Multifunctional explosive ordnance disposal vehicle carrying nucleation emergency detection

Abstract

The utility model discloses a multifunctional explosive ordnance disposal vehicle carrying nucleation emergency detection, and relates to the technical field of explosive ordnance disposal devices. The system comprises a crawler-type chassis driving system, a vehicle-mounted pan-tilt camera system, a wireless transmission system, a vehicle-mounted controller, a remote control monitoring terminal and a flame injection system. The flame injection system comprises a fuel tank body, a flame injection pipe, a pitching driving motor, a transmission arm, a gas electromagnetic valve and an igniter; the fuel tank body is communicated with the flame injection pipe through a fuel gas path, and the fuel gas electromagnetic valve is mounted in the fuel gas path and is linked with the igniter to be opened and closed; the end, away from the jetting end, of the flame jetting pipe is fixedly connected with a transmission arm, the transmission arm is connected with the output end of a pitching driving motor, and the pitching driving motor is installed at the front end of a vehicle body of the crawler-type chassis traveling system. The unexploded ordnance can be detonated through high-temperature flames to be destroyed on site, an operator does not need to make close contact with or get close to the unexploded ordnance, and use is safe.

Description

Technical Field

[0001] The utility model relates to the technical field of explosive disposal devices, in particular to a multifunctional explosive disposal vehicle equipped with nuclear emergency detection. Background Art

[0002] Unexploded grenades refer to malfunctioning grenades that should have exploded after being thrown but did not, and are not under human control. They are explosive and uncontrollable. In the process of destroying unexploded grenades, due to factors such as lack of foresight, inadequate protection, and uncontrollable ammunition status, accidental explosions may occur, posing a huge threat to the lives and safety of operators and having a serious negative impact on the safety and stability of the troops. Utility Model Content

[0003] The technical problem to be solved by the present invention is to provide a multifunctional bomb disposal vehicle equipped with nuclear emergency detection in view of the above-mentioned technical deficiencies. The vehicle can detonate unexploded bombs by high-temperature flames to destroy them on the spot. The operator does not need to come into close contact with or approach the unexploded bombs, and the destruction operation can be completed by remote control operation, which is safe to use.

[0004] The technical solution adopted by the utility model is: to provide a multifunctional bomb disposal vehicle equipped with nuclear emergency detection, including a crawler chassis driving system, a vehicle-mounted PTZ camera system, a wireless transmission system, a vehicle-mounted controller, a remote control monitoring terminal, and a flame spray system;

[0005] The flame spray system includes a fuel tank, a flame spray tube, a pitch drive motor, a transmission arm, a gas solenoid valve, and an igniter; the fuel tank is connected to the flame spray tube through a gas circuit, and the gas solenoid valve is installed in the gas circuit and is opened and closed in conjunction with the igniter; the end of the flame spray tube away from the spray end is fixedly connected to the transmission arm, and the transmission arm is connected to the output end of the pitch drive motor, and the pitch drive motor is installed at the front end of the body of the crawler chassis travel system; the pitch drive motor, the igniter, and the gas solenoid valve are all electrically connected to the vehicle-mounted controller and are controlled by the remote control monitoring terminal.

[0006] To further optimize the technical solution, a nuclear emergency monitoring system is mounted on the body of the crawler chassis driving system, the nuclear emergency monitoring system is used for the detection of radiation and gaseous agents, the nuclear emergency monitoring system is electrically connected to the vehicle-mounted controller, and the detection data is transmitted to the remote control monitoring terminal through a wireless transmission system.

[0007] To further optimize the technical solution, a multifunctional bomb disposal vehicle equipped with nuclear emergency detection also includes a projectile grabbing system; the projectile grabbing system includes a boom drive motor at the front end of a vehicle body with a tracked chassis travel system installed, a boom connected to the output end of the boom drive motor, a forearm drive motor installed at the free end of the boom, a forearm connected to the output end of the forearm drive motor, a gripper rotation drive motor installed at the free end of the forearm, and a gripper connected to the output end of the gripper rotation drive motor; the gripper realizes the opening and closing of its two symmetrically arranged jaws through a steering gear linked thereto; the boom drive motor, the forearm drive motor, the gripper rotation drive motor, and the steering gear are all electrically connected to the vehicle-mounted controller and are controlled by a remote control monitoring terminal.

[0008] To further optimize the technical solution, the gripper is equipped with a second camera for photographing the movement of the grippers on the central axes of the two symmetrically arranged grippers; the second camera realizes image transmission with the remote control monitoring terminal through a wireless transmission system.

[0009] To further optimize the technical solution, a third camera for photographing the flame emission of the flame jet tube is installed on the transmission arm of the flame jet system; the third camera realizes image transmission with the remote control monitoring terminal through a wireless transmission system.

[0010] To further optimize the technical solution, the fuel tank of the flame jet system is coated with an electric heating insulation layer on the outside, and the electric heating insulation layer is electrically connected to the vehicle-mounted controller.

[0011] To further optimize the technical solution, the body of the crawler chassis travel system is equipped with a battery for supplying power to the entire vehicle and a generator for generating electricity for the battery.

[0012] To further optimize the technical solution, an LED lighting source is installed on the body of the crawler chassis travel system.

[0013] The beneficial effect of adopting the above technical solution is that: after the personnel remotely control the operation and find the unexploded bomb, they can use the flame spray system to perform high-temperature flame ablation on the unexploded bomb on the spot and detonate the bomb on the spot. During operation, the vehicle body is turned by itself and the pitch drive motor drives the transmission arm to adjust the pitch angle of the flame spray tube to aim at the unexploded bomb. The gas solenoid valve and igniter are opened by remote operation to spray flame to detonate it. The third camera on the transmission arm can observe and aim the unexploded bomb coaxially with the flame spray tube, further improving the alignment efficiency and accuracy.

[0014] The nuclear emergency monitoring system can detect gaseous agents by inhaling the air at the scene through a toxic gas detector / device, detect radiation at the scene through a radiation detector / device, and transmit the detection data to a remote control monitoring terminal through a wireless transmission system, so that operators can instantly control the environment at the scene, and facilitate the assessment of the blasting environment after the bomb body is destroyed, ensuring the safety of subsequent personnel entering.

[0015] The bomb grabbing system provides a second bomb disposal method besides on-site high-temperature ablation and destruction. The movement of the bomb grabbing system, including the steering of the vehicle chassis itself, has a total of five degrees of freedom, including front and back, left and right, up and down, 360° rotation, and grabbing. The unexploded bomb can be grabbed and transferred to the detonation pit for centralized processing. A second camera is set in the axis direction of the two jaws of the gripper. The second camera moves synchronously with the gripper. The unexploded bomb can be observed in the axis field of the two jaws, improving the accuracy and efficiency of the operation from a first-person perspective.

[0016] When the flame jet system is spraying flames, as the working time or the external temperature affects, the spray pressure will drop when the temperature is too low. The fuel tank body can be heated by an electric heating insulation layer on the outside to ensure the pressure of its fuel discharge.

[0017] The battery is combined with a generator to provide power for the crawler chassis travel system in an extended-range electric drive mode, meeting the needs of heavy-load and high-density continuous operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 This is a circuit connection schematic diagram of the vehicle-mounted controller of the utility model.

[0020] In the figure, 1. crawler chassis driving system; 2. vehicle-mounted pan-tilt camera system; 3. flamethrower; 4. pitch drive motor; 5. transmission arm; 6. nuclear emergency monitoring system; 7. boom drive motor; 8. boom; 9. forearm drive motor; 10. forearm; 11. gripper rotation drive motor; 12. gripper; 13. servo; 14. LED lighting source; 15. second camera; 16. third camera. DETAILED DESCRIPTION

[0021] like Figure 1 , Figure 2 As shown, a multifunctional bomb disposal vehicle equipped with nuclear emergency detection includes a crawler chassis driving system 1, a vehicle-mounted pan-tilt camera system 2, a wireless transmission system, a vehicle-mounted controller, a remote control monitoring terminal, and a flame spray system;

[0022] The flame spraying system comprises a fuel tank, a flame spraying tube 3, a pitch drive motor 4, a transmission arm 5, a gas solenoid valve and an igniter; the fuel tank is connected to the flame spraying tube 3 through a gas circuit, the gas solenoid valve is installed in the gas circuit and is opened and closed in conjunction with the igniter; the end of the flame spraying tube 3 away from the spraying end is fixedly connected to the transmission arm 5, the transmission arm 5 is connected to the output end of the pitch drive motor 4, and the pitch drive motor 4 is installed at the front end of the body of the crawler chassis driving system 1; the pitch drive motor 4, the igniter and the gas solenoid valve are all electrically connected to the vehicle-mounted controller and are controlled by the remote control monitoring terminal.

[0023] The vehicle of this embodiment is 1350mm long, 700mm wide, 860mm high, with a maximum travel speed of 5km / h, a total weight of 225kg, and uses 150mm ultra-wide rubber tracks; the flame jet system uses liquefied butane as fuel, and the high-temperature and high-speed flame airflow can melt the outer wrapping layer of the projectile in a very short time, and the average bomb discharge time is no more than 5 minutes.

[0024] To further optimize this embodiment, a nuclear emergency monitoring system 6 is mounted on the body of the crawler chassis driving system 1. The nuclear emergency monitoring system 6 is used for the detection of radiation and gaseous agents. The nuclear emergency monitoring system 6 is electrically connected to the vehicle-mounted controller and transmits the detection data to the remote control monitoring terminal through a wireless transmission system.

[0025] To further optimize this embodiment, a multifunctional bomb disposal vehicle equipped with nuclear emergency detection also includes a projectile grabbing system; the projectile grabbing system includes a boom drive motor 7 at the front end of a vehicle body on which a crawler chassis travel system 1 is installed, a boom 8 connected to the output end of the boom drive motor 7, a forearm drive motor 9 installed at the free end of the boom 8, a forearm 10 connected to the output end of the forearm drive motor 9, a gripper rotation drive motor 11 installed at the free end of the forearm 10, and a gripper 12 connected to the output end of the gripper rotation drive motor 11; the gripper 12 realizes the opening and closing of its two symmetrically arranged jaws 12 through a steering gear 13 linked thereto; the boom drive motor 7, the forearm drive motor 9, the gripper rotation drive motor 11, and the steering gear 13 are all electrically connected to the vehicle-mounted controller and are controlled by a remote control monitoring terminal.

[0026] To further optimize this embodiment, on the central axis of the two symmetrically arranged clamping jaws 12, the gripper 12 is equipped with a second camera 15 for photographing the movement of the clamping jaws 12; the second camera 15 realizes image transmission with the remote control monitoring terminal through a wireless transmission system.

[0027] To further optimize the present embodiment, a third camera 16 for photographing the flame emission from the flame spray tube 3 is installed on the transmission arm 5 of the flame spray system; the third camera 15 realizes image transmission with the remote control monitoring terminal via a wireless transmission system.

[0028] To further optimize this embodiment, the fuel tank of the flame injection system is coated with an electric heating insulation layer on the outside, and the electric heating insulation layer is electrically connected to the vehicle-mounted controller.

[0029] To further optimize this embodiment, the body of the crawler chassis travel system 1 is equipped with a battery for supplying power to the entire vehicle and a generator for generating electricity for the battery.

[0030] To further optimize this embodiment, an LED lighting source 14 is installed on the body of the crawler chassis travel system 1.

[0031] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0032] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

Claims

1. A multifunctional bomb disposal vehicle equipped with nuclear emergency detection, comprising a crawler chassis driving system, a vehicle-mounted PTZ camera system, a wireless transmission system, a vehicle-mounted controller, and a remote control monitoring terminal, characterized in that: Also included is a flamethrower system; The flame spray system includes a fuel tank, a flame spray tube, a pitch drive motor, a transmission arm, a gas solenoid valve, and an igniter; the fuel tank is connected to the flame spray tube through a gas circuit, and the gas solenoid valve is installed in the gas circuit and is opened and closed in conjunction with the igniter; the end of the flame spray tube away from the spray end is fixedly connected to the transmission arm, and the transmission arm is connected to the output end of the pitch drive motor, and the pitch drive motor is installed at the front end of the body of the crawler chassis travel system; the pitch drive motor, the igniter, and the gas solenoid valve are all electrically connected to the vehicle-mounted controller and are controlled by the remote control monitoring terminal.

2. The multifunctional bomb disposal vehicle equipped with nuclear emergency detection according to claim 1, characterized in that: The body of the crawler chassis driving system is equipped with a nuclear emergency monitoring system, which is used for the detection of radiation and gaseous agents. The nuclear emergency monitoring system is electrically connected to the vehicle-mounted controller and transmits the detection data to the remote control monitoring terminal through a wireless transmission system.

3. The multifunctional bomb disposal vehicle equipped with nuclear emergency detection according to claim 1, characterized in that: It also includes a projectile grabbing system; the projectile grabbing system includes a boom drive motor at the front end of a vehicle body on which a crawler chassis travel system is installed, a boom connected to the output end of the boom drive motor, a forearm drive motor installed at the free end of the boom, a forearm connected to the output end of the forearm drive motor, a gripper rotation drive motor installed at the free end of the forearm, and a gripper connected to the output end of the gripper rotation drive motor; the gripper realizes the opening and closing of its two symmetrically arranged jaws through a steering gear linked thereto; the boom drive motor, the forearm drive motor, the gripper rotation drive motor, and the steering gear are all electrically connected to the vehicle-mounted controller and are controlled by a remote control monitoring terminal.

4. The multifunctional bomb disposal vehicle equipped with nuclear emergency detection according to claim 3 is characterized by: On the central axes of two symmetrically arranged clamping jaws, the gripper is equipped with a second camera for photographing the clamping jaw movements; the second camera realizes image transmission with a remote control monitoring terminal through a wireless transmission system.

5. The multifunctional bomb disposal vehicle equipped with nuclear emergency detection according to claim 1, characterized in that: A third camera for photographing the flame emission of the flame jet tube is installed on the transmission arm of the flame jet system; the third camera realizes image transmission with the remote control monitoring terminal through a wireless transmission system.

6. The multifunctional bomb disposal vehicle equipped with nuclear emergency detection according to claim 1, characterized in that: The fuel tank of the flame injection system is coated with an electric heating insulation layer on the outside, and the electric heating insulation layer is electrically connected to the vehicle-mounted controller.

7. The multifunctional bomb disposal vehicle equipped with nuclear emergency detection according to claim 1, characterized in that: The crawler chassis travel system is equipped with a battery for supplying power to the entire vehicle and a generator for generating electricity for the battery.

8. The multifunctional bomb disposal vehicle equipped with nuclear emergency detection according to claim 1, characterized in that: An LED lighting source is installed on the vehicle body of the crawler chassis traveling system.

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