Six-foot explosive ordnance disposal robot carrying explosive detector

Abstract

The utility model discloses a hexapod explosive ordnance disposal robot carrying an explosive detector, and relates to the technical field of robots. In order to solve the problems that when an existing explosive ordnance disposal robot faces complex road conditions and unstructured ground, the environment adaptability is poor, the load capacity is weak, and variable explosive ordnance disposal tasks cannot be met, the following technical scheme is provided: the robot comprises a hexapod robot, and an explosive ordnance disposal mechanical arm and an explosive detector which are respectively arranged at the top of the hexapod robot; the hexapod robot comprises a machine body cover, a hexapod robot machine body, a leg assembly and tires which are sequentially connected, an intelligent recognition module is arranged at the top of the machine body cover, a control unit is arranged in the hexapod robot machine body, and the explosive handling mechanical arm, the explosive detector and the intelligent recognition module are in communication connection with the control unit. The robot has extremely high obstacle crossing capacity and stability, meanwhile, the load capacity of the robot is obviously improved, different functions can be mutually converted, and the robot has good explosive ordnance disposal performance.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a six-legged bomb disposal robot equipped with an explosive detector. Background Art

[0002] With the development of robot technology, hexapod robots have played an important role in many fields such as disaster rescue, resource exploration, and extraterrestrial exploration. In recent years, bomb attacks have occurred frequently, which has had a serious impact on the country's peace and development. Therefore, in order to safely and effectively search and dispose of various dangerous explosives while reducing casualties, robots have gradually replaced manual labor to become the main player in the removal of explosives.

[0003] At present, most of the bomb disposal robots are integrated with detection and disposal, but most of them are tracked or wheeled. Although the driving form is relatively simple, the ability of wheeled robots is still limited when facing complex road conditions and unstructured ground. Tracked robots are noisy and have a large turning radius, which cannot be better applied to unstructured ground in public places, stairwells, etc. Faced with the current complex environment, they have poor environmental adaptability and weak load capacity, and cannot meet the needs of changing bomb disposal tasks. Utility Model Content

[0004] The purpose of the utility model is to provide a hexapod robot with wheels and legs that is innovatively designed based on the design principle of a legged robot, so as to solve the problems that the existing bomb disposal robots have poor environmental adaptability and weak load capacity when facing complex road conditions and unstructured ground, and are unable to meet the various bomb disposal tasks.

[0005] The technical solution of the utility model to solve the above technical problems is as follows:

[0006] A six-legged bomb disposal robot equipped with an explosive detector comprises: a six-legged robot and a bomb disposal mechanical arm and an explosive detector respectively arranged on the top of the six-legged robot; the six-legged robot comprises a body cover, a six-legged robot body, a leg assembly and a tire connected in sequence, an intelligent recognition module is arranged on the top of the body cover, a control unit is arranged inside the six-legged robot body, and the bomb disposal mechanical arm, the explosive detector and the intelligent recognition module are respectively communicated with the control unit.

[0007] Furthermore, the leg assembly includes a base joint rotatably connected to the body of the hexapod robot, a thigh rotatably connected to the base joint, a calf rotatably connected to the outer end of the thigh, and a support plate fixedly connected to the end of the calf.

[0008] Furthermore, the bomb disposal robot arm includes a base arranged on the top of the body cover, a rotating chassis fixedly connected to the base, a driving arm seat rotatably connected to the top of the rotating chassis, a connecting rod rotatably connected to the driving arm seat, and an arm assembly rotatably connected to the connecting rod.

[0009] Furthermore, the arm assembly includes an upper arm, a lower arm, a wrist and a gripper which are sequentially connected to the top of the driving arm seat.

[0010] Furthermore, steering gear slots are respectively provided at the connection points of the body, thigh and calf of the hexapod robot.

[0011] Furthermore, the connecting parts of the hexapod robot body, base joint, thigh, calf and support plate are respectively provided with a servo, a main turntable and an auxiliary turntable. The main turntable and the auxiliary turntable are respectively axially connected to the main shaft of the servo and are fastened and locked in the servo slot by bolts.

[0012] Furthermore, the explosive detector includes a portable Raman spectrometer, a microfluidic chip, a sol molecule dripping channel, a waste liquid collection pool display screen, an operation button, an air intake and exhaust mechanism, and a battery.

[0013] The utility model has the following beneficial effects:

[0014] The six-legged bomb disposal robot designed by the utility model has extremely high obstacle-crossing ability and stability when facing unstructured environments, and its load capacity is significantly improved. The bionic mechanical legs combined with wheels and legs can realize the mutual conversion of different functions, significantly improving the robot's movement flexibility, and the robot's movement efficiency is also significantly improved.

[0015] The designed bomb disposal robot also has good performance. With the structural design of the rotating chassis, the robot can achieve 360° rotation, which greatly improves the flexibility of the robot. The structural design of the connecting rod also greatly improves the grasping performance of the robot. With the help of these designs, the designed six-legged bomb disposal robot achieves good bomb disposal performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the six-legged bomb disposal robot of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the six-legged robot of the utility model;

[0018] Figure 3 This is a schematic diagram of the explosive detector of the utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the explosive disposal mechanical arm of the utility model;

[0020] Figures 1 to 4The reference numerals shown in the figure represent respectively: 1-hexapod robot; 2-explosive disposal robot arm; 3-explosive detector; 4-hexapod robot body; 5-body cover; 6-base; 7-thigh; 8-calf; 9-support plate; 10-tire; 11-explosive detector; 12-base; 13-rotating chassis; 14-driving arm seat; 15-connecting rod; 16-forearm; 17-wrist; 18-claw; 19-upper arm. DETAILED DESCRIPTION

[0021] The following is a clear and complete description of the technical solution of the utility model in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0022] Please refer to Figure 1-2 The utility model provides a hexapod bomb disposal robot equipped with an explosive detector, comprising a hexapod robot 1, an explosive detector 3, a bomb disposal mechanical arm 2, an intelligent identification module and a control unit. The hexapod robot 1 comprises a hexapod robot body 4, a body cover 5, a base segment 6, a thigh 7, a calf 8, a support plate 9, a tire 10, a steering gear, a main turntable and an auxiliary turntable; the hexapod robot body 4 and the body cover 5 are connected in cooperation; the steering gear between the hexapod robot body 4 and the base segment 6 are respectively installed in six steering gear slots on the hexapod robot body 4, the main turntable and the auxiliary turntable are respectively connected to the main shaft axially of the steering gear and are fastened and locked by bolts, and the six mechanical leg branches are axially connected to the steering gear and are fixed to the turntable axially by turntable bolts. The bomb disposal mechanical arm 2, the explosive detector 3, the steering gear and the intelligent identification module are respectively connected to the control unit in communication, and the communication connection methods include but are not limited to: 4g, 5g, wifi, and Bluetooth.

[0023] A single mechanical leg branch includes a base segment 6, a thigh 7, a shank 8, a support plate 9, and a tire 10; the steering gear is axially connected to the main shaft of the steering gear through a main turntable and an auxiliary turntable, and is fastened and locked in the steering gear slot on the thigh 7 by bolts, and the base segment 6 is fixedly connected to the steering gear main shaft on the thigh 7 through a turntable, thereby fixing the base segment 6 and the thigh 7 together; the steering gear is axially connected to the main shaft of the steering gear through a main turntable and an auxiliary turntable, respectively, and is fastened and locked in the steering gear slot on the shank 8 by bolts, and the thigh 7 is fixedly connected to the steering gear main shaft on the shank 8 through a turntable, thereby fixing the thigh 7 and the shank 8 together; the steering gear is axially connected to the main shaft of the steering gear through a main turntable and an auxiliary turntable, respectively, and is fastened and locked in the support plate 9 by bolts, and the tire 10 and the shank 8 are fixedly connected to the steering gear main shaft on the support plate 9 through a turntable to form a single mechanical leg branch. The base segment 6 is fixedly connected to the steering gear main shaft on the body through a turntable so that a single mechanical leg branch is fixedly connected to the body 4, thereby forming a hexapod robot.

[0024] Reference Figure 3 , the explosive detector 3 is matched and connected with the detector slot on the hexapod robot body 4, so that the explosive detector 3 is carried on the hexapod robot body 4. The explosive detector 3 includes a portable Raman spectrometer, a microfluidic chip, a sol molecule dripping channel, a waste liquid collection pool display and operation buttons, an air intake and exhaust device, a battery system, and an overall appearance structure. The robot bomb disposal sample collection program is started by the operation button, and the microfluidic chip inside the device starts to work. The chip is designed with a fine sol molecule dripping channel, which can accurately control the flow of trace samples. For solid samples, the air samples around them are collected through fans, suction pumps, etc.; if it is a gas sample, it is directly introduced through the air intake mechanism. Inside the microfluidic chip, the sample is mixed and reacted with a special treatment liquid, such as a sol, to enhance the signal of the explosive molecule and facilitate analysis. The treated sample is guided to the Raman spectrometer part, and the sample is irradiated with a laser. When the laser hits the sample molecule, scattering occurs, and part of the scattered light (i.e., Raman light) carries the vibration and rotation information of the molecule, which is a unique spectral fingerprint of each substance. The device captures these scattered lights and analyzes their characteristics through spectral analysis software to identify whether they contain explosive components. The results of the analysis are transmitted to the control unit, and the processor of the control unit compares the analysis results with the built-in database to determine whether there is an explosive risk. The judgment results are intuitively displayed on the display screen to inform the safety status of the current sample. Throughout the process, a series of preset buttons can be used to control sample collection, start analysis, view results and other operations, making the device easy and quick to use. When processing gas samples, the intake and exhaust mechanism can effectively manage the gas flow, avoid pollution and ensure analysis accuracy. The explosive detector 3 is powered by a built-in battery and can work for a long time without an external power supply.

[0025] Reference Figure 4 , the bomb disposal robot arm 2 includes a base 12, a rotating chassis 13, a driving arm seat 14, a connecting rod 15, a small arm 16, a wrist 17, a hand claw 18, and a large arm 19; the wrist 17 of the robot arm adopts a three-degree-of-freedom wrist, also known as a universal wrist, a part of which is connected to the small arm 16 and rotates with the rotation of the small arm 16. The intermediate bevel gear drives the wrist 17 to do pitching motion, and the central axis drives the hand claw 18 to rotate. (When the robot arm is converted from a bomb disposal to a probe, the hand claw 18 can be disassembled and replaced with a probe to perform detection work.) In order to enable the wrist to achieve three degrees of freedom and reduce the weight of the wrist, long-distance transmission must be used, so the motor is installed at the joint of the small arm. The small arm 16 makes a pitching motion within the range of +130° to -90°, thereby adjusting the spatial position of the entire wrist 17. Its driving motor is installed on the driving arm seat 14, that is, at the joint of the large arm, and is connected to the small arm 16 through the through hole at the bottom of the large arm 19 using two connecting rods 15. The pitching action of the forearm 16 is realized by the action of the connecting rod 15. The bottom is connected by a flat key, and the upper arm 19 and the bottom rod are connected by a tension sleeve. The pitching action of the upper arm 19 and the forearm 16 will jointly determine the position of the wrist 17 in the plane. There is a through hole at the bottom. The upper arm 19 is connected to the reducer through the through hole, and the motor is installed side by side next to the reducer. The pitching action of the rotating chassis 13 and the upper arm 19 and the forearm 16 jointly determine the position of the wrist 17 in space. The waist adopts a torque motor to transmit torque. The main shaft of the rotating chassis 13 is a hollow shaft, which is connected to the torque motor through a key. Therefore, the torque motor drives the main shaft of the waist to rotate, thereby moving the rotating chassis 13. The intelligent recognition module is fixedly installed above the body cover 5. The control unit is fixedly installed in the cavity position inside the hexapod robot body 4.

[0026] The installation layout of the hexapod robot body 4 is a combination of an elliptical and a square layout. The six servos are installed in the servo slots in the six directions of the body. The length and width of the body are 600mm and the height is 110mm. The length of the base segment 6 is 60mm; the length of the thigh and the calf are both 300mm; the length of the support plate is 100mm and the thickness is 5mm; the radius of the tire is 51mm and the thickness is 40mm; they are connected in pairs and locked by bolts. The dimensions of the explosive detector 3 are 260mm long, 200mm wide and 162mm high. The base of the mechanical arm is 285mm long, 255mm wide and 160mm high; the length of the upper arm is 330mm, the length of the lower arm is 270mm, and the gripping diameter of the gripper is 70mm. The motion mode and the grasping target can be entered in the upper computer control window, and the status of each sensor and the path planning information can be displayed.

[0027] Working method:

[0028] like Figure 1As shown, first, the explosive detector 3 performs detection. If explosives or other suspicious objects are detected, the command is transmitted to the six-legged robot; after receiving the command, the six-legged bomb disposal robot determines the target position, the visual sensor senses the external environment, and the six-legged robot's mechanical legs make corresponding changes to move forward; during this process, if the road ahead is flat and open, it switches to the tire operation mode to increase the forward speed; if a larger obstacle is encountered, the visual sensor recognizes the obstacle, and the six-legged robot switches to a four-legged configuration to cross the obstacle; if the direction deviates, the six-legged robot uses laser ranging to re-plan the path and switch to a six-legged configuration to adjust the direction; if the terrain is complex and changeable, the six-legged robot switches to a six-legged configuration to pass through the terrain; if a target is identified to be grasped in front, the bomb disposal robot arm of the six-legged bomb disposal robot receives the command and uses a mechanical claw to complete the target grasping.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-legged bomb disposal robot equipped with an explosive detector, characterized in that: include: A hexapod robot (1) and an explosive disposal robot arm (2) and an explosive detector (3) respectively arranged on the top of the hexapod robot (1); the hexapod robot (1) comprises a body cover (5), a hexapod robot body (4), a leg assembly and a tire (10) which are connected in sequence; an intelligent identification module is arranged on the top of the body cover (5); a control unit is arranged inside the hexapod robot body (4); the explosive disposal robot arm (2), the explosive detector (3) and the intelligent identification module are respectively connected to the control unit for communication.

2. The hexapod bomb disposal robot equipped with an explosive detector according to claim 1, characterized in that: The leg assembly comprises a base segment (6) rotatably connected to the hexapod robot body (4), a thigh (7) rotatably connected to the base segment (6), a shank (8) rotatably connected to the outer end of the thigh (7), and a support plate (9) fixedly connected to the end of the shank (8).

3. The hexapod bomb disposal robot equipped with an explosive detector according to claim 1, characterized in that: The bomb disposal mechanical arm (2) comprises a base (12) arranged on the top of the body cover (5), a rotating chassis (13) fixedly connected to the base (12), a driving arm seat (14) rotatably connected to the top of the rotating chassis (13), a connecting rod (15) rotatably connected to the driving arm seat (14), and an arm assembly rotatably connected to the connecting rod (15).

4. The hexapod bomb disposal robot equipped with an explosive detector according to claim 3, characterized in that: The arm assembly comprises an upper arm (19), a lower arm (16), a wrist (17) and a gripper (18) which are rotatably connected in sequence.

5. The hexapod bomb disposal robot equipped with an explosive detector according to claim 2, characterized in that: Steering gear slots are respectively provided at the connection points of the hexapod robot body (4), the thigh (7) and the shank (8).

6. The hexapod bomb disposal robot equipped with an explosive detector according to claim 5, characterized in that: The connecting parts of the hexapod robot body (4), base (6), thigh (7), shank (8) and support plate (9) are respectively provided with a steering gear, a main turntable and an auxiliary turntable. The main turntable and the auxiliary turntable are respectively axially connected to the main shaft of the steering gear and are fastened and locked in the steering gear slot by bolts. The steering gear is communicatively connected to the control unit.

7. The hexapod bomb disposal robot equipped with an explosive detector according to claim 1, characterized in that: The explosive detector (3) comprises a portable Raman spectrometer, a microfluidic chip, a sol molecule dripping channel, a waste liquid collection pool display screen, an operation button, an air intake and exhaust mechanism, and a battery.

Images