Unmanned air-ground combined explosive ordnance disposal device

Abstract

The utility model relates to an unmanned air-ground combined explosive ordnance disposal device which comprises a multi-rotor flying mechanism, a walking chassis and a mechanical arm grabbing mechanism, the multi-rotor flying mechanism is in rigid connection with the walking chassis through a support, connection reliability is improved, heavy-load objects can be conveniently borne, and the mechanical arm grabbing mechanism is arranged at the front end of the walking chassis and used for grabbing the heavy-load objects. And a clamp is fixed at the front part of the walking chassis. The walking chassis and the mechanical arm grabbing mechanism can be quickly and accurately fed to a designated position through the multi-rotor flying mechanism, and the mechanical arm grabbing mechanism can accurately grab a target object through a good supporting foundation provided by the walking chassis; and then the multi-rotor flying mechanism is used for driving the walking chassis, the mechanical arm grabbing mechanism and the target object to rapidly fly away and send to a depopulated area, and the explosive-handling operation is smoothly completed. Therefore, the explosive transfer device not only is beneficial to improving the explosive transfer speed and the safety coefficient, but also is relatively low in manufacturing cost and convenient to quickly popularize and use.

Description

Technical Field

[0001] The utility model relates to an explosive disposal device, in particular to an unmanned air-ground combined explosive disposal device. Background Art

[0002] During live-fire exercises and training missions, not all ammunition can be fired successfully. Occasionally, unexploded ammunition will appear, and unexploded ammunition cannot be safely transferred.

[0003] The current solution is to rely on traditional manual removal or the use of simple tools such as electric bomb disposal rods, rope hook tool sets, etc. to clamp and transfer the bombs, which cannot ensure the personal safety of the bomb disposal personnel; or to use the existing tracked bomb disposal robots, which are not only expensive but also have a slow speed in transferring explosives, which is difficult to meet the actual needs of current bomb disposal work.

[0004] To this end, Chinese invention patent publication number CN 108502044A discloses a combined, separate rotor and leg-based mobile robot, comprising a multi-rotor flight mechanism, a multi-legged walking mechanism, and a combined, separate mechanism for combining and separating the multi-rotor flight mechanism and the multi-legged walking mechanism. Through locking and cooperating between the two mechanisms, the robot can achieve aerial flight, climbing on a support surface, climbing and walking on land, and corresponding operational functions. Furthermore, through the combination and separation of the robot mechanisms, multi-mode air-to-ground collaborative operations can be accomplished. However, in most tasks, such as bomb disposal, the robot's movement primarily relies on the multi-rotor flight mechanism to quickly fly to or from a designated location on-site. While the multi-legged walking mechanism has good terrain adaptability, it has a slow movement speed, low practical value, and a very high cost, making it difficult to meet the current practical needs of bomb disposal. Therefore, in light of the actual needs of bomb disposal, it is necessary to develop a bomb disposal device with a high safety factor, low cost, and fast transfer speed. Utility Model Content

[0005] Based on the above-mentioned deficiencies of the existing technology, the purpose of the present invention is to provide an unmanned air-to-ground combined bomb disposal device. By cleverly combining a multi-rotor flight mechanism with a walking chassis and a robotic arm grasping mechanism, it can quickly and accurately reach the designated position and perform grasping actions, and quickly transfer them. This is not only beneficial to improving the transfer speed and safety factor of explosives, but also has a relatively low cost, is convenient for rapid promotion and use, and can also record videos for case analysis and teaching.

[0006] The technical solution of the present utility model is: an unmanned air-to-ground combined bomb disposal device, including a multi-rotor flight mechanism, a walking chassis and a robotic arm grasping mechanism. The multi-rotor flight mechanism and the walking chassis are rigidly connected by a bracket to improve the reliability of the connection and facilitate carrying large load objects. The robotic arm grasping mechanism is placed at the front end of the walking chassis and is fixed to the front part of the walking chassis by a clamp.

[0007] The multi-rotor flight mechanism preferably includes a frame and a flight controller, electronic speed controllers (ESCs), a high-definition digital image transmission system, batteries, and a main receiver mounted on the frame. The multi-rotor flight mechanism utilizes an X8 powertrain, meaning it has four arms, each with a motor and rotor located at the top and bottom ends, enabling reliable, high-load flight capabilities.

[0008] Preferably, the high-definition digital image transmission is a single-axis pan-tilt digital image transmission, which can adjust the viewing angle up and down to facilitate the search for explosives and accurate capture, and can also record videos to facilitate case analysis and teaching.

[0009] Preferably, the battery is a lithium battery, which is the power source for various parts of the system. The voltage of the battery is not less than 22.2V and the battery capacity is not less than 3000mmAh.

[0010] Preferably, the walking chassis includes two left and right driving wheels installed on the chassis, a front universal wheel, two encoding motors and a driving module. The left and right driving wheels are respectively driven by an encoding motor, that is, each encoding motor is respectively connected to a driving wheel, and the encoding motor drive is connected to the driving module.

[0011] Preferably, the robotic arm grasping mechanism includes a mechanical gripper, a steering gear bracket, and a standard steering gear. The mechanical gripper is mounted on the steering gear bracket and extends forward. The gripping action of the mechanical gripper is driven by a standard steering gear mounted on the steering gear bracket. The robotic arm grasping mechanism also includes a second steering gear and a second steering gear bracket. The front end of the second steering gear is connected to the rear end of the steering gear bracket to control the rotation of the mechanical gripper. The second steering gear is mounted on the second steering gear bracket, and the second steering gear bracket is mounted on the traveling chassis.

[0012] Preferably, the standard steering gear and the second steering gear are connected to a driving module on the traveling chassis so as to control their operation.

[0013] The beneficial effect of the present invention is that the present invention cleverly combines a multi-rotor flying mechanism with a walking chassis and a robotic arm grasping mechanism. The multi-rotor flying mechanism can quickly and accurately fly the walking chassis and the robotic arm grasping mechanism to a designated location. The good support provided by the walking chassis allows the robotic arm grasping mechanism to accurately grasp the target object. The multi-rotor flying mechanism then drives the walking chassis, the robotic arm grasping mechanism, and the target object to quickly fly away and deliver them to an uninhabited area, thereby successfully completing the bomb disposal operation. Therefore, the present invention is not only conducive to improving the transfer speed and safety factor of explosives, but also has a relatively low cost, is easy to quickly promote and use, and can also record videos to facilitate case analysis and teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the main structure of the unmanned air-to-ground combined bomb disposal device in the embodiment.

[0015] Figure 2 Schematic diagram of the top view of the unmanned air-to-ground combined bomb disposal device in the embodiment.

[0016] In the figure: 1—multirotor flight mechanism, 1.1—arm, 1.2—motor 1.2, 1.3—rotor, 1.4—frame, 1.5—battery; 2—walking chassis, 2.1—drive wheel, 2.2—front universal wheel, 2.3—encoder motor, 2.4—drive module; 3—robotic arm grasping mechanism; 3.1—mechanical gripper, 3.2—servo bracket and 3.3—standard servo, 3.4—second servo and 3.5—second servo bracket; 4—bracket, 5—clamp. DETAILED DESCRIPTION

[0017] In order to make the technical content of the present invention understandable to those skilled in the art, the present invention is described in detail below with reference to the accompanying drawings.

[0018] like Figure 1 As shown, the unmanned air-to-ground combined bomb disposal device of the present invention includes a multi-rotor flight mechanism 1, a walking chassis 2 and a robotic arm grasping mechanism 3. The multi-rotor flight mechanism 1 is rigidly connected to the walking chassis 2 through a bracket 4 to improve the reliability of the connection and facilitate carrying large load objects. The robotic arm grasping mechanism 3 is placed at the front end of the walking chassis 2 and is fixed to the front of the walking chassis by a clamp 5.

[0019] The multi-rotor flight mechanism 1 can adopt the large-load multi-rotor drone currently available on the market. In this embodiment, a multi-rotor flight mechanism with an X8 power structure is adopted, which has four arms 1.1, and each arm 1.1 is provided with a motor 1.2 and a rotor 1.3 at the upper and lower ends, respectively, and has reliable large-load flight capabilities. The multi-rotor flight mechanism 1 generally includes a frame 1.4 and a flight controller, an electric regulator, a high-definition digital image transmission, a battery and a main receiver installed on the frame. The high-definition digital image transmission is a single-axis gimbal digital image transmission. The digital image transmission can adjust the viewing angle up and down, which is convenient for searching for explosives and can achieve precise capture. It can also record videos, which is convenient for case analysis and teaching. The battery 1.5 is a lithium battery. The battery 1.5 is the power source for all parts of this system. Its voltage is not less than 22.2V and the battery capacity is not less than 3000mmAh.

[0020] The traveling chassis 2 can be a common traveling frame currently available on the market, including a three-wheel traveling frame or a four-wheel traveling frame. In this embodiment, a three-wheel traveling frame is used as an example for explanation. The traveling chassis includes two left and right driving wheels 2.1 mounted on the chassis, a front universal wheel 2.2, two encoder motors 2.3, and a drive module 2.4. The left and right driving wheels 2.1 are each driven by a respective encoder motor 2.3, i.e., each encoder motor 2.3 is in driving connection with a respective driving wheel 2.1, and the encoder motors 2.3 are in driving connection with the drive module 2.4.

[0021] The robotic gripping mechanism 3 can utilize a common manipulator currently available on the market. In this embodiment, the robotic gripping mechanism comprises a mechanical gripper 3.1, a servo bracket 3.2, and a standard servo 3.3. The mechanical gripper 3.1 is mounted on the servo bracket 3.2 and extends forward. The gripping action of the mechanical gripper 3.1 is driven by the standard servo 3.3 mounted on the servo bracket 3.2. The robotic gripping mechanism also comprises a second servo 3.4 and a second servo bracket 3.5. The front end of the second servo 3.4 is connected to the rear end of the servo bracket 3.2 and is used to control the rotation of the mechanical gripper 3.1. The second servo 3.4 is mounted on the second servo bracket 3.5, which is mounted on the walking chassis. The aforementioned clamp 5 comprises the servo bracket 3.2 and the second servo bracket 3.5.

[0022] The standard servo 3.3 and the second servo 3.4 are connected to the driving module 2.4 on the traveling chassis to control their operation.

[0023] This utility model cleverly combines a multi-rotor flight mechanism with a walking chassis and a robotic arm grasping mechanism. The multi-rotor flight mechanism can quickly and accurately fly the walking chassis and the robotic arm grasping mechanism to a designated location. The good support provided by the walking chassis allows the robotic arm grasping mechanism to accurately grasp the target object. The multi-rotor flight mechanism then drives the walking chassis, the robotic arm grasping mechanism, and the target object to quickly fly away and deliver them to an uninhabited area, successfully completing the bomb disposal operation. Therefore, this utility model is not only conducive to improving the transfer speed and safety factor of explosives, but also has a relatively low cost, is easy to quickly promote and use, and can also record videos to facilitate case analysis and teaching.

[0024] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An unmanned air-ground combined bomb disposal device, comprising a multi-rotor flight mechanism, a walking chassis, and a robotic arm grasping mechanism, characterized by: The multi-rotor flight mechanism is rigidly connected to the walking chassis via a bracket, and the robotic arm grasping mechanism is placed at the front end of the walking chassis and fixed to the front of the walking chassis via a clamp; The multi-rotor flight mechanism is powered by an X8 structure, i.e., it has four arms, each with a motor and rotor at the top and bottom, respectively, providing reliable high-load flight capabilities. The multi-rotor flight mechanism includes a frame and a flight controller, electronic speed controller, digital image transmission, battery, and main receiver mounted on the frame; the digital image transmission is a single-axis gimbal digital image transmission, which can adjust the viewing angle up and down to facilitate the search for explosives and accurate capture, and can also record videos to facilitate case analysis and teaching; The robotic arm grasping mechanism includes a mechanical gripper, a servo bracket and a standard servo, the mechanical gripper is mounted on the servo bracket and extends forward, the clamping action of the mechanical gripper is driven by a standard servo mounted on the servo bracket; the robotic arm grasping mechanism also includes a second servo and a second servo bracket, the front end of the second servo is connected to the rear end of the servo bracket for controlling the rotation action of the mechanical gripper, the second servo is mounted on the second servo bracket, and the second servo bracket is mounted on the walking chassis.

2. The unmanned air-ground combined bomb disposal device according to claim 1, characterized in that: The battery is a lithium battery with a voltage of not less than 22.2V and a battery capacity of not less than 3000mmAh.

3. The unmanned air-ground combined bomb disposal device according to claim 1 is characterized by: The walking chassis includes left and right driving wheels, a front universal wheel, two encoding motors and a driving module installed on the chassis. The left and right driving wheels are respectively driven by an encoding motor, and the encoding motor drive is connected to the driving module.

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