Crawler-type six-axis unexploded ordnance removing robot

Abstract

The utility model discloses a crawler-type six-shaft unexploded ordnance removing robot, which belongs to the technical field of security and protection equipment and particularly comprises a crawler-type vehicle main body and a mechanical arm component, the mechanical arm assembly comprises a horizontal rotation driving motor, a base, a first driving motor, a second lifting arm, a second driving motor, a cross arm, a first rotation driving motor, a third driving motor, a mounting arm, a second rotation driving motor, an electronic eye and an electric mechanical clamp. According to the six-axis mechanical arm, a plurality of driving motors and all arm rod structures are combined and assembled to form the six-axis mechanical arm which comprises horizontal rotation, vertical rotation, pitching lifting and combined movement among all actions, and compared with a traditional three-axis mechanical arm, a traditional four-axis mechanical arm and a traditional five-axis mechanical arm, the six-axis mechanical arm is higher in flexibility, smaller in space needed by stretching, more flexible and more flexible. And in-situ 360-degree all-dimensional effective operation can be achieved in the complex, narrow and angular environment or site, the practicability of the robot can be effectively improved, and the application range of the robot can be effectively widened.

Description

Technical Field

[0001] The utility model belongs to the technical field of security equipment, and in particular relates to a crawler-type six-axis unexploded bomb removal robot. Background Art

[0002] The unexploded bomb clearance robot, also known as the bomb disposal robot, is a robot specially used to handle explosives and other related dangerous goods. It can effectively replace on-site security personnel to conduct field surveys and transfer dangerous goods. It can effectively reduce casualties and improve the safety of bomb disposal work. It is widely used in the army, military academies, police schools and police systems.

[0003] The tracked bomb disposal robots currently in use mainly have three-axis and four-axis (generally small bomb disposal robots) robotic arms. A very small number of bomb disposal robots (large bomb disposal robots) use five axes. The deployment of such robotic arms often requires a larger space for movement, and the range of movement and flexibility are limited, making it impossible to operate at complex or tricky angles.

[0004] To this end, we propose a tracked six-axis unexploded bomb removal robot. Utility Model Content

[0005] The utility model aims to provide a crawler-type six-axis unexploded bomb removal robot to solve the above problems existing in the prior art.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A tracked six-axis unexploded bomb clearance robot comprises a tracked vehicle body and a mechanical arm assembly, wherein the mechanical arm assembly comprises a horizontal rotary drive motor installed inside the tracked vehicle body, a base is installed at the top of the horizontal rotary drive motor, a No. 1 arm lift and a No. 1 drive motor for driving the No. 1 arm lift to rotate are installed on the base; a No. 2 arm lift and a No. 2 drive motor for driving the No. 2 arm lift to rotate are installed at the top of the No. 1 arm lift, a cross arm is rotatably installed on the front of the No. 2 arm lift, a No. 1 rotary drive motor is installed on the back of the No. 2 arm lift, and the No. 1 rotary drive motor drives the cross arm to rotate through a No. 1 transmission assembly.

[0008] Furthermore, a No. 3 driving motor is installed in the middle of the cross arm, and a U-shaped mounting arm is provided at the front end of the cross arm. Pin shafts are fixed on both sides of the mounting arm, and the pin shafts on both sides of the mounting arm pass through both sides of the front end of the cross arm and are rotatably connected to the front end of the cross arm. A No. 2 rotating driving motor is installed on the inner side of the end of the mounting arm, and the output shaft of the No. 3 driving motor passes through the outer side of the cross arm and drives the mounting arm to rotate through the No. 2 transmission assembly; the output shaft of the No. 2 rotating driving motor passes through the mounting arm and is equipped with an electronic eye and an electric mechanical clamp through a bracket.

[0009] Furthermore, the No. 1 lifting arm is composed of a main arm and U-shaped seats arranged on the same side of both ends of the main arm. The two U-shaped seats are connected to the main arm by welding or bolting. The No. 2 lifting arm is designed as a U-shaped trough.

[0010] Furthermore, a planetary gear mechanism is installed on the inner side of the U-shaped seat at both ends of the No. 1 lifting arm, and the input shaft and output shaft of the two planetary gear mechanisms are rotatably installed on the inner sides of the two U-shaped seats through seat bearings, and the No. 1 drive motor and the No. 2 drive motor are respectively fixedly installed on the base and the outer side of the U-shaped seat at the top of the main arm.

[0011] Furthermore, the input shafts on the two planetary gear mechanisms respectively pass through one side of the base and the U-shaped seat and are fixedly connected to the output shafts of the No. 1 drive motor and the No. 2 drive motor correspondingly installed on the base and the U-shaped seat. The output shafts on the two planetary gear mechanisms pass through the other side of the U-shaped seat and are transmission-connected to one side of the U-shaped seat at the corresponding position and one side of the bottom end of the No. 2 lifting arm. The U-shaped seat transmission-connected to the output shaft of the planetary gear mechanism and the other side of the bottom end of the No. 2 lifting arm are rotationally mounted on the input shaft of the planetary gear mechanism arranged at the corresponding position through bearings.

[0012] Furthermore, the No. 1 transmission assembly and the No. 2 transmission assembly have the same structure, and both include a driving wheel, a driven wheel and a transmission chain. The driving wheel drives the driven wheel to rotate via the transmission chain. The driving wheel and the driven wheel in the No. 1 transmission assembly are respectively mounted on the output shaft of the No. 1 rotation drive motor and the rotating shaft at the tail end of the cross arm for rotationally connecting with the No. 2 lifting arm. The driving wheel and the driven wheel on the No. 2 transmission assembly are respectively mounted on the end of the output shaft of the No. 3 drive motor and the end of the pin shaft on one side of the mounting arm.

[0013] Furthermore, a wireless signal transmitter is installed at the tail end of the tracked vehicle body, and a camera is installed on the top of the tracked vehicle body through a column, and the bottom end of the column is installed on an electric rotating platform fixed on the top of the tracked vehicle body. A storage unit and a PLC controller are also installed in the shell of the tracked vehicle body, and the output and input ends of the wireless signal transmitter are respectively connected to the PLC controller and the remote control terminal signal, and the camera, electronic eye, horizontal rotation drive motor, No. 1 drive motor, No. 2 drive motor, No. 3 drive motor, No. 1 rotation drive motor, No. 2 rotation drive motor, electric mechanical clamp and the travel drive assembly of the tracked vehicle body are all electrically connected to the PLC controller through cables.

[0014] Furthermore, the camera and the electronic eye both use high-definition night vision cameras, and a fill-in lighting group is also installed on the front of the electronic eye; high-intensity searchlights are also installed on the front and rear bodies of the tracked vehicle.

[0015] Beneficial effects:

[0016] The utility model adopts a plurality of driving motors and an arm structure to form a six-axis robot arm including horizontal rotation, vertical rotation, pitch lifting and combined movement between various actions. Compared with traditional three-axis, four-axis and even five-axis robot arms, the robot arm is more flexible and requires less space for extension. It can realize 360-degree all-round effective operation in situ in complex, narrow and tricky-angle environments or venues. Moreover, the lifting action in the entire robot arm assembly adopts a driving motor and a planetary gear drive. By increasing the lifting torque of the robot arm, the lifting load capacity of the robot arm can be effectively increased, so that the robot is no longer limited to the transfer of dangerous goods weighing less than 3-5 kilograms, which can effectively improve the practicality and applicability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the utility model Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the structure of the utility model Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the structure of the utility model Figure 3 ;

[0020] Figure 4 This is a schematic diagram of the structure of the utility model Figure 4 ;

[0021] Figure 5 This is a schematic diagram of the structure of the mechanical arm assembly of the utility model.

[0022] In the figure: 1. crawler vehicle body; 2. horizontal rotation drive motor; 3. base; 4. No. 1 drive motor; 5. No. 1 lifting arm; 501. main arm; 502. U-shaped seat; 6. planetary gear mechanism; 7. No. 2 drive motor; 8. No. 2 lifting arm; 9. cross arm; 10. No. 1 rotation drive motor; 11. No. 1 transmission assembly; 12. No. 3 drive motor; 13. mounting arm; 14. No. 2 transmission assembly; 141. driving wheel; 142. driven wheel; 143. transmission chain; 15. No. 2 rotation drive motor; 16. electronic eye; 17. electric mechanical clamp; 18. wireless signal transmitter; 19. camera; 20. cable. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the utility model will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the utility model, but does not constitute a limitation of the utility model.

[0024] In view of the current security robots in service, especially small tracked bomb disposal robots, three-axis and four-axis manipulators are mostly used to carry out bomb disposal operations. Due to the structural design of three-axis and four-axis and the constraints of mobility, these manipulators are not flexible enough in use, have high space requirements, and cannot adjust the angle of the manipulator in a small space, resulting in the problem that these robots cannot operate in complex environments and tricky angles. We propose a six-axis robot with horizontal rotation, vertical rotation, pitch and lift, and combined movements between various actions. The specific plan is as follows:

[0025] Example:

[0026] like Figure 1-5As shown, the present embodiment discloses a tracked six-axis unexploded bomb removal robot, which specifically includes a tracked vehicle body 1 and a mechanical arm assembly, wherein the mechanical arm assembly includes a horizontal rotation drive motor 2 installed inside the tracked vehicle body 1, a base 3 is installed on the top of the horizontal rotation drive motor 2, a No. 1 lifting arm 5 and a No. 1 driving motor 4 for driving the No. 1 lifting arm 5 to rotate are installed on the base 3; a No. 2 lifting arm 8 and a No. 2 driving motor 7 for driving the No. 2 lifting arm 8 to rotate are installed on the top of the No. 1 lifting arm 5, a cross arm 9 is installed on the front side of the No. 2 lifting arm 8 for rotation, a No. 1 rotation drive motor 10 is installed on the back side of the No. 2 lifting arm 8, the No. 1 rotation drive motor 10 drives the cross arm 9 to rotate through a No. 1 transmission assembly 11, a No. 3 driving motor 12 is installed in the middle of the cross arm 9, a U-shaped mounting arm 13 is provided at the front end of the cross arm 9, pins are fixed on both sides of the mounting arm 13, and the pins on both sides of the mounting arm 13 pass through both sides of the front end of the cross arm 9 and are connected to the front end of the cross arm 9 for rotation. Then, a No. 2 rotary drive motor 15 is installed on the inner side of the end of the mounting arm 13, and the output shaft of the No. 3 drive motor 12 passes through the outer side of the cross arm 9 and drives the mounting arm 13 to rotate through the No. 2 transmission assembly 14; the output shaft of the No. 2 rotary drive motor 15 passes through the mounting arm 13 and is installed with an electronic eye 16 and an electric mechanical clamp 17 through a bracket. The mechanical arm design of the entire crawler bomb disposal robot adopts a plurality of drive motor units and a plurality of arm mechanisms for assembly to form a six-axis mechanical arm that can rotate horizontally, rotate vertically, pitch and lift, and combine various actions into a complex motion trajectory. Compared with traditional three-axis, four-axis, and even five-axis mechanical arms, the six-axis mechanical arm is more flexible and requires less space for extension, so that the bomb disposal robot can achieve 360-degree all-round and effective operation in situ in complex, narrow and tricky environments or venues, which can effectively improve the practicality and applicability of the robot.

[0027] Among them, it needs to be further explained that the horizontal rotation drive motor 2 drives the base 3 to rotate horizontally on the tracked vehicle body 1, thereby driving the entire upper section of the robotic arm to achieve an in-situ horizontal rotation effect, achieving a 360-degree all-round operating range, without the need to adjust the orientation and angle of the tracked vehicle body 1.

[0028] In the entire robotic arm assembly, with the cooperation of the cross arm 9 and the mounting arm 13 and with the help of the No. 3 drive motor 12, the No. 1 rotation drive motor 10 and the No. 2 rotation drive motor 15, the multi-directional and multi-angle range of motion of the front end assembly of the robotic arm can be realized, so that the entire robotic arm assembly can perform bomb disposal operations at tricky angles in complex environments in actual operations.

[0029] like Figure 1-5As shown, in order to realize that the No. 1 driving motor 4 and the No. 2 driving motor 7 can smoothly drive the No. 1 lifting arm 5 and the No. 2 lifting arm 8 to perform pitching motion, while maintaining the stability of the assembly between the No. 1 lifting arm 5 and the base 3 and the No. 2 lifting arm 8, the No. 1 lifting arm 5 is composed of a main arm 501 and a U-shaped seat 502 arranged on the same side of both ends of the main arm 501, and the two U-shaped seats 502 are connected to the main arm 501 by welding or bolting. The No. 2 lifting arm 8 is designed as a U-shaped trough. At the same time, the inner sides of the U-shaped seats 502 at both ends of the No. 1 lifting arm 5 are installed There is a planetary gear mechanism 6, which is a reduction planetary gear assembly, and the power output shaft and input shaft of the planetary gear mechanism 6 are coaxially designed to ensure the stability of the No. 1 lifting arm 5 and the No. 2 lifting arm 8 after being connected to the output shaft and input shaft of the planetary gear mechanism 6. The input shaft and output shaft of the two planetary gear mechanisms 6 are rotatably installed on the inner sides of the two U-shaped seats 502 through seat bearings, and the No. 1 drive motor 4 and the No. 2 drive motor 7 are respectively fixedly installed on the base 3 and the outer sides of the U-shaped seat 502 at the top of the main arm 501.

[0030] Furthermore, the input shafts on the two planetary gear mechanisms 6 respectively pass through the base 3 and one side of the U-shaped seat 502 and are fixedly connected to the output shafts of the No. 1 drive motor 4 and the No. 2 drive motor 7 correspondingly installed on the base 3 and the U-shaped seat 502. The output shafts on the two planetary gear mechanisms 6 pass through the other side of the U-shaped seat 502 and are transmission-connected to one side of the U-shaped seat 502 at the corresponding position and one side of the bottom end of the No. 2 lifting arm 8. The U-shaped seat 502 transmission-connected to the output shaft of the planetary gear mechanism 6 and the other side of the bottom end of the No. 2 lifting arm 8 are rotationally mounted on the input shaft of the planetary gear mechanism 6 set at the corresponding position through bearings. The No. 1 drive motor 4 and the No. 2 drive motor 7 reduce the rotation speed and increase the torque through the planetary gear mechanism 6, while ensuring the stability of the pitch angle lifting action of the No. 1 lift arm 5 and the No. 2 lift arm 8. The load capacity of the No. 1 lift arm 5 and the No. 2 lift arm 8 can be effectively increased, which can effectively increase the load capacity of the small crawler bomb disposal robot, so that its mechanical arm is no longer limited to the traditional load limit of 3-5 kilograms, and can achieve the purpose of high load capacity, so that this type of robot can play a more prominent role in sudden safety incidents.

[0031] In order to enable the No. 1 rotary drive motor 10 and the No. 2 rotary drive motor 15 to smoothly drive the cross arm 9 and the mounting arm 13 to rotate, the No. 1 transmission assembly 11 and the No. 2 transmission assembly 14 have the same structure and are both composed of a driving wheel 141, a driven wheel 142 and a transmission chain 143. Specifically, the driving wheel 141 drives the driven wheel 142 to rotate through the transmission chain 143. It is further emphasized that the driving wheel 141 and the driven wheel 142 in the No. 1 transmission assembly 11 are respectively installed on the output shaft of the No. 1 rotary drive motor 10 and the rotating shaft at the tail end of the cross arm 9 for rotationally connecting with the No. 2 lifting arm 8. At the same time, the driving wheel 141 and the driven wheel 142 on the No. 2 transmission assembly 14 are respectively installed on the output shaft end of the No. 3 drive motor 12 and the pin shaft end on one side of the mounting arm 13.

[0032] In order to realize remote control of the bomb disposal robot, a wireless signal transmitter 18 is installed at the rear end of the tracked vehicle body 1, and a camera 19 is also installed on the top of the tracked vehicle body 1 through a column, wherein the bottom end of the column is installed on an electric rotating table (not shown) fixed on the top of the tracked vehicle body 1, and a storage unit (not shown) and a PLC controller (not shown) are also installed in the shell of the tracked vehicle body 1, wherein the storage unit provides power energy support for the entire robot, and the output and input ends of the wireless signal transmitter 18 are respectively connected to the PLC controller and the remote control terminal signal, and the camera 19, electronic eye 16, horizontal rotation drive motor 2, No. 1 drive motor 4, No. 2 drive motor 7, No. 3 drive motor 12, No. 1 rotation drive motor 10, No. 2 rotation drive motor 15, electric mechanical clamp 17 and the travel drive assembly of the tracked vehicle body 1 are all electrically connected to the PLC controller through a cable 20.

[0033] Among them, the rotatable column design allows the robot to have no need to turn around. The operator only needs to rotate the camera 19 horizontally 180 degrees to allow the operator to see the path behind the robot clearly, so that the operator can operate the crawler vehicle to back out of the narrow space.

[0034] It needs to be further explained that the wireless signal transmitter 18 and the PLC controller both use conventional wireless signal transmission modules and programmable intelligent control unit modules in the current wireless communication technology and the field of intelligent electronic devices. Therefore, their circuits and principles are not described in detail in this article.

[0035] In order to enable the robot to still carry out effective bomb disposal operations in light environments of different intensities, its camera 19 and electronic eye 16 both use high-definition night vision cameras. At the same time, in order to improve the accuracy and safety of bomb disposal operations, a fill light group is also installed on the front of the electronic eye 16, so that the remote operator can clearly observe the actual situation of dangerous goods and make corresponding operations conveniently; in order to facilitate the operator to control the robot to walk at night or in dim and narrow passages through the camera 19 to see the obstacles on the robot's forward path, a strong light searchlight (not shown) is also installed on the front and rear bodies of the tracked vehicle body 1.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tracked six-axis unexploded bomb removal robot, comprising a tracked vehicle body (1) and a mechanical arm assembly, characterized in that: The mechanical arm assembly comprises a horizontal rotary drive motor (2) installed inside the crawler vehicle body (1), a base (3) is installed at the top of the horizontal rotary drive motor (2), a No. 1 lifting arm (5) and a No. 1 driving motor (4) for driving the No. 1 lifting arm (5) to rotate are installed on the base (3); a No. 2 lifting arm (8) and a No. 2 driving motor (7) for driving the No. 2 lifting arm (8) to rotate are installed at the top of the No. 1 lifting arm (5), a cross arm (9) is rotatably installed on the front of the No. 2 lifting arm (8), a No. 1 rotary drive motor (10) is installed on the back of the No. 2 lifting arm (8), and the No. 1 rotary drive motor (10) drives the cross arm (9) to rotate through a No. 1 transmission assembly (11); A third drive motor (12) is installed in the middle of the cross arm (9), a U-shaped mounting arm (13) is provided at the front end of the cross arm (9), pins are fixed on both sides of the mounting arm (13), and the pins on both sides of the mounting arm (13) pass through both sides of the front end of the cross arm (9) and are rotatably connected to the front end of the cross arm (9), a second rotary drive motor (15) is installed on the inner side of the end of the mounting arm (13), the output shaft of the third drive motor (12) passes through the outer side of the cross arm (9) and drives the mounting arm (13) to rotate through the second transmission assembly (14); the output shaft of the second rotary drive motor (15) passes through the mounting arm (13) and is installed with an electronic eye (16) and an electric mechanical clamp (17) through a bracket.

2. A crawler-type six-axis unexploded bomb removal robot according to claim 1, characterized in that: The first lifting arm (5) is composed of a main arm (501) and U-shaped seats (502) arranged on the same side of both ends of the main arm (501), and the two U-shaped seats (502) are connected to the main arm (501) by welding or bolting, and the second lifting arm (8) is designed as a U-shaped trough.

3. A crawler-type six-axis unexploded bomb removal robot according to claim 2, characterized in that: A planetary gear mechanism (6) is installed on the inner side of the U-shaped seat (502) at both ends of the first lifting arm (5); the input shaft and the output shaft of the two planetary gear mechanisms (6) are rotatably installed on the inner sides of the two U-shaped seats (502) through seat bearings; the first driving motor (4) and the second driving motor (7) are fixedly installed on the base (3) and the outer side of the U-shaped seat (502) at the top of the main arm (501), respectively.

4. A crawler-type six-axis unexploded bomb removal robot according to claim 3, characterized in that: The input shafts on the two planetary gear mechanisms (6) respectively pass through one side of the base (3) and the U-shaped seat (502) and are fixedly connected to the output shafts of the first drive motor (4) and the second drive motor (7) installed on the base (3) and the U-shaped seat (502). The output shafts on the two planetary gear mechanisms (6) pass through the other side of the U-shaped seat (502) and are transmission-connected to one side of the U-shaped seat (502) at the corresponding position and one side of the bottom end of the second lifting arm (8). The other side of the U-shaped seat (502) and the bottom end of the second lifting arm (8) that are transmission-connected to the output shaft of the planetary gear mechanism (6) are rotationally sleeved on the input shaft of the planetary gear mechanism (6) arranged at the corresponding position through bearings.

5. The tracked six-axis unexploded bomb removal robot according to claim 1, characterized in that: The first transmission assembly (11) and the second transmission assembly (14) have the same structure. Both the first transmission assembly (11) and the second transmission assembly (14) include a driving wheel (141), a driven wheel (142) and a transmission chain (143). The driving wheel (141) drives the driven wheel (142) to rotate through the transmission chain (143). The driving wheel (141) and the driven wheel (142) in the first transmission assembly (11) are respectively mounted on the output shaft of the first rotation drive motor (10) and the rear end of the cross arm (9) for rotationally connecting with the second lifting arm (8). The driving wheel (141) and the driven wheel (142) on the second transmission assembly (14) are respectively mounted on the output shaft end of the third drive motor (12) and the pin shaft end on one side of the mounting arm (13).

6. The tracked six-axis unexploded bomb removal robot according to claim 1, characterized in that: A wireless signal transmitter (18) is installed at the rear end of the tracked vehicle body (1), and a camera (19) is also installed on the top of the tracked vehicle body (1) through a column, and the bottom of the column is installed on an electric rotating platform fixed on the top of the tracked vehicle body (1). A storage unit and a PLC controller are also installed in the shell of the tracked vehicle body (1). The output and input ends of the wireless signal transmitter (18) are respectively connected to the PLC controller and the remote control terminal signal. The camera (19), the electronic eye (16), the horizontal rotation drive motor (2), the No. 1 drive motor (4), the No. 2 drive motor (7), the No. 3 drive motor (12), the No. 1 rotation drive motor (10), the No. 2 rotation drive motor (15), the electric mechanical clamp (17) and the travel drive assembly of the tracked vehicle body (1) are all electrically connected to the PLC controller through a cable (20).

7. The tracked six-axis unexploded bomb removal robot according to claim 6, characterized in that: The camera (19) and the electronic eye (16) both use high-definition night vision cameras, and a supplementary lighting lamp group is also installed on the front of the electronic eye (16); and strong light searchlights are also installed on the front and rear bodies of the crawler vehicle body (1).

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