipping.

[0006] To achieve the above objectives, this application adopts the following technical solution: a lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations, comprising an installation platform, two tracks on both sides of the platform, a robotic arm at the front, an angle sensor, and a controller. The robotic arm has an end effector for gripping and transferring explosives. It also includes a water tank, a counterweight box, a bidirectional water pump, and a ground traction mechanism. The water tank is located in the middle of the installation platform and between the two tracks, the counterweight box is located at the rear of the installation platform, and the bidirectional water pump connects the water tank and the counterweight box. The ground traction mechanism includes a mounting frame fixed to the bottom of the installation platform, a swing support plate pivotally connected to the mounting frame, and a take-up roller, a take-up drive, and a ground support roller located on the swing support plate. The take-up drive is driven to the take-up roller, and the ground support roller is rotatably connected to the swing support plate and grounded. It also has an annular groove, multiple telescopic anchors that can extend through the extension groove, and an anchor drive mechanism that drives the multiple telescopic anchors to extend and retract synchronously. One end of the traction rope is wound around the take-up roller, and the other end passes over the lower part of the annular groove and connects to the counterweight box, with the connection point located above and behind the annular groove. The controller receives the robotic arm's operating status signal. When the robotic arm is in the extended or clamping state, the controller controls the liquid to be transported from the water tank to the counterweight box when the tilt angle of the tail of the installation platform detected by the tilt sensor reaches the first tilt threshold, and controls the telescopic anchors to extend and the take-up roller to tighten the traction rope when the second tilt threshold, which is greater than the first tilt threshold, is reached.

[0007] Preferably, the water tank is fixed to the upper surface of the installation platform and spaced apart from the two tracks; one end of each of the two infusion pipes extends into the water tank and is close to the bottom of the water tank, and the other end is connected to the first liquid port of the bidirectional water pump through a manifold connector, and the second liquid port of the bidirectional water pump is connected to the counterweight box; in any running direction of the bidirectional water pump, the liquid in the two infusion pipes flows in the same direction.

[0008] Preferably, the bidirectional water pump has a bidirectional shut-off structure in its liquid circuit, which opens when the bidirectional water pump is running and closes when the bidirectional water pump stops; both the water tank and the counterweight box have vents located above the highest set liquid level, and the vents are equipped with waterproof and breathable parts; both the water tank and the counterweight box have anti-sway baffles with flow holes.

[0009] Preferably, the swing support plate swings downward around the pivot axis under the gravity of itself and the ground support roller; a swing limiting part is provided between the bottom mounting frame and the swing support plate, which is used to limit the maximum upward swing angle and the maximum downward swing angle of the swing support plate.

[0010] Preferably, the bottom of the annular groove is recessed radially inward into the grounding surface of the ground support roller, and the traction rope contained in the annular groove does not protrude from the grounding surface.

[0011] Preferably, the winding drive is a winding motor that is connected to the winding roller via a reduction mechanism. The output side of the winding motor is provided with a braking component that can switch between a release state and a locking state. An anti-detachment cover is provided on the outside of the winding roller, and a limiting gap is formed between the anti-detachment cover and the winding roller to allow the traction rope to pass through.

[0012] Preferably, multiple telescopic anchors are distributed circumferentially along the ground support roller and are rotatably connected to the ground support roller respectively. Each telescopic anchor includes a push-receiving part and a spike part. A torsion spring for driving the spike part to retract is provided between the telescopic anchor and the ground support roller.

[0013] Preferably, the anchor drive mechanism includes a push roller coaxially disposed within the ground support roller and an anchor drive motor connected to the push roller. The outer periphery of the push roller is provided with push rods corresponding to multiple pushed parts. The anchor drive motor is a reduction motor with a self-locking function and is provided with a position detection device for detecting when the telescopic anchor is extended into position and retracted into position.

[0014] Preferably, the controller also presets a recovery threshold less than the first tilt threshold and a confirmation time for confirming the tilt state; when the tail tilt angle continues to reach the second tilt threshold, the controller sequentially controls the two tracks to stop moving, the multiple telescopic anchors to extend, and the winding roller to tighten the traction rope.

[0015] Preferably, the controller has an insertable ground operation mode and a hard ground operation mode; in the insertable ground operation mode, the controller controls the take-up roller to take up the rope and controls the braking component to lock after multiple telescopic anchors are extended; in the hard ground operation mode, the controller controls multiple telescopic anchors to remain retracted and prevents the take-up roller from taking up the rope, and the ground support roller's ground surface is provided with a rubber anti-slip layer.

[0016] The technical effects and advantages of this invention are as follows: In this invention, the counterweight fluid is centrally stored in a water tank located in the middle of the installation platform between the two tracks. This helps reduce the impact of the counterweight mass on the robot's daily movement and steering. When the robot's tail tilts upwards due to the extension of the robotic arm or the gripping of explosives, a bidirectional water pump delivers the counterweight fluid to the tail counterweight box, shifting the longitudinal center of gravity of the entire machine backwards and increasing the anti-overturning moment. When the tilting degree increases further, the telescopic anchor inserts into the ground and restricts the slippage of the ground support roller. The winding roller applies a downward traction force to the counterweight box through the traction rope, thereby inhibiting further tilting of the tail and causing it to fall back. The swing support plate can swing according to the ground height and the robot's tail posture changes, allowing the ground support roller to continuously perform grounding and guiding functions. Through the phased coordination of liquid counterweight adjustment and ground anchoring traction, the robot's posture stability and anti-overturning capability can be improved during the extension of the robotic arm, heavy-load gripping, and fixed-point disposal processes while maintaining the mobility of the lightweight explosive ordnance disposal robot. Attached Figure Description

[0017] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts: Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the overall side view structure of the present invention; Figure 3 This is a schematic diagram of the installation structure of the robot mounting platform and the two tracks of the present invention; Figure 4 This is a schematic diagram of the installation structure of the liquid counterweight mechanism and the ground traction mechanism of the present invention; Figure 5 This is a schematic diagram of the connection structure of the water tank, infusion pipe, bidirectional water pump and counterweight box of the present invention. Figure 6 This is a schematic diagram of the installation structure of the bottom mounting frame and ground traction mechanism of the present invention; Figure 7 This is a schematic diagram of the installation structure of the take-up roller, ground support roller, and traction rope of the present invention; Figure 8 This is a schematic diagram of the working state of the ground traction mechanism of the present invention when the robot's tail is tilted upwards; Figure 9 This is a partial structural schematic diagram of the take-up roller, anti-detachment cover, and ground support roller of the present invention; Figure 10 This is a schematic diagram of the retractable anchor bar and the anchor bar driving mechanism of the present invention.

[0018] Legend: 1. Robot mounting platform; 2. Track; 3. Robotic arm; 4. Water tank; 5. Infusion tube; 6. Counterweight box; 7. Water pump; 8. Bottom mounting frame; 9. Pivot shaft; 10. Swing support plate; 11. Winding roller; 12. Ground support roller; 13. Traction rope; 14. Anti-detachment cover; 15. Telescopic anchor; 16. Extension slot; 17. Push roller; 18. Anchor drive motor. Detailed Implementation

[0019] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0020] Reference Figures 1 to 3A lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations includes a robot mounting platform 1, two tracks 2, and a robotic arm 3. The two tracks 2 are respectively located on both sides of the robot mounting platform 1, used to drive the robot's movement and steering. The robotic arm 3 is mounted at the front of the robot mounting platform 1, used to perform gripping, transfer, and bomb disposal operations. After the robotic arm 3 extends forward and grips an object, the load-bearing position generated by the robotic arm 3 and the gripped object moves towards the front of the robot, increasing the tipping moment at the front of the robot, which may cause the robot's tail to tilt upwards.

[0021] Reference Figure 4 and Figure 5 A water tank 4 is fixed to the center of the upper surface of the robot mounting platform 1. The water tank 4 is located between and spaced apart from the two tracks 2, and does not participate in the support and transmission of the tracks 2. Preferably, the water tank 4 is a low-height tank that extends along the plane of the robot mounting platform 1, so that the liquid mass is concentrated at a lower position between the two tracks 2. A counterweight box 6 is fixed to the tail of the robot mounting platform 1. The water tank 4 and the counterweight box 6 are connected by two parallel infusion pipes 5 and a bidirectional water pump 7.

[0022] One end of each of the two infusion tubes 5 extends into the water tank 4, and the other ends of the two infusion tubes 5 are connected to the first liquid port of the bidirectional water pump 7 via a manifold. The second liquid port of the bidirectional water pump 7 is connected to the counterweight box 6. Under any pumping condition, the liquid flow direction in the two infusion tubes 5 is the same; when the bidirectional water pump 7 changes its delivery direction, the liquid flow direction in the two infusion tubes 5 changes synchronously. The parallel connection of the two infusion tubes 5 increases the effective flow area on one side of the water tank 4, reducing the flow resistance during the pumping process. The actual delivery flow rate is determined based on the rated flow rate of the bidirectional water pump 7 and the diameter of the infusion tubes 5.

[0023] When the bidirectional water pump 7 operates in the first direction, the liquid in the water tank 4 flows into the bidirectional water pump 7 through two infusion pipes 5 and is then transported to the counterweight tank 6 by the bidirectional water pump 7. When the bidirectional water pump 7 operates in the second direction, the liquid in the counterweight tank 6 returns to the water tank 4 via the bidirectional water pump 7. A bidirectional shut-off structure can be installed on the liquid path of the bidirectional water pump 7. The bidirectional shut-off structure is opened when the bidirectional water pump 7 is running and closed when the bidirectional water pump 7 stops, in order to prevent the liquid in the counterweight tank 6 from flowing back on its own.

[0024] Both the water tank 4 and the counterweight tank 6 are equipped with vents located above the highest set liquid level of their respective tanks. These vents compensate for changes in gas volume within the tank caused by liquid transfer. Waterproof and breathable components can be installed at the vents to reduce the possibility of dust, debris, and liquid entering or exiting through them. Anti-sway baffles with flow holes can also be installed inside the water tank 4 and the counterweight tank 6 to limit rapid sloshing of the liquid within the tanks during robot movement or pitching. The end of the infusion pipe 5 located inside the water tank 4 near the bottom of the tank can be fitted with a filter to reduce the entry of debris into the infusion pipe 5 and the bidirectional water pump 7.

[0025] Reference Figure 4 , Figures 6 to 9 A bottom mounting frame 8 is fixed to the bottom of the robot mounting platform 1, and the bottom mounting frame 8 moves synchronously with the robot mounting platform 1. A pivot shaft 9 is provided on the bottom mounting frame 8, and a swing support plate 10 is rotatably connected to the bottom mounting frame 8 through the pivot shaft 9. The swing support plate 10 extends along the front-rear direction of the robot, and a take-up roller 11 and a ground support roller 12 are installed on it at intervals. The ground support roller 12 is rotatably connected to the swing support plate 10 and contacts the ground when the robot is moving normally, rolling as the robot moves; the take-up roller 11 is located above the ground and is spaced apart from the ground.

[0026] The swing support plate 10, under its own weight and the weight of the ground support roller 12, can swing downwards around the pivot shaft 9, allowing the ground support roller 12 to adapt to changes in ground elevation. A swing limiter can be provided between the bottom mounting frame 8 and the swing support plate 10 to limit the maximum upward and downward swing angles of the swing support plate 10, preventing interference between the swing support plate 10, the ground support roller 12, and the robot mounting platform 1 or track 2. When the robot's tail tilts upwards, the robot mounting platform 1, the bottom mounting frame 8, the pivot shaft 9, and the counterweight box 6 move upwards with the robot's tail, and the swing support plate 10 rotates relative to the bottom mounting frame 8, allowing the end of the robot that mounts the ground support roller 12 to continue to approach the ground within the allowable swing range.

[0027] The take-up roller 11 is driven by a take-up motor, which is connected to the take-up roller 11 via a reduction gear. A switchable braking assembly is provided on the output side of the take-up motor. When the braking assembly is released, the take-up motor can drive the take-up roller 11 to take up or release the rope; when the braking assembly is locked, the take-up roller 11 maintains its current rotational position to maintain the tension of the traction rope 13. The braking assembly can be an electromagnetic brake. After the electromagnetic brake is released, the take-up motor controls the rope release speed to reduce the possibility of sudden slack in the traction rope 13.

[0028] One end of the traction rope 13 is wound and fixed to the take-up roller 11, and the other end is fixed to the counterweight box 6. An annular groove is formed in the center of the ground support roller 12 for the traction rope 13 to pass through. After being led out from the take-up roller 11, the traction rope 13 passes through the annular groove at the bottom of the ground support roller 12 and extends obliquely upwards to the counterweight box 6. The connection point of the traction rope 13 on the counterweight box 6 is higher than the annular groove and located on the side of the annular groove facing the robot's tail, so that the rope segment between the ground support roller 12 and the counterweight box 6 is inclined relative to the horizontal plane.

[0029] The bottom of the annular groove is recessed radially inward into the grounding surface of the ground support roller 12, and the traction rope 13 is accommodated within the contour range of the annular groove, so that the traction rope 13 can still be separated from the ground when the ground support roller 12 is grounded, thereby reducing the friction and compression of the traction rope 13 by the ground. An anti-detachment cover 14 is provided on the outer side of the take-up roller 11. The anti-detachment cover 14 is fixed on the swing support plate 10 and covers part of the outer periphery of the take-up roller 11. A limiting gap is formed between the anti-detachment cover 14 and the take-up roller 11 to allow the traction rope 13 to pass through, thereby restricting the traction rope 13 from moving axially along the take-up roller 11 and reducing the possibility of the traction rope 13 detaching from the take-up roller 11 after slack.

[0030] Reference Figure 9 and Figure 10 The ground support roller 12 is provided with multiple sets of telescopic anchors 15, which are distributed circumferentially along the ground support roller 12. Each set of telescopic anchors 15 is rotatably connected to the ground support roller 12, and the ground support roller 12 has protrusion slots 16 corresponding to each telescopic anchor 15. The telescopic anchor 15 has a pushing part located inside the ground support roller 12 and a pointed part that can extend through the protrusion slot 16. A torsion spring is provided between the telescopic anchor 15 and the ground support roller 12, and the torsion spring applies a restoring force to the telescopic anchor 15 to rotate inward toward the ground support roller 12.

[0031] A push roller 17 is coaxially mounted inside the ground support roller 12, and the push roller 17 can rotate relative to the ground support roller 12. An anchor drive motor 18 is fixed to the support shaft of the swing support plate 10 or the ground support roller 12, and the output end of the anchor drive motor 18 is connected to the push roller 17. The outer periphery of the push roller 17 is provided with push rods corresponding to multiple sets of telescopic anchor pieces 15. When the anchor drive motor 18 drives the push roller 17 to the ejected position, each push rod synchronously abuts against the pushed part of the corresponding telescopic anchor piece 15 and overcomes the restoring force of the torsion spring, causing the spikes of each telescopic anchor piece 15 to extend outward through the corresponding extension groove 16.

[0032] When the anchor drive motor 18 drives the push roller 17 to rotate in the reverse direction to the retraction position, each push rod separates from the pushed part of the corresponding telescopic anchor member 15, and each telescopic anchor member 15 retracts into the ground support roller 12 under the action of the torsion spring. The anchor drive motor 18 can be a geared motor with a self-locking function, so that the push roller 17 can maintain the extended state of each telescopic anchor member 15 after reaching the push-out position. The anchor drive motor 18 can also be equipped with a position detection device to output push-out and retraction completion signals to the controller.

[0033] When performing fixed-point operations on soil or surfaces where the spikes can be inserted, after the robot stops moving, all telescopic anchors 15 extend synchronously, with the ground-facing anchors 15 inserting into the ground to restrict the ground support roller 12 from rolling, slipping, and detaching from the ground, providing ground constraint for the traction rope 13 to tighten. When operating on concrete or hard indoor surfaces, all telescopic anchors 15 remain retracted. A rubber anti-slip layer can be installed on the grounding surfaces of the ground support roller 12 located on both sides of the annular groove to improve rolling stability and reduce rolling noise and damage to the ground. The rubber anti-slip layer is mainly used to improve the rolling state of the ground support roller 12 on hard surfaces.

[0034] The robot mounting platform 1 is also equipped with a tilt sensor and a controller. The tilt sensor detects the tilt direction and angle of the robot mounting platform 1 in the forward and backward directions. The controller is electrically connected to the tilt sensor, the bidirectional water pump 7, the winding motor, the braking assembly, and the anchor drive motor 18. The detection results of the tilt sensor serve as the trigger for performing liquid transfer and tail traction. The controller can also receive the working status signal of the robotic arm 3 or the locking and releasing commands input by the operator to determine whether the tension of the traction rope 13 is maintained after winding is completed.

[0035] The controller has preset a first tilt threshold, a second tilt threshold, and a recovery threshold. The second tilt threshold is greater than the first tilt threshold, and the recovery threshold is less than the first tilt threshold. The controller can execute corresponding actions after the tilt sensor detects that the tilt angle has continuously reached the corresponding threshold and a set confirmation time has elapsed, in order to reduce false triggering caused by robot vibration or short-term obstacle crossing. The first tilt threshold, the second tilt threshold, the recovery threshold, and the confirmation time can be set according to the robot's mass, the maximum extension distance of the robotic arm 3, the rated gripping mass, and the grounding size of the track 2.

[0036] When the robot is moving normally or the robotic arm 3 is in the retracted state, the liquid is mainly stored in the water tank 4, concentrating the liquid mass in the middle of the robot. At this time, the braking assembly is in the released state, the traction rope 13 retains the rope allowance required to accommodate the movement of the swing support plate 10, and each telescopic anchor 15 is in the retracted state. The ground support roller 12 rolls with the robot's movement, and the swing support plate 10 swings adaptively around the pivot axis 9 to reduce the impact of the bottom support structure on the robot's movement and traversing slightly undulating ground.

[0037] After the robotic arm 3 extends forward or grips an object, when the tilt sensor detects that the upward tilt angle of the robot's tail reaches the first tilt threshold, the controller activates the bidirectional water pump 7, which transports the liquid in the water tank 4 to the counterweight box 6 via two infusion tubes 5. After the liquid is transferred from the middle of the robot to its tail, the longitudinal center of gravity of the entire robot shifts backward, increasing the gravitational stabilizing torque generated by the counterweight box 6 relative to the robot's front overturning fulcrum, thereby suppressing further upward tilting of the robot's tail. Once the set transfer amount is reached or the tilt angle is reduced to the corresponding control range, the controller stops the bidirectional water pump 7 and closes the bidirectional shut-off structure to maintain the liquid level in the counterweight box 6. During this stage, all telescopic anchors 15 remain retracted, allowing the robot to perform controlled position adjustments.

[0038] If the robot's tail continues to tilt upwards after the liquid transfer is completed, or if the tilt sensor detects that the tilt angle has reached the second tilt threshold, the controller determines whether to perform tail traction based on the preset ground operation mode. On ground where the telescopic anchor 15 can be inserted, the controller first controls the two tracks 2 to stop moving, and then starts the anchor drive motor 18 to make each telescopic anchor 15 extend synchronously. After receiving the push-out signal or after the anchor drive motor 18 has run for a set time, the controller stops the anchor drive motor 18 and maintains the position of the push roller 17, then releases the brake on the take-up roller 11 and starts the take-up motor, so that the take-up roller 11 gradually winds up the traction rope 13.

[0039] After the telescopic anchor 15 is inserted into the ground, it forms an anti-slip and anti-pull-out constraint with the ground, keeping the position of the ground support roller 12 stable during traction. When the take-up roller 11 winds up the traction rope 13, the rope segment located between the ground support roller 12 and the counterweight box 6 applies an oblique pulling force toward the ground support roller 12 to the counterweight box 6. Since the connection position of the traction rope 13 on the counterweight box 6 is higher than the annular groove of the ground support roller 12, this oblique pulling force has a component toward the ground. The component toward the ground, the ground reaction force on the telescopic anchor 15, and the distance of each action position relative to the robot's front tipping fulcrum together form an anti-tipping effect, thereby limiting the robot's tail from continuing to tilt upwards and enabling the already tilted robot tail to descend.

[0040] During the upward tilting of the robot's tail, the robot mounting platform 1, bottom mounting frame 8, pivot shaft 9, and counterweight box 6 move upward synchronously, while the swing support plate 10 rotates around the pivot shaft 9 relative to the bottom mounting frame 8. One end of the swing support plate 10, which mounts the ground support roller 12, is held close to the ground by ground constraints, allowing the ground support roller 12 to continue guiding the traction rope 13. Thus, the ground support roller 12 can participate in traction when the robot's tail begins to tilt upwards, and can also cooperate with the take-up roller 11 to continue winding the rope after the robot's tail has tilted upwards to a certain extent.

[0041] On concrete floors or hard indoor surfaces, the controller prevents the telescopic anchor 15 from extending and prioritizes anti-tipping control by transferring liquid from the water tank 4 to the counterweight box 6, lowering the working height of the robotic arm 3, shortening the extension length of the robotic arm 3, or reducing the moving speed of the clamped object. When no additional fixing structure providing pull-out restraint is provided on the hard surface, the controller does not perform the tail traction action of fixing the ground support roller 12 with the telescopic anchor 15 to avoid using the friction of the rubber anti-slip layer as an anchoring effect.

[0042] When the tilt sensor detects that the robot's tail has fallen back to the set safe angle range, the controller stops the winding motor. When the robotic arm 3 is in a heavy-load gripping state, a fixed-point operation state, or when the operator issues a locking command, the controller puts the braking component into a locked state. The winding roller 11 maintains its current rope winding position, and the traction rope 13 continues to apply constraint to the robot's tail. This state can reduce the energy consumption and heat generated by the continuous power supply of the winding motor, and reduce the possibility that the robot's tail will tilt upwards again due to the movement of the robotic arm 3 or changes in the gripping load.

[0043] When the robot needs to move, overcome obstacles, adjust the posture of the robotic arm 3, or complete unloading, the controller, based on the working status signal of the robotic arm 3 or the release command input by the operator, causes the braking component to enter the release state and controls the winding motor to release the traction rope 13 at a set speed. After the traction rope 13 is released, the robot's tail and the swing support plate 10 can generate the relative displacement required to adapt to the terrain, thereby reducing the possibility of the traction rope 13 being over-tensioned or the bottom support structure restricting the tracks 2 from touching the ground.

[0044] After completing the gripping or transfer operation, the robotic arm 3 gradually retracts. The controller first releases the locking of the braking assembly and drives the winding motor to release the rope, gradually reducing the tension of the traction rope 13; then, it controls the anchor drive motor 18 to run in reverse, the push rod on the push roller 17 disengages from each telescopic anchor 15, and each telescopic anchor 15 retracts into the ground support roller 12 under the action of the corresponding torsion spring; the controller then activates the bidirectional cutoff structure and controls the bidirectional water pump 7 to run in reverse, transporting the liquid in the counterweight box 6 back to the water tank 4. After the tilt sensor detects that the robot mounting platform 1 has returned to the recovery threshold range and each telescopic anchor 15 has been retracted into place, the robot resumes normal driving.

[0045] This embodiment implements anti-tipping control in stages through central liquid counterweight, tail liquid transfer, and ground-mounted anchoring traction. Liquid transfer first adjusts the overall longitudinal center of gravity and increases the tail's gravity stabilizing torque while maintaining the robot's position adjustment capability. As the tilt continues to increase, the telescopic anchor 15 forms a constraint with the ground, the ground support roller 12 changes the extension direction of the traction rope 13, and the winding roller 11 applies a downward-component pulling force to the counterweight box 6 via the traction rope 13. The swing support plate 10 adapts to changes in the robot's tail height and ground elevation, and the switchable braking assembly maintains or releases the traction rope 13 according to the operational status, thereby improving the posture stability of the lightweight bomb disposal robot during the deployment of the robotic arm 3 and heavy-load clamping processes.

[0046] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations, comprising a mounting platform, two tracks disposed on both sides thereof, a robotic arm disposed at the front thereof, a tilt sensor, and a controller, wherein the robotic arm has an end effector for gripping and transferring explosives, characterized in that, It also includes a water tank, a counterweight box, a two-way water pump, and a ground traction mechanism; the water tank is located in the middle of the installation platform and between the two tracks, the counterweight box is located at the rear of the installation platform, and the two-way water pump connects the water tank and the counterweight box. The ground traction mechanism includes a mounting frame fixed to the bottom of the installation platform, a swing support plate pivotally connected to the mounting frame, and a take-up roller, a take-up drive, and a ground support roller disposed on the swing support plate. The take-up drive is driven to the take-up roller, and the ground support roller is rotatably connected to the swing support plate and grounded. It is provided with an annular groove, multiple telescopic anchors that can extend through the extension groove, and an anchor drive mechanism that drives the multiple telescopic anchors to extend and retract synchronously. One end of the traction rope is wound around the take-up roller, and the other end passes around the lower part of the annular groove and connects to the counterweight box, with the connection point located above and behind the annular groove. The controller receives the robotic arm's operating status signal. When the robotic arm is in the extended or clamping state, the controller controls the liquid to be transported from the water tank to the counterweight box when the tilt angle of the tail of the installation platform detected by the tilt sensor reaches a first tilt threshold, and controls the telescopic anchors to extend and the take-up roller to tighten the traction rope when the tilt angle reaches a second tilt threshold greater than the first tilt threshold.

2. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 1, characterized in that, The water tank is fixed to the upper surface of the installation platform and spaced apart from the two tracks; one end of each of the two infusion pipes extends into the water tank and is close to the bottom of the water tank, and the other end is connected to the first liquid port of the bidirectional water pump through a manifold connector; the second liquid port of the bidirectional water pump is connected to the counterweight box; in any running direction of the bidirectional water pump, the liquid in the two infusion pipes flows in the same direction.

3. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 2, characterized in that, The bidirectional water pump has a bidirectional shut-off structure on its liquid path. The bidirectional shut-off structure opens when the bidirectional water pump is running and closes when the bidirectional water pump stops. Both the water tank and the counterweight box have vents located above the highest set liquid level. The vents are equipped with waterproof and breathable components. Both the water tank and the counterweight box have anti-sway baffles with flow holes.

4. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 1, characterized in that, The swing support plate swings downward around the pivot axis under the gravity of itself and the ground support roller; a swing limiting part is provided between the bottom mounting frame and the swing support plate, and the swing limiting part is used to limit the maximum upward swing angle and the maximum downward swing angle of the swing support plate.

5. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 4, characterized in that, The bottom of the annular groove is recessed radially inward into the grounding surface of the ground support roller, and the traction rope contained in the annular groove does not protrude from the grounding surface.

6. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 5, characterized in that, The winding drive is a winding motor that is connected to the winding roller via a reduction mechanism. The output side of the winding motor is provided with a braking component that can switch between a release state and a locking state. An anti-detachment cover is provided on the outside of the winding roller, and a limiting gap is formed between the anti-detachment cover and the winding roller to allow the traction rope to pass through.

7. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 1, characterized in that, Multiple telescopic anchors are distributed circumferentially along the ground support roller and are rotatably connected to the ground support roller. Each telescopic anchor includes a push-receiving part and a spike part. A torsion spring is provided between the telescopic anchor and the ground support roller to drive the spike part to retract.

8. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 7, characterized in that, The anchor drive mechanism includes a push roller coaxially arranged inside the ground support roller and an anchor drive motor connected to the push roller. The outer periphery of the push roller is provided with push rods corresponding to multiple push parts. The anchor drive motor is a reduction motor with a self-locking function and is provided with a position detection device for detecting when the telescopic anchor is extended and retracted.

9. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 1, characterized in that, The controller also presets a recovery threshold less than the first tilt threshold and a confirmation time for confirming the tilt state; when the tail tilt angle continues to reach the second tilt threshold, the controller sequentially controls the two tracks to stop moving, the multiple telescopic anchors to extend, and the take-up roller to tighten the traction rope.

10. The lightweight bomb disposal robot with dual tracks and a low center of gravity for anti-tipping operations according to claim 6, characterized in that, The controller has an insertable ground operation mode and a hard ground operation mode. In the insertable ground operation mode, the controller controls the take-up roller to take up the rope and controls the braking component to lock after multiple telescopic anchors are extended. In the hard ground operation mode, the controller controls multiple telescopic anchors to remain retracted and prevents the take-up roller from taking up the rope. The ground support roller has a rubber anti-slip layer on its ground surface.

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