Explosive ordnance disposal robot

Abstract

The utility model belongs to the technical field of explosive ordnance disposal devices, and particularly relates to an explosive ordnance disposal robot which comprises a robot body and a cabin door opening mechanism, a storage cabin is arranged in the robot body, an opening communicated with the storage cabin is formed in the lower portion of the robot body, and a cabin door is arranged at the opening and slidably connected with the bottom of the robot body. A closing reset spring is arranged between the cabin door and the robot body; a cabin closing rod is arranged in the storage cabin in a sliding connection mode, a first reset spring is arranged between the cabin closing rod and the robot body, a limiting pin is fixed to the cabin closing rod, and a corresponding limiting hole is formed in the cabin door. The cabin door opening mechanism is connected with the robot body, and the cabin door is opened through the cabin door opening mechanism. Through the synergistic effect of the cabin door opening mechanism, the cabin closing rod and other components, when the robot body descends, the cabin door can be automatically opened and kept in an open state; when the dangerous goods make contact with the cabin closing rod and push the cabin closing rod to move, the cabin door can be reliably closed, and the dangerous goods are effectively prevented from falling off.

Description

Technical Field

[0001] The utility model belongs to the technical field of explosive disposal devices, and particularly relates to an explosive disposal robot. Background Art

[0002] In explosive disposal (hazardous materials) tasks, robots play a crucial role. When existing explosive disposal robots handle hazardous materials, they usually require complex operations to place the hazardous materials into a specific storage compartment. These robots may have the following problems: the opening and closing mechanism of the storage compartment door is not convenient enough, and it is easy for the hazardous materials to fall during the placement process; the operation of opening the compartment door does not cooperate closely enough with the overall movement of the robot, resulting in cumbersome operations, and it is difficult to ensure that the compartment door can be firmly held in the open state after opening the compartment door, affecting the collection efficiency of hazardous materials. Content of the Utility Model

[0003] In view of the above technical problems, the utility model provides an explosive disposal robot, which aims to solve the problem of inconvenient opening and closing of the compartment door during the storage of hazardous materials by existing explosive disposal robots.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is as follows:

[0005] An explosive disposal robot, comprising a robot body and a compartment door opening mechanism. A storage compartment is arranged inside the robot body, and an opening communicating with the storage compartment is arranged at the lower part of the robot body. A compartment door is arranged at the opening, and the compartment door is slidably connected to the bottom of the robot body. A closing return spring is arranged between the compartment door and the robot body.

[0006] A closing rod is slidably connected inside the storage compartment. A first return spring is arranged between the closing rod and the robot body. A limit pin is fixed on the closing rod, and a corresponding limit hole is arranged on the compartment door. When the compartment door is opened, the limit pin is inserted into the limit hole.

[0007] The compartment door opening mechanism is connected to the robot body, and the compartment door is opened through the compartment door opening mechanism.

[0008] There are two compartment doors, and the two compartment doors are connected by a first transmission mechanism.

[0009] The first transmission mechanism includes a transmission gear and a transmission rack. A transmission rack is fixedly connected to each compartment door and meshes with a corresponding transmission gear. Both transmission gears are rotatably connected to the robot body; the two transmission gears are connected by a transmission belt mechanism.

[0010] The belt drive mechanism includes a synchronous toothed belt and two synchronous belt pulleys. Both of the two synchronous belt pulleys are rotatably connected to the robot body, and are driven by the synchronous toothed belt between them. One of the synchronous belt pulleys is coaxially connected to one of the transmission gears; a synchronous gear meshing with the other transmission gear is coaxially fixed on the other synchronous belt pulley.

[0011] The hatch opening mechanism includes a top push rod and a limit plate. The top push rod is slidably connected to the robot body, and a second return spring is provided between the top push rod and the robot body. The top push rod is connected to the synchronous gear through a one-way drive mechanism. The limit plate is connected to the robot body, and the top push rod is limited by the limit plate. When the top push rod moves upward, the synchronous gear is driven to rotate through the one-way drive mechanism.

[0012] The one-way drive mechanism includes a drive rack, a drive gear, a driving bevel gear and a driven bevel gear. The drive rack is fixedly connected to the top push rod, the drive gear is rotatably connected to the robot body through a connecting seat, and the drive rack meshes with the drive gear. The driving bevel gear is coaxially fixed to the drive gear, the driven bevel gear is connected to the synchronous gear through a one-way bearing, and the driven bevel gear meshes with the driving bevel gear.

[0013] The limit plate is slidably connected to the robot body, and a third return spring is provided between the limit plate and the robot body. A limit groove connected to the limit plate is provided on the top push rod.

[0014] A return rod is fixedly connected to the limit plate.

[0015] The robot body is provided with a six-legged walking mechanism, and shoveling plates are provided on two of the six feet located in the middle.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0017] Through the synergistic effect of the hatch opening mechanism and components such as the hatch closing rod, when the robot body descends, the hatch can be automatically opened and kept open; when the dangerous goods contact the hatch closing rod and push it to move, the hatch can be reliably closed, effectively preventing the dangerous goods from falling, and the operation process is simple and convenient, improving the safety of the explosive disposal operation.

[0018] The six-legged walking mechanism cooperating with the shoveling plates can stably shovel the dangerous goods into the storage compartment. At the same time, the opening of the hatch is closely coordinated with the movement of the robot body, reducing the operation steps, improving the collection efficiency of the dangerous goods, and facilitating the rapid completion of the explosive disposal task in a complex environment.

[0019] The use of multiple reset springs and a one-way drive mechanism ensures that each component can be accurately reset during movement, avoiding the situation where the hatch cannot be opened or closed normally due to component jamming or malfunction, improving the reliability and stability of the robot in the bomb disposal task, and reducing the risk of failure.

[0020] The first transmission mechanism closely connects the movements of the two hatches. Through the cooperation of synchronous gears and synchronous belt pulleys, the two hatches can be opened and closed synchronously, ensuring the sealing and safety of the storage compartment. At the same time, it also simplifies the control logic of the robot and improves the overall performance. Brief Description of the Drawings

[0021] Figure 1 is the overall structural schematic diagram of one direction of the present utility model;

[0022] Figure 2 is the overall structural schematic diagram of another direction of the present utility model;

[0023] Figure 3 is Figure 2 the partial enlarged view at A in

[0024] Figure 4 is the sectional view of the present utility model;

[0025] Figure 5 is Figure 4 the partial enlarged view at B in

[0026] Figure 6 is the internal structural schematic diagram of the present utility model;

[0027] Figure 7 is Figure 6 the partial enlarged view at C in

[0028] Figure 8 is the structural schematic diagram of one direction at the hatch opening mechanism of the present utility model;

[0029] Figure 9 is the structural schematic diagram of another direction at the hatch opening mechanism of the present utility model;

[0030] Figure 10 is Figure 8 the sectional view of the structure shown;

[0031] Figure 11 is Figure 10 the front view of the structure shown;

[0032] Wherein: 1 is the robot body, 2 is the hatch opening mechanism, 20 is the top push rod, 21 is the limit plate, 22 is the second return spring, 3 is the storage compartment, 4 is the hatch, 40 is the limit hole, 5 is the closing return spring, 6 is the hatch closing rod, 7 is the first return spring, 8 is the limit pin, 9 is the first transmission mechanism, 90 is the transmission gear, 91 is the transmission rack, 10 is the synchronous toothed belt, 100 is the synchronous pulley, 11 is the synchronous gear, 12 is the one-way drive mechanism, 120 is the drive rack, 121 is the drive gear, 122 is the driving bevel gear, 123 is the driven bevel gear, 124 is the connecting seat, 125 is the one-way bearing, 13 is the third return spring, 14 is the limit groove, 15 is the return rod, 16 is the six-legged walking mechanism, 17 is the shovel plate. Detailed implementation mode

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0034] As Figure 1-11 shown, a bomb disposal robot includes a robot body 1 and a hatch opening mechanism 2. A storage compartment 3 is provided inside the robot body 1, and the storage compartment 3 can be used to place dangerous goods.

[0035] An opening communicating with the storage compartment 3 is provided at the lower part of the robot body 1. A hatch 4 is provided at the opening, and the hatch 4 can block the opening to prevent dangerous goods from falling out. The hatch 4 is slidably connected to the bottom of the robot body 1, and a closing return spring 5 is provided between the hatch 4 and the robot body 1. The two ends of the closing return spring 5 are respectively fixedly connected to the hatch 4 and the robot body 1; when the hatch 4 is opened, the closing return spring 5 is compressed to generate elastic potential energy.

[0036] A hatch closing rod 6 is slidably connected in the storage compartment 3. A first return spring 7 is provided between the hatch closing rod 6 and the robot body 1. The two ends of the first return spring 7 are respectively fixedly connected to the hatch closing rod 6 and the robot body 1. When the hatch 4 is in the closed state, the first return spring 7 is in a pre-compressed state. A limit pin 8 is fixed on the hatch closing rod 6, and a corresponding limit hole 40 is provided on the hatch 4. When the hatch 4 is opened, the first return spring 7 releases elastic potential energy, so that the limit pin 8 is inserted into the limit hole 40 to keep the hatch 4 in the open state. The hatch opening mechanism 2 is connected to the robot body 1, and the hatch 4 is opened through the hatch opening mechanism 2.

[0037] When in use, the hatch 4 is first opened through the hatch opening mechanism 2; then the robot body 1 moves to the dangerous goods and places the dangerous goods below the opening; finally, the robot body 1 moves downward, so that the upper end of the dangerous goods contacts the hatch closing rod 6, and pushes the hatch closing rod 6 and the limit pin 8 to move upward, and the limit pin 8 moves out of the limit hole 40, closing the return spring 5 to release the elastic potential energy to close the hatch 4 (the dangerous goods enter the storage compartment 3).

[0038] Specifically, the robot body 1 is provided with a six-legged walking mechanism 16, which can be arranged in a structure in the prior art and can realize multi-directional movement. A shovel plate 17 is fixed to the ends of two feet located in the middle of the six-legged walking mechanism 16. After the robot body 1 is driven downward by the six-legged walking mechanism 16, the upper end of the dangerous goods contacts the cabin closing rod 6, and the dangerous goods are shoveled into the storage cabin 3 through the two middle feet.

[0039] Furthermore, two doors 4 are provided, and the two doors 4 are connected via a first transmission mechanism 9; the two doors 4 are closed when they move relative to each other, and are opened when they move away from each other.

[0040] Furthermore, the first transmission mechanism 9 includes a transmission gear 90 and a transmission rack 91. Each hatch 4 is fixedly connected with a transmission rack 91 and meshed with a corresponding transmission gear 90. Both transmission gears 90 are rotationally connected to the robot body 1; the two transmission gears 90 are connected by a transmission belt mechanism. One of the transmission gears 90 rotates and meshes with its corresponding transmission rack 91 to realize the movement of one of the hatches 4; at the same time, the other transmission gear 90 is driven by the transmission belt mechanism to rotate accordingly to realize the movement of the other hatch 4.

[0041] Furthermore, the transmission belt mechanism includes a synchronous toothed belt 10 and two synchronous pulleys 100 (with teeth), both synchronous pulleys 100 are rotationally connected to the robot body 1, and the two synchronous pulleys 100 are transmitted through the synchronous toothed belt 10. One of the synchronous pulleys 100 is coaxially connected to one of the transmission gears 90; and a synchronous gear 11 meshing with the other transmission gear 90 is coaxially fixed to the other synchronous pulley 100.

[0042] Through the above-mentioned structural setting, when one of the transmission gears 90 rotates, it will drive the synchronous gear 11 meshing with it and the coaxially fixed synchronous pulley 100 to rotate; the synchronous pulley 100 drives the other synchronous pulley 100 and the coaxially fixed transmission gear 90 to rotate accordingly through the synchronous toothed belt 10.

[0043] Further, the hatch opening mechanism 2 includes a top push rod 20 and a limit plate 21. The top push rod 20 is slidably connected to the robot body 1, and a second return spring 22 is provided between the top push rod 20 and the robot body 1. When the top push rod 20 moves upward, the second return spring 22 is compressed to generate elastic potential energy. The top push rod 20 is connected to the synchronous gear 11 through a one-way drive mechanism 12. The limit plate 21 is connected to the robot body 1, and the top push rod 20 is limited by the limit plate 21.

[0044] Specifically: During the downward movement of the robot body 1, the top push rod 20 contacts the ground and moves the top push rod 20 upward. After the top push rod 20 moves upward, it drives the synchronous gear 11 to rotate through the one-way drive mechanism 12, thereby opening the two hatches 4. After the top push rod 20 moves upward, the top push rod 20 is limited by the limit plate 21 to restrict its up and down movement.

[0045] Further, the one-way drive mechanism 12 includes a drive rack 120, a drive gear 121, a driving bevel gear 122, and a driven bevel gear 123. The drive rack 120 is fixedly connected to the top push rod 20, and a connecting seat 124 is fixedly connected to the robot body 1. The drive gear 121 is rotatably connected to the connecting seat 124, and the drive rack 120 meshes with the drive gear 121. The driving bevel gear 122 is coaxially fixed to the drive gear 121, and when the drive gear 121 rotates, the driving bevel gear 122 also rotates accordingly.

[0046] The driven bevel gear 123 is connected to the synchronous gear 11 through a one-way bearing 125, and the driven bevel gear 123 meshes with the driving bevel gear 122.

[0047] When the top push rod 20 contacts the ground and moves the top push rod 20 and the drive rack 120 upward, the drive rack 120 drives the drive gear 121 to rotate. The drive gear 121 drives the driving bevel gear 122, the driven bevel gear 123, and the synchronous gear 11 to rotate in sequence, thereby opening the hatch 4. During the closing process of the hatch 4, the transmission gear 90 meshes with the synchronous gear 11 and rotates. However, due to the structure of the one-way bearing 125, the driven bevel gear 123 does not rotate with the synchronous gear 11. Therefore, it will not hinder the closing of the hatch 4.

[0048] Further, the limit plate 21 is slidably connected to the robot body 1 (specifically, to the connecting seat 124 on the robot body 1). A third return spring 13 is provided between the limit plate 21 and the connecting seat 124 on the robot body 1. In the initial state, the third return spring 13 is in a pre-compressed state. The surface of the limit plate 21 contacts the outer surface of the top push rod 20. As the top push rod 20 moves upward, the limit groove 14 on it faces the limit plate 21. The elastic potential energy of the third return spring 13 is released, causing the limit plate 21 to be inserted into the limit groove 14, thereby restricting the movement of the top push rod 20.

[0049] During reset, simply move the limit plate 21 by pushing it, so that the limit plate 21 is separated from the limit groove 14; release the elastic potential energy of the second reset spring 22 to push the top push rod 20 downward for reset. During the downward movement of the top push rod 20, it will drive the driving gear 121, the driving bevel gear 122 and the driven bevel gear 123 to rotate; similarly, due to the setting of the one-way bearing 125, when the driven bevel gear 123 rotates, it will not drive the synchronous gear 11 connected to it to rotate, so as not to affect the hatch 4 in the closed state.

[0050] Furthermore, a reset rod 15 is fixedly connected to the limit plate 21, and its shape is preferably L-shaped; by pushing the reset rod 15, the movement of the limit plate 21 can be realized, so that it is separated from the limit groove 14, thereby realizing the reset of the top push rod 20 and preparing for the next opening of the hatch 4 (explosion-proof). Specifically: the reset rod 15 can be manually pushed for reset, or the robot body 1 can be controlled to make the reset rod 15 contact the ground or other objects, so as to push it to move.

[0051] Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments.

Claims

1. An explosive disposal robot, characterized in that: It includes a robot body (1) and a hatch opening mechanism (2). Inside the robot body (1), there is a storage compartment (3). At the lower part of the robot body (1), there is an opening communicating with the storage compartment (3). A hatch (4) is provided at the opening. The hatch (4) is slidably connected to the bottom of the robot body (1). A closing return spring (5) is provided between the hatch (4) and the robot body (1). A closing rod (6) is slidably connected inside the storage compartment (3). A first return spring (7) is provided between the closing rod (6) and the robot body (1). A limit pin (8) is fixed on the closing rod (6). A corresponding limit hole (40) is provided on the hatch (4). When the hatch (4) is opened, the limit pin (8) is inserted into the limit hole (40). The hatch opening mechanism (2) is connected to the robot body (1), and the hatch (4) is opened through the hatch opening mechanism (2).

2. The bomb disposal robot according to claim 1, characterized in that: There are two hatches (4), and the two hatches (4) are connected by a first transmission mechanism (9).

3. The explosive disposal robot according to claim 2, wherein: The first transmission mechanism (9) includes a transmission gear (90) and a transmission rack (91). A transmission rack (91) is fixedly connected to each hatch (4) and meshes with a transmission gear (90). The two transmission gears (90) are both rotatably connected to the robot body (1). The two transmission gears (90) are connected by a transmission belt mechanism.

4. The bomb disposal robot according to claim 3, wherein: The transmission belt mechanism includes a synchronous toothed belt (10) and two synchronous belt pulleys (100). The two synchronous belt pulleys (100) are both rotatably connected to the robot body (1). The two synchronous belt pulleys (100) are driven by the synchronous toothed belt (10). One of the synchronous belt pulleys (100) is coaxially connected to one of the transmission gears (90). A synchronous gear (11) meshing with the other transmission gear (90) is coaxially fixed on the other synchronous belt pulley (100).

5. The explosive ordnance disposal robot according to claim 4, wherein: The hatch opening mechanism (2) includes a top push rod (20) and a limit plate (21). The top push rod (20) is slidably connected to the robot body (1). A second return spring (22) is provided between the top push rod (20) and the robot body (1). The top push rod (20) is connected to the synchronous gear (11) through a one-way drive mechanism (12). The limit plate (21) is connected to the robot body (1), and the top push rod (20) is limited by the limit plate (21). When the top push rod (20) moves upward, the synchronous gear (11) is driven to rotate through the one-way drive mechanism (12).

6. The explosive disposal robot according to claim 5, characterized in that: The one-way driving mechanism (12) includes a driving rack (120), a driving gear (121), a driving bevel gear (122) and a driven bevel gear (123). The driving rack (120) is fixedly connected to the top push rod (20). The driving gear (121) is rotatably connected to the robot body (1) through a connecting seat (124). The driving rack (120) meshes with the driving gear (121). The driving bevel gear (122) is coaxially fixed to the driving gear (121). The driven bevel gear (123) is connected to the synchronous gear (11) through a one-way bearing (125). The driven bevel gear (123) meshes with the driving bevel gear (122).

7. The explosive disposal robot according to claim 5, wherein: The limiting plate (21) is slidably connected to the robot body (1). A third return spring (13) is provided between the limiting plate (21) and the robot body (1). The top push rod (20) is provided with a limiting groove (14) connected to the limiting plate (21).

8. The explosive disposal robot according to claim 7, wherein: The limiting plate (21) is fixedly connected with a return rod (15).

9. The explosive ordnance disposal robot according to claim 1, characterized in that: The robot body (1) is provided with a six-legged walking mechanism (16). Shoveling plates (17) are provided on two of the feet located in the middle of the six-legged walking mechanism (16).

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