Multifunctional working vehicle
By designing a multi-functional working vehicle with integrated detection arm and explosion-removal arm, the existing mechanical equipment has solved the problem of single functions and low operating efficiency in the process of mine-removal of unexploded objects, and the detection and elimination functions without additional equipment are achieved, which improves operating efficiency.
Patent Information
- Application Number
- CN202421763623.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-24
- Publication Date
- 2025-06-03
- Estimated Expiration
- 2034-07-24
AI Technical Summary
Existing mechanical equipment has a single function during the mine removal process of unexploded objects and requires additional equipment to be detected, resulting in inefficient operation.
A multi-functional operation vehicle is designed, integrating a detection arm and a detonation arm. The detection arm includes a detection frame and a detonation arm includes a detonation bucket. Both can be folded and placed on the top of the chassis car to achieve versatility of detection and elimination.
The detection and elimination of unexploded objects can be achieved without additional equipment, which improves the operation process and efficiency, and solves the problems of single equipment functions and low operation efficiency.
Smart Images
Figure CN222938391U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of special operations, in particular to a multi-functional operation vehicle. Background Art
[0002] At present, the clearance of unexploded ordnance (such as landmines) is mainly divided into two types: manual and mechanical equipment. The manual method is dangerous and inefficient, and currently, it is more inclined to complete the mine clearance operation through mechanical equipment.
[0003] Currently, the commonly used mechanical equipment includes a chassis vehicle and a manipulator hinged to the chassis vehicle. The chassis vehicle can move autonomously, and a grab bucket is hinged to the end of the manipulator. The unexploded ordnance is excavated and grabbed through the grab bucket to achieve removal. This equipment only has the function of mine clearance, and the detection of unexploded ordnance requires the use of additional equipment, resulting in a relatively single function of the mechanical equipment, limited operation means, and low operation efficiency. Summary of the Utility Model
[0004] The purpose of the utility model is to provide a multi-functional operation vehicle to improve the operation process and efficiency of unexploded ordnance disposal.
[0005] The technical solution of the utility model is: a multi-functional operation vehicle, including a chassis vehicle, a detection arm, and an explosive disposal arm. The detection arm includes a first slewing mechanism provided at one end of the chassis vehicle and a detection frame that can be folded or unfolded relative to the first slewing mechanism. The explosive disposal arm includes a second slewing mechanism provided at the other end of the chassis vehicle and an explosive disposal bucket that can be folded or unfolded relative to the second slewing mechanism. After the detection arm and the explosive disposal arm are folded, the detection frame and the explosive disposal bucket are simultaneously placed on the top of the chassis vehicle.
[0006] In the above solution, the detection and disposal are integrated, realizing a multi-functional operation vehicle. There is no need to use additional equipment for detection, which improves the operation process of unexploded ordnance disposal and increases the operation efficiency.
[0007] Preferably, the detection arm further includes a first column and a first robotic arm. The lower end of the first column is connected to the first slewing mechanism. One end of the first robotic arm is hinged to the upper end of the first column, and the other end of the first robotic arm is hinged to the detection frame. A first luffing oil cylinder for driving the first robotic arm to fold or unfold is provided between the first column and the first robotic arm, and a detection oil cylinder for driving the detection frame to fold or unfold is provided between the detection frame and the first robotic arm.
[0008] Preferably, the first robotic arm includes a first basic arm, a folding arm, a folding arm oil cylinder, a front connecting rod, and a rear connecting rod. One end of the first basic arm is hinged to the first column, the other end of the first basic arm is hinged to one end of the folding arm, the other end of the folding arm is hinged to the detection frame, one end of the folding arm oil cylinder is hinged to the first basic arm, one end of the front connecting rod is hinged to the first basic arm, one end of the rear connecting rod is hinged to the folding arm, and the other ends of the folding arm oil cylinder, the front connecting rod, and the rear connecting rod are hinged together; the first luffing oil cylinder is connected to the first basic arm, and the detection oil cylinder is connected to the folding arm.
[0009] Preferably, the explosive disposal arm further includes a second column and a second robotic arm. The lower end of the second column is connected to the second slewing mechanism. One end of the second robotic arm is hinged to the upper end of the second column, and the other end of the second robotic arm is hinged to the explosive disposal bucket. A second luffing oil cylinder for driving the folding or unfolding of the second robotic arm is provided between the second column and the second robotic arm, and an explosive disposal bucket oil cylinder for driving the folding or unfolding of the explosive disposal bucket is provided between the explosive disposal bucket and the second robotic arm.
[0010] Preferably, the second robotic arm includes a second basic arm and a working arm. One end of the second basic arm is hinged to the second column, the other end of the second basic arm is hinged to the working arm, a yaw oil cylinder for driving the folding or unfolding of the working arm is provided between the second basic arm and the working arm, the second luffing oil cylinder is connected to the second basic arm, and the explosive disposal bucket oil cylinder and the explosive disposal bucket are connected to the working arm.
[0011] Preferably, the working arm includes a first boom, a third slewing mechanism, and a second boom. One end of the first boom is hinged to the second basic arm, the other end of the first boom is connected to one end of the second boom through the third slewing mechanism, the other end of the second boom is hinged to the explosive disposal bucket, and the yaw oil cylinder is connected to the first boom.
[0012] Preferably, the explosive disposal arm further includes a jaw for opening or closing the explosive disposal bucket.
[0013] Preferably, the multi-functional work vehicle further includes a support device hinged to one end of the chassis vehicle and foldable or unfoldable relative to the chassis vehicle.
[0014] Preferably, the support device includes a support rod, a hinge seat, and a support oil cylinder. One end of the support rod is hinged to the chassis vehicle, the other end of the support rod is hinged to the hinge seat, and the support oil cylinder is hinged between the chassis vehicle and the support rod.
[0015] Preferably, two support devices are provided in the width direction of the chassis vehicle.
[0016] Compared with the related art, the beneficial effects of the present utility model are:
[0017] 1. The utility model integrates detection and elimination, realizing a multi-functional operation vehicle that combines multiple functions. It does not require additional use of other equipment for detection, improves the operation process of unexploded ordnance disposal, enhances the operation efficiency, and solves the problems of single function, limited operation means, and low operation efficiency of current equipment.
[0018] 2. The multi-functional operation vehicle of the utility model is equipped with a detection arm and an explosive disposal arm. Since the detection arm and the explosive disposal arm are in a folded and deployable form, the single operation range is wide, and it can meet the operation requirements on complex terrains such as pits and slopes.
[0019] 3. A support device is added. When operating, the support chassis vehicle is deployed to prevent tipping, improve the stability of the vehicle body during operation, and reduce the load on the axle; when driving, it is retracted again to facilitate the movement of the chassis vehicle.
[0020] 4. The detection arm and the explosive disposal arm adopt a folded structure. When working, they are deployed to cover the effective working range, and when not working, they are folded back, which is beneficial for storage and the movement of the chassis vehicle. It has the characteristics of small occupied space, reasonable weight distribution, and high stability of the arm body. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 FIG. 1 is a schematic structural diagram of the multi-functional operation vehicle provided by the utility model, with the detection arm and the explosive disposal arm in a folded state when viewed from the front.
[0022] Figure 2 is Figure 1 the top view of
[0023] Figure 3 is Figure 1 the schematic diagram when the detection arm in
[0024] Figure 4 FIG. 3 is the schematic diagram of the state during detection operation.
[0025] Figure 5 FIG. 4 is the schematic diagram of the movement trajectory of the detection frame.
[0026] Figure 6 FIG. 5 is the schematic diagram when the explosive disposal arm and the support device are deployed.
[0027] In the attached drawings: 1. Chassis vehicle; 2. Detection arm; 21. First slewing mechanism; 22. First column; 23. First luffing oil cylinder; 24. First basic arm; 25. Folding arm oil cylinder; 26. Front connecting rod; 27. Rear connecting rod; 28. Folding arm; 29. Detection oil cylinder; 210. Detection frame; 211. First robotic arm; 3. Bomb disposal arm; 31. Second slewing mechanism; 32. Second column; 33. Second luffing oil cylinder; 34. Second basic arm; 35. Yaw oil cylinder; 36. First boom; 37. Third slewing mechanism; 38. Bomb disposal bucket oil cylinder; 39. Bomb disposal bucket; 310. Jaw oil cylinder; 311. Jaw; 312. Second boom; 313. Working arm; 314. Second robotic arm; 4. Support device; 41. Support rod; 42. Hinge seat; 43. Support oil cylinder. Detailed implementation manners
[0028] The present utility model will be described in detail below with reference to the attached drawings and in combination with embodiments. It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. For the convenience of narration, words such as "upper", "lower", "left", and "right" hereinafter only indicate the same directions as the upper, lower, left, and right directions of the attached drawings themselves, and do not limit the structure.
[0029] As Figure 1 shown, a multifunctional operation vehicle provided in this embodiment includes a chassis vehicle 1, a detection arm 2 provided at the front end of the chassis vehicle 1, a bomb disposal arm 3 provided at the rear end of the chassis vehicle 1, and a support device 4 provided at the rear end of the chassis vehicle 1. The chassis vehicle 1 is a wheeled or tracked chassis.
[0030] As Figure 3 shown, the detection arm 2 is mainly used to detect unexploded objects within the operation range in front of the chassis vehicle 1, and it includes a first slewing mechanism 21, a first column 22, a first robotic arm 211, and a detection frame 210.
[0031] The inner ring of the first slewing mechanism 21 is fixed on the front bottom ring of the chassis vehicle 1 by bolts, and the outer ring of the first slewing mechanism 21 is connected to the first column 22 by bolts. By controlling the hydraulic system to drive the first slewing mechanism 21, the whole detection arm 2 can be rotated.
[0032] The first robotic arm 211 can be a single-arm or multi-arm. When it is a multi-arm, it includes a first basic arm 24, a folding arm 28, a folding arm oil cylinder 25, a front connecting rod 26, and a rear connecting rod 27. One end of the first basic arm 24 is hinged to the first column 22, the other end of the first basic arm 24 is hinged to one end of the folding arm 28, the other end of the folding arm 28 is hinged to the detection frame 210, and one end of the folding arm oil cylinder 25 is hinged to the first basic arm 24. One end of the front connecting rod 26 is hinged to the first basic arm 24, and one end of the rear connecting rod 27 is hinged to the folding arm 28. The other end of the folding arm oil cylinder 25, the other end of the front connecting rod 26, and the other end of the rear connecting rod 27 are hinged together. A first luffing oil cylinder 23 for driving the folding or unfolding of the first robotic arm 211 is provided between the first column 22 and the first robotic arm 211, and a detection oil cylinder 29 for driving the folding or unfolding of the detection frame 210 is provided between the detection frame 210 and the first robotic arm 211. The first luffing oil cylinder 23 is connected to the first basic arm 24, and the detection oil cylinder 29 is connected to the folding arm 28.
[0033] Driving the first luffing oil cylinder 23 can achieve the pitching motion of the first robotic arm 211. To meet the working range of the detection arm 2, a four-bar linkage mechanism is designed (one front connecting rod 26 and one rear connecting rod 27 are provided on each side of the thickness of the first robotic arm 211). Driving the folding arm oil cylinder 25 can achieve the folding or unfolding motion of the folding arm 28 (as Figure 4 shown). Driving the detection oil cylinder 29 can adjust the angle between the detection frame 210 and the ground and the height from the ground, so as to adapt to the terrain undulation, improve the detection accuracy, and prevent the detection module installed on the detection frame 210 from colliding with the ground (as Figure 5 shown).
[0034] As Figure 1 , Figure 2 shown, the folding arm 28 can be folded to be parallel to the first basic arm 24. To enable the detection frame 210 to be folded and fixed without affecting the vision of the work vehicle, the folding arm 28 is designed in a side-bending form. Driving the detection oil cylinder 29 can make the detection frame 210 flip to be parallel to the vehicle body and located at the top of the chassis vehicle 1, which has the characteristics of small occupied space, reasonable weight distribution, and high stability of the arm body.
[0035] The first robotic arm 211 with the first basic arm 24 and the folding arm 28 forms a folding degree of freedom, the first slewing mechanism 21 forms a slewing degree of freedom, and the hinged detection frame 210 forms a folding degree of freedom, thus forming a multi-degree-of-freedom folding boom structure form, greatly improving the detection accuracy and the regional adaptability of the operation. The detection frame 210 is a detection module (purchased part), and an interface for installing the detection frame 210 is reserved at the end of the folding arm 28, and different function detection modules can be quickly replaced. The folding arm 28 is designed in a side-bending form, so that the overall slewing angle of the detection arm 2 is greater than 270°.
[0036] As Figure 6 shown, the bomb disposal arm 3 is mainly used to dispose of unexploded ordnance, and can perform fixed-point excavation or clamp the shallowly buried and exposed unexploded ordnance on the roadside. The bomb disposal arm 3 includes a second slewing mechanism 31, a second column 32, a second robotic arm 314, a bomb disposal bucket 39, and a jaw 311. The inner ring of the second slewing mechanism 31 is fixed to the seat ring at the tail of the chassis truck 1 by bolts, and the outer ring of the second slewing mechanism 31 is connected to the second column 32 by bolts.
[0037] A second luffing cylinder 33 for driving the folding or unfolding of the second robotic arm 314 is provided between the second column 32 and the second robotic arm 314, and a bomb disposal bucket cylinder 38 for driving the folding or unfolding of the bomb disposal bucket 39 is provided between the bomb disposal bucket 39 and the second robotic arm 314.
[0038] The second robotic arm 314 includes a second basic arm 34 and a working arm 313. One end of the second basic arm 34 is hinged to the second column 32, the other end of the second basic arm 34 is hinged to the working arm 313, a yaw cylinder 35 for driving the folding or unfolding of the working arm 313 is provided between the second basic arm 34 and the working arm 313, the second luffing cylinder 33 is connected to the second basic arm 34, and the bomb disposal bucket cylinder 38 and the bomb disposal bucket 39 are connected to the working arm 313.
[0039] The working arm 313 includes a first boom 36, a third slewing mechanism 37, and a second boom 312. One end of the first boom 36 is hinged to the second basic arm 34, the other end of the first boom 36 is connected to one end of the second boom 312 through the third slewing mechanism 37, the other end of the second boom 312 is hinged to the bomb disposal bucket 39, the yaw cylinder 35 is connected to the first boom 36, and the bomb disposal bucket cylinder 38 and the bomb disposal bucket 39 are connected to the second boom 312. The bomb disposal bucket 39 is of a digging bucket structure.
[0040] The jaw 311 is hinged to the end of the second boom 312 and is located beside the bomb disposal bucket 39, and a jaw cylinder 310 for driving the jaw 311 to open or close towards the bomb disposal bucket 39 is provided between the second boom 312 and the jaw 311.
[0041] Controlling the hydraulic system to drive the second slewing mechanism 31 can make the entire bomb disposal arm 3 rotate as a whole. Driving the second luffing cylinder 33 can achieve the pitching motion of the second basic arm 34. The yaw cylinder 35 drives the working arm 313 to move.
[0042] The inner ring of the third slewing mechanism 37 is fixed to the end of the first boom 36 by bolts, and the outer ring of the third slewing mechanism 37 is fixed to the second boom 312 by bolts. Operating the hydraulic system to drive the third slewing mechanism 37 can rotate the second boom 312 and the bomb disposal bucket 39 and the gripper 311 thereon to adapt to terrain requirements.
[0043] Drive the bomb disposal bucket cylinder 38 to make the bomb disposal bucket 39 perform excavation actions, and drive the gripper cylinder 310 to make the gripper 311 close with the bomb disposal bucket 39 to perform clamping actions.
[0044] The above-mentioned bomb disposal boom 3 realizes a 6-degree-of-freedom double-slewing robotic arm structure, greatly improving the regional adaptability during the operations of excavating and gripping target objects.
[0045] Such as Figure 1 、 Figure 2 shown, during transportation, the bomb disposal boom 3 will be placed on the top of the chassis truck 1 and kept parallel to the chassis truck 1. It has the characteristics of small occupied space, good transportation performance, reasonable weight distribution, and high boom body stability.
[0046] Such as Figure 1 、 Figure 6 shown, two support devices 4 are provided in the width direction of the chassis truck 1. The support device 4 includes a support rod 41, a hinge seat 42, and a support cylinder 43. One end of the support rod 41 is hinged to the chassis truck 1, the other end of the support rod 41 is hinged to the hinge seat 42, and the support cylinder 43 is hinged between the chassis truck 1 and the support rod 41.
[0047] Driving the support cylinder 43 can fold or unfold the support rod 41. The support device 4 unfolds during the operation of the bomb disposal boom 3, which is beneficial to improving the stability of the vehicle body during operation and reducing the load on the axles; when driving, the left and right outriggers are retracted, and the occupied space is small.
[0048] The above are only the embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.
Claims
1. A multifunctional working vehicle, comprising a chassis vehicle (1), characterized in that: The invention also comprises a detection arm (2) and a bomb disposal arm (3), wherein the detection arm (2) comprises a first rotating mechanism (21) arranged at one end of the chassis vehicle (1) and a detection frame (210) foldable or unfoldable relative to the first rotating mechanism (21), and the bomb disposal arm (3) comprises a second rotating mechanism (31) arranged at the other end of the chassis vehicle (1) and a bomb disposal bucket (39) foldable or unfoldable relative to the second rotating mechanism (31). After the detection arm (2) and the bomb disposal arm (3) are folded, the detection frame (210) and the bomb disposal bucket (39) are simultaneously placed on the top of the chassis vehicle (1).
2. The multifunctional working vehicle according to claim 1, characterized in that: The detection arm (2) further comprises a first column (22) and a first mechanical arm (211); the lower end of the first column (22) is connected to the first slewing mechanism (21); one end of the first mechanical arm (211) is hinged to the upper end of the first column (22); the other end of the first mechanical arm (211) is hinged to the detection frame (210); a first amplitude change cylinder (23) for driving the first mechanical arm (211) to fold or unfold is provided between the first column (22) and the first mechanical arm (211); and a detection cylinder (29) for driving the detection frame (210) to fold or unfold is provided between the detection frame (210) and the first mechanical arm (211).
3. The multifunctional working vehicle according to claim 2, characterized in that: The first mechanical arm (211) comprises a first basic arm (24), a folding arm (28), a folding arm oil cylinder (25), a front connecting rod (26) and a rear connecting rod (27); one end of the first basic arm (24) is hinged to the first upright column (22); the other end of the first basic arm (24) is hinged to one end of the folding arm (28); the other end of the folding arm (28) is hinged to the detection frame (210); one end of the folding arm oil cylinder (25) is hinged to the first basic arm (24); one end of the front connecting rod (26) is hinged to the first basic arm (24); one end of the rear connecting rod (27) is hinged to the folding arm (28); the other end of the folding arm oil cylinder (25), the other end of the front connecting rod (26) and the other end of the rear connecting rod (27) are hinged together; the first luffing oil cylinder (23) is connected to the first basic arm (24); and the detection oil cylinder (29) is connected to the folding arm (28).
4. The multifunctional working vehicle according to claim 1, characterized in that: The bomb disposal arm (3) further comprises a second column (32) and a second mechanical arm (314); the lower end of the second column (32) is connected to the second slewing mechanism (31); one end of the second mechanical arm (314) is hinged to the upper end of the second column (32); the other end of the second mechanical arm (314) is hinged to the bomb disposal bucket (39); a second variable amplitude oil cylinder (33) for driving the second mechanical arm (314) to fold or unfold is provided between the second column (32) and the second mechanical arm (314); and a bomb disposal bucket oil cylinder (38) for driving the bomb disposal bucket (39) to fold or unfold is provided between the bomb disposal bucket (39) and the second mechanical arm (314).
5. The multifunctional working vehicle according to claim 4, characterized in that: The second mechanical arm (314) comprises a second basic arm (34) and a working arm (313); one end of the second basic arm (34) is hinged to the second column (32); the other end of the second basic arm (34) is hinged to the working arm (313); a yaw cylinder (35) for driving the working arm (313) to fold or unfold is provided between the second basic arm (34) and the working arm (313); the second amplitude change cylinder (33) is connected to the second basic arm (34); and the bomb disposal bucket cylinder (38) and the bomb disposal bucket (39) are connected to the working arm (313).
6. The multifunctional working vehicle according to claim 5, characterized in that: The working arm (313) comprises a first arm frame (36), a third slewing mechanism (37) and a second arm frame (312); one end of the first arm frame (36) is hinged to the second basic arm (34); the other end of the first arm frame (36) is connected to one end of the second arm frame (312) via the third slewing mechanism (37); the other end of the second arm frame (312) is hinged to the bomb disposal bucket (39); and the slew cylinder (35) is connected to the first arm frame (36).
7. The multifunctional working vehicle according to claim 1, characterized in that: The bomb disposal arm (3) further comprises a clamping claw (311) that opens or closes toward the bomb disposal bucket (39).
8. The multifunctional working vehicle according to claim 1, characterized in that: It also includes a support device (4) which is hinged to one end of the chassis vehicle (1) and can be folded or unfolded relative to the chassis vehicle (1).
9. The multifunctional working vehicle according to claim 8, characterized in that: The support device (4) comprises a support rod (41), a hinge seat (42) and a support oil cylinder (43); one end of the support rod (41) is hinged to the chassis vehicle (1); the other end of the support rod (41) is hinged to the hinge seat (42); and the support oil cylinder (43) is hinged between the chassis vehicle (1) and the support rod (41).
10. The multifunctional working vehicle according to claim 8, characterized in that: Two supporting devices (4) are arranged in the width direction of the chassis vehicle (1).