All-terrain laser destruction explosive-handling robot

Abstract

The utility model relates to the technical field of unexploded ordnance disposal, and discloses an all-terrain laser destruction and ordnance disposal robot which comprises a movable chassis, a front rotating arm mechanism is arranged at the front end of the movable chassis, a rear rotating arm mechanism is arranged at the rear end of the movable chassis, crawler walking mechanisms are arranged on the two sides of the movable chassis, and an ordnance disposal arm is arranged at the top of the movable chassis. A tail end tool seat is arranged at the front end of the explosive ordnance disposal arm, an operation tool kit is installed at the end of the tail end tool seat, a laser holder is arranged on the movable chassis, a laser emitter is installed on the laser holder, the laser emitter is connected with a laser controller, and the laser controller is connected with a laser power source. The all-terrain laser destruction explosive-handling robot has the advantages of being high in maneuverability, high in ground adaptability, high in operation efficiency, good in safety and the like, the efficiency and quality of unexploded ordnance destruction operation can be effectively improved, the operation risk is reduced, and the personnel safety is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of destruction of unexploded bombs, in particular to an all-terrain laser destruction and bomb disposal robot. Background Art

[0002] Unexploded ordnance, or unexploded bombs, refer to various types of explosive ammunition that have not exploded normally due to malfunctions or other reasons after being launched by a launcher, or that are left in a specific area when the warring parties evacuate. They include artillery shells, grenades, mines, mortar shells, rockets, missiles, etc. Given their extremely unstable state, they may explode at any time, posing a huge safety hazard.

[0003] In the process of destroying scrapped ammunition and removing unexploded bombs, the traditional method of detonating explosive packages is often used. However, this method involves multiple processing steps and requires direct contact with pyrotechnics such as detonators and detonating cords, so the safety factor is relatively low.

[0004] To improve the safety of destruction operations, laser destruction technology has emerged. This technology makes full use of the high intensity, high precision and high monochromaticity of lasers. It focuses the laser through a lens to heat the target bomb, generating high temperatures that turn the bomb material from solid to liquid, thereby destroying the bomb structure and igniting the unexploded bomb charge to achieve destruction. Its significant advantage is that it can achieve long-distance and rapid destruction, effectively preventing personnel from direct contact with dangerous explosives, and significantly improving the safety of destruction operations.

[0005] However, the current application of laser destruction technology still has certain limitations. In actual operation, the target unexploded bombs need to be excavated in advance, cleaned and placed in a suitable position so that the remote laser device can carry out the destruction operation. This process not only requires personnel to enter the unexploded bomb destruction area for manual installation and adjustment, which poses certain safety risks, but also requires repeated dismantling and installation of remote laser devices when dealing with multiple unexploded bombs, resulting in low operation efficiency, and personnel need to enter and exit the unexploded bomb destruction area many times, further increasing safety risks.

[0006] Therefore, based on the above technical problems, it is necessary for technicians in this field to develop an all-terrain laser destruction and bomb disposal robot. Utility Model Content

[0007] The utility model aims to provide an all-terrain laser destruction and bomb disposal robot to overcome the technical deficiency that the existing long-range laser destruction device is affected by the landing position of the unexploded bomb and cannot independently carry out the destruction operation, and at the same time solves the problem that the destruction efficiency of multiple unexploded bombs is reduced due to the terrain conditions and the laser destruction device needs to be set up multiple times. The utility model provides an all-terrain laser destruction and bomb disposal robot with high maneuverability, strong ground adaptability, and the ability to dig, clean, transfer and place unexploded bombs, so as to facilitate the laser device to carry out the destruction operation, avoid manual preliminary preparation, improve the efficiency of the bomb disposal operation, reduce the risk of the destruction operation, and ensure the life safety of the bomb disposal personnel.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] A technical solution for an all-terrain laser destruction and bomb disposal robot comprises a mobile chassis, a front rotating arm mechanism is arranged at the front end of the mobile chassis, a rear rotating arm mechanism is arranged at the rear end, crawler walking mechanisms are arranged on both sides, a bomb disposal arm is arranged on the top of the mobile chassis, an end tool seat is arranged at the front end of the bomb disposal arm, an operating tool kit is installed at the end of the end tool seat, a laser pan-tilt is arranged on the mobile chassis, and a laser emitter is installed on the laser pan-tilt, the laser emitter is connected to a laser controller, and the laser controller is connected to a laser power supply.

[0010] As a preferred technical solution, a cavity is provided in the end tool seat, and a left slider and a right slider are symmetrically installed in the cavity, a spring is provided between the left slider and the right slider, and an end cover is provided on the outer side of the end tool seat.

[0011] As a preferred technical solution, the end cover is used to prevent the left slider, the spring and the right slider from falling off.

[0012] As a preferred technical solution, the working tool kit is any one of a clamping working tool, a five-finger rake working tool, a cutting knife working tool, a hook working tool, a cleaning brush working tool, and a shovel working tool.

[0013] As a preferred technical solution, the laser gimbal includes a rotating motor, the output end of the rotating motor is connected to a rotating joint reducer, the output end of the rotating joint reducer is connected to a pitch motor, the output end of the pitch motor is connected to a pitch joint reducer, and the output end of the pitch joint reducer is connected to a laser emitter.

[0014] As a preferred technical solution, an observation platform is arranged on the top of the mobile chassis.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The utility model is an all-terrain laser destruction and bomb disposal robot. Through the cooperation of the front rotating arm mechanism, the rear rotating arm mechanism and the crawler walking mechanism, the bomb disposal robot has a strong ability to adapt to terrain, and can stably walk and operate in complex terrain environments. The setting of the bomb disposal arm and the end tool seat enables the robot to flexibly replace the operating tool kit to meet different bomb disposal needs. The operating tool kit includes a variety of tools that can adapt to unexploded bombs of different shapes and sizes, and perform operations such as digging, cleaning, transferring and placing, which provides convenience for subsequent laser destruction operations. The setting of the laser pan-tilt enables the laser transmitter to accurately irradiate the unexploded bombs, and realizes long-distance destruction through laser destruction technology, avoiding direct contact between personnel and unexploded bombs, and improving safety. At the same time, the configuration of the laser controller and the laser power supply ensures the stability and reliability of the laser destruction operation. The setting of the observation pan-tilt enables the operator to understand the working conditions of the bomb disposal robot and the destruction progress of the unexploded bombs in real time, thereby improving the work efficiency. This all-terrain laser destruction and bomb disposal robot has the advantages of high mobility, strong ground adaptability, high operating efficiency and good safety. It can effectively improve the efficiency and quality of unexploded bomb destruction operations, reduce operational risks and ensure personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of an all-terrain laser destruction and bomb disposal robot;

[0018] Figure 2 This is a schematic diagram of the front structure of an all-terrain laser destruction and bomb disposal robot;

[0019] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of an all-terrain laser destruction and bomb disposal robot;

[0020] Figure 4 This is a schematic diagram of the structure of the end tool seat of an all-terrain laser destruction and bomb disposal robot;

[0021] Figure 5 This is a schematic diagram of the structure of an operating tool kit for an all-terrain laser destruction and bomb disposal robot.

[0022] In the accompanying drawings: 1. Mobile chassis; 2. Rear swing arm mechanism; 3. Crawler walking mechanism; 4. Front swing arm mechanism; 5. Explosive bomb disposal arm; 6. Working tool kit; 61. Gripper working tool; 62. Five-finger rake working tool; 63. Cutter working tool; 64. Hook working tool; 65. Cleaning brush working tool; 66. Shovel working tool; 7. End tool seat; 71. End cover; 72. Left slider; 73. Spring; 74. Right slider; 8. Laser gimbal; 81. Rotating motor; 82. Rotating joint reducer; 83. Pitch motor; 84. Pitch joint reducer; 9. Laser transmitter; 10. Observation gimbal; 11. Laser controller; 12. Laser power supply. DETAILED DESCRIPTION

[0023] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present invention by illustrating examples of the present invention.

[0024] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the utility model provides a technical solution for an all-terrain laser destruction and bomb disposal robot: it includes a mobile chassis 1, a front rotating arm mechanism 4 is arranged at the front end of the mobile chassis 1, a rear rotating arm mechanism 2 is arranged at the rear end, crawler walking mechanisms 3 are arranged on both sides, a bomb disposal arm 5 is arranged on the top of the mobile chassis 1, and a terminal tool seat 7 is arranged at the front end of the bomb disposal arm 5. A cavity is arranged in the terminal tool seat 7, and a left slider 72 and a right slider 74 are symmetrically installed in the cavity. A spring 73 is arranged between the left slider 72 and the right slider 74, and an end cover 71 is arranged on the outer side of the terminal tool seat 7. The end cover 71 is used to prevent the left slider 72, the spring 73 and the right slider 74 from falling off. The left slider 72, the spring 73 and the right slider 74 constitute a compression mechanism, which can be retracted and ejected according to the pressure applied to the left slider 72 and the right slider 74, and is used to quickly fix or remove the working tool kit 6;

[0025] The end of the end tool seat 7 is equipped with a working tool kit 6, which is any one of a clamping claw working tool 61, a five-finger rake working tool 62, a cutting knife working tool 63, a hook working tool 64, a cleaning brush working tool 65, and a shovel working tool 66. Specifically, the working tool kit 6 is used to dig, clean, clamp, transfer, and carry unexploded bombs during the execution of the bomb disposal operation, and place the unexploded bombs to be destroyed in a suitable position and posture to facilitate laser destruction. The various working tools set up in the bomb disposal arm 5 avoid direct manual operation of unexploded bombs, thereby improving the safety of operation;

[0026] A laser platform 8 is provided on the mobile chassis 1, and a laser transmitter 9 is installed on the laser platform 8. The laser platform 8 includes a rotary motor 81, and the output end of the rotary motor 81 is connected to a rotary joint reducer 82, and the output end of the rotary joint reducer 82 is connected to a pitch motor 83, and the output end of the pitch motor 83 is connected to a pitch joint reducer 84, and the output end of the pitch joint reducer 84 is connected to the laser transmitter 9. Specifically, the laser destruction device has a working principle of emitting laser to irradiate the warhead shell of the unexploded bomb, so that the shell is locally heated and melted to form holes, and at the same time, the internal explosive is locally heated to produce a reaction not higher than the explosion level, so that it is destroyed. It has the technical characteristics of short time and simple operation, and can be remotely controlled to complete the destruction operation to ensure the safety of the operator. The laser destruction device is light in weight as a whole, which is convenient for the installation, fixing and carrying of the bomb disposal arm 5. The laser platform 8 is used to control the up and down pitch and left and right rotation of the laser transmitter 9, so as to adjust the emission angle of the laser transmitter 9 according to the detonation requirements. During use, according to the emission requirements, the rotary motor 81 can drive the rotary joint reducer 84 to realize the left and right rotation of the laser platform 8; the pitch motor 82 can drive the pitch joint reducer 83 to realize the up and down pitch movement of the laser platform 8, so as to adjust the emission angle of the laser emitter 9 to a suitable light spot position;

[0027] The laser transmitter 9 is connected to a laser controller 11, and the laser controller 11 is connected to a laser power supply 12. The bottom of the laser platform 8 is installed on the forearm double arm rod of the bomb disposal arm 5, and the laser transmitter 9 is arranged on the upper end. The laser controller 11 and the laser power supply 12 are installed on the rear side of the laser platform of the forearm double arm rod of the bomb disposal arm 5. The top of the mobile chassis 1 is provided with an observation platform 10, which can clearly transmit the environmental conditions around the bomb disposal arm 5 to the operator by swinging up and down and rotating left and right. During the reconnaissance and movement of the mobile chassis 1, the operator can remotely control it in a safe area to ensure safety.

[0028] According to the above scheme, in this embodiment, firstly, the robot has strong mobility and ground adaptability. The mobile chassis 1 adopts a crawler walking mechanism 3, which can stably travel on complex terrains, such as sand, snow, slopes, etc., and can even climb over certain obstacles. This enables the robot to easily reach the area where the unexploded bombs are located and perform efficient and safe destruction operations.

[0029] Secondly, the design of the working tool kit 6 enables the robot to cope with a variety of unexploded bomb destruction operation scenarios. The gripper working tool 61 can grip and carry unexploded bombs, the five-finger rake working tool 62 can dig and clean the soil and debris around the unexploded bombs, and the cutter working tool 63 and the hook working tool 64 are used to cut off obstacles around the unexploded bombs or hook them out. In addition, the cleaning brush working tool 65 can clean the dirt on the surface of the unexploded bombs, and the shovel working tool 66 can level the work site. These working tool kits 6 can be quickly replaced according to actual needs, which improves work efficiency and quality.

[0030] In addition, the use of laser destruction devices makes the destruction operation more efficient and safer. The laser emitter 9 can quickly and accurately irradiate the warhead shell of the unexploded bomb to form holes, so that the internal explosives are locally heated and reacted, thereby destroying the unexploded bomb. The laser destruction device has the characteristics of short time and simple operation, and can be completed under remote control, ensuring the safety of the operator.

[0031] Finally, the setting of the observation platform 10 enables the operator to observe the surrounding environment of the bomb disposal arm 5 in real time, providing accurate visual information for controlling the robot, which further improves the safety and reliability of the operation.

[0032] In summary, the utility model's all-terrain laser destruction and bomb disposal robot has the advantages of high mobility, strong ground adaptability, high operating efficiency, good safety, etc. It can effectively improve the efficiency and quality of unexploded bomb destruction operations, reduce operational risks, and ensure personnel safety. At the same time, the robot also has a variety of operating tool kits and laser destruction devices, which can cope with a variety of complex destruction operation scenarios and has broad application prospects.

[0033] The working principle and use process of the utility model are as follows: when in use, the operator first controls the all-terrain laser destruction and bomb disposal robot through the remote control device to drive it to the area where the unexploded bomb is located. During the driving process, the camera of the observation platform 10 can send back the environmental conditions around the bomb disposal arm 5 in real time, providing the operator with clear visual information to ensure that he can accurately judge the position of the robot and the position of the unexploded bomb.

[0034] When the robot reaches the location of the unexploded bomb, the operator can select a suitable work tool kit 6 for replacement according to actual needs. For example, if the unexploded bomb is covered by soil or debris, the five-finger rake work tool 62 can be selected for digging and cleaning; if the unexploded bomb needs to be clamped and carried, the claw work tool 61 can be selected. The process of replacing the work tool kit 6 is very simple. The work tool kit 6 can be quickly fixed or removed by applying appropriate pressure on the left slider 72 and the right slider 74 through the compression mechanism.

[0035] After completing the replacement of the operating tool kit 6, the operator can control the bomb disposal arm 5 to aim the operating tool kit 6 at the unexploded bomb to carry out the destruction operation. If a laser destruction device is required, the laser controller 11 can be used to control the emission angle and power of the laser emitter 9 to destroy the unexploded bomb. The working principle of the laser destruction device is to emit a laser to irradiate the warhead shell of the unexploded bomb, so that the shell is locally heated and melted to form holes, and at the same time, the internal explosive is locally heated to produce a reaction not higher than the explosion level, thereby destroying the unexploded bomb. During the destruction process, the operator can observe the destruction situation in real time through the camera of the observation platform 10 to ensure the safety and effectiveness of the destruction operation.

[0036] After the destruction operation is completed, the operator can control the robot to return to the safe area and replace the operating tool kit 6 back to the initial state for next use. During the entire destruction operation, the operator always performs remote control in the safe area to ensure safety.

[0037] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

[0038] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0039] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0040] According to the embodiments of the present invention as described above, these embodiments do not describe all the details in detail, nor do they limit the present invention to specific embodiments. Obviously, many modifications and changes can be made based on the above description. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that technicians in the relevant technical field can make good use of the present invention and the modified use based on the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An all-terrain laser destruction and bomb disposal robot, characterized in that: The invention comprises a mobile chassis (1), wherein a front rotating arm mechanism (4) is arranged at the front end of the mobile chassis (1), a rear rotating arm mechanism (2) is arranged at the rear end, and crawler walking mechanisms (3) are arranged on both sides; a bomb disposal arm (5) is arranged at the top of the mobile chassis (1), a terminal tool seat (7) is arranged at the front end of the bomb disposal arm (5), and an operating tool kit (6) is installed at the end of the terminal tool seat (7); a laser platform (8) is arranged on the mobile chassis (1), and a laser transmitter (9) is installed on the laser platform (8); the laser transmitter (9) is connected to a laser controller (11), and the laser controller (11) is connected to a laser power supply (12).

2. The all-terrain laser destruction and bomb disposal robot according to claim 1, characterized in that: The end tool seat (7) is provided with a cavity, and a left slider (72) and a right slider (74) are symmetrically installed in the cavity, a spring (73) is provided between the left slider (72) and the right slider (74), and an end cover (71) is provided on the outside of the end tool seat (7).

3. The all-terrain laser destruction and bomb disposal robot according to claim 2, characterized in that: The end cover (71) is used to prevent the left slider (72), the spring (73) and the right slider (74) from falling off.

4. The all-terrain laser destruction and bomb disposal robot according to claim 1, characterized in that: The working tool kit (6) is any one of a clamping claw working tool (61), a five-finger rake working tool (62), a cutting knife working tool (63), a hook working tool (64), a cleaning brush working tool (65), and a scraper working tool (66).

5. The all-terrain laser destruction and bomb disposal robot according to claim 1, characterized in that: The laser pan-tilt platform (8) comprises a rotating motor (81), the output end of the rotating motor (81) is connected to a rotating joint reduction box (82), the output end of the rotating joint reduction box (82) is connected to a pitch motor (83), the output end of the pitch motor (83) is connected to a pitch joint reduction box (84), and the output end of the pitch joint reduction box (84) is connected to a laser transmitter (9).

6. The all-terrain laser destruction and bomb disposal robot according to claim 1, characterized in that: An observation platform (10) is arranged on the top of the mobile chassis (1).

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