Human-shaped explosive ordnance disposal robot

Abstract

The utility model discloses a human-shaped explosive ordnance disposal robot which comprises a connecting base, leg modules are rotationally installed on the left side and the right side of the connecting base, a chest module is rotationally installed above the connecting base, arm modules are rotationally installed on the left side and the right side of the upper end of the chest module, and a head module is installed above the chest module. Identification cameras and an X-ray machine are fixedly installed on the outer surface of the front side of the chest module, and the identification cameras are distributed in an array mode. According to the humanoid explosive ordnance disposal robot, a novel structural design is adopted, a walking simulation mode is adopted, the humanoid explosive ordnance disposal robot has better trafficability compared with a vehicle type robot under the condition that many obstacles exist, and the humanoid robot has a better load effect (that is, the humanoid robot can stand and has a higher load effect under the condition that the occupied area is small); and all devices required to be used during explosive ordnance disposal can be carried at one time, so that the complexity of explosive ordnance disposal is simplified.

Description

Technical Field

[0001] This utility model relates to the field of bomb disposal robot technology, specifically a humanoid bomb disposal robot. Background Technology

[0002] Bomb disposal robots are robots specifically designed for handling and disposing of explosives, and are widely used in fields such as public security, military, and special operations.

[0003] In the prior art, Chinese patent application number CN200710175389.3 discloses a small bomb disposal and hazard removal robot, including a walking part, a robotic arm part, a body part, a gimbal part, and a control part. The equipment compartment, battery compartment, and gimbal part of the body part are set on the rear chassis. The walking part consists of two parts, left and right, symmetrically connected to the front and rear chassis of the body part. The robotic arm part is set on the front chassis of the body part. Tail supports are provided on the left and right sides of the tail of the walking part. The robotic arm part adopts multiple degrees of freedom, which not only ensures sufficient gripping capacity but also improves the robot's ability to pass through narrow spaces. The elastic tail support structure plays a buffering role, making it less prone to tipping over and ensuring safe and reliable use. It has functions close to those of a large robot, strong adaptability to complex terrain, strong obstacle crossing ability, and can replace manual inspection.

[0004] Based on the above materials, it can be seen that the bomb disposal robots used in the prior art are generally driven by tracks or wheels. However, in actual use, wheeled devices have limited load capacity, and the equipment required for bomb disposal cannot be carried at the same time. Additional vehicles are also required, which increases the complexity of the overall bomb disposal process. Summary of the Invention

[0005] The purpose of this invention is to provide a humanoid bomb disposal robot to solve the problem of the complexity of the bomb disposal process mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a humanoid bomb disposal robot, comprising a connecting base, leg modules rotatably mounted on the left and right sides of the connecting base, a chest module rotatably mounted on the top of the connecting base, arm modules rotatably mounted on the left and right sides of the upper end of the chest module, and a head module mounted on the top of the chest module; a recognition camera and an X-ray machine are fixedly mounted on the front outer surface of the chest module, and the recognition camera array is distributed; a receiving groove is formed on the rear surface of the chest module, and a counterweight component for maintaining stability during operation is provided inside the receiving groove.

[0007] Preferably, a mounting base is rotatably mounted on the front outer surface of the chest module, and the mounting base is driven by a motor fixedly installed inside the chest module, and a robotic arm is rotatably mounted on the front side of the mounting base.

[0008] Preferably, the robotic arm is configured with a three-fold structure, and an operating gripper is rotatably mounted at the front end of the robotic arm, with a positioning camera fixedly mounted on the inner side of the operating gripper.

[0009] Preferably, the counterweight assembly includes a first connecting plate and a second connecting plate installed inside the receiving groove, and the first connecting plate and the second connecting plate are rotatably connected.

[0010] Preferably, a counterweight is fixedly installed on the outer surface of the first connecting plate and the second connecting plate, and an electric slider is rotatably installed on the upper end of the first connecting plate.

[0011] Preferably, the electric slider and the electric slide rail form an up-and-down sliding structure, and the electric slider is fixedly installed on the inner walls of the left and right sides of the receiving groove, and the electric slider moves synchronously with the robotic arm and the arm module.

[0012] Preferably, a driven gear is fixedly mounted on the external connecting shaft of the chest module and the connecting seat, and the driven gear is meshed with the driving gear on its side, and the driving gear is driven by a motor fixedly mounted inside the connecting seat.

[0013] Compared with the prior art, the beneficial effects of this utility model are: this humanoid bomb disposal robot adopts a novel structural design, the specific details of which are as follows:

[0014] 1. The robot is designed as a humanoid structure and walks in a simulated walking manner. Compared with vehicle-type robots, it has better passability when facing many obstacles. In addition, the humanoid robot has a better load capacity (i.e., the humanoid shape can stand up and has a higher load capacity in a smaller footprint). It can carry all the equipment needed for bomb disposal at once, thereby simplifying the complexity of bomb disposal.

[0015] Furthermore, the robot uses recognition cameras to capture images of the surrounding environment and feeds them back to the operators, enabling them to precisely control the robot to perform bomb disposal operations. When an explosive device is discovered, an X-ray machine is used to take a transparent image to understand the internal structure of the explosive device, and ultimately determine whether to remove it or destroy it on site.

[0016] 2. When the robot removes the explosive through the arm module or robotic arm, the electric slider slides accordingly inside the electric slide rail, thereby causing the electric slider to drive the first connecting plate and the second connecting plate to rotate, thereby changing the position of the counterweight, thus adjusting the overall center of gravity of the robot in real time and improving the stability during handling and movement.

[0017] Furthermore, the motor inside the connecting seat drives the active gear to rotate, which in turn causes the driven gear meshing with the active gear to rotate the chest module. This allows the chest module to rotate freely without the need for the leg module to move, improving the robot's working flexibility (i.e., making it more adaptable to working in confined environments). Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall front view of the present invention;

[0019] Figure 2 This is a schematic diagram of the front structure of the chest module of this utility model;

[0020] Figure 3 This is a schematic diagram of the robotic arm in its deployed state according to this utility model;

[0021] Figure 4 This is a schematic diagram of the back structure of the chest module of this utility model;

[0022] Figure 5 This is a schematic diagram of the internal structure of the receiving groove of this utility model;

[0023] Figure 6 This utility model Figure 5 Enlarged structural diagram at point A in the middle;

[0024] Figure 7 This is a schematic diagram of the upper surface structure of the connector of this utility model.

[0025] In the diagram: 1. Connecting seat; 2. Leg module; 3. Chest module; 301. Receiving slot; 4. Arm module; 5. Head module; 6. Recognition camera; 7. X-ray machine; 8. Mounting seat; 9. Robotic arm; 10. Operating gripper; 11. Positioning camera; 12. First connecting plate; 13. Second connecting plate; 14. Counterweight; 15. Electric slider; 16. Electric slide rail; 17. Driven gear; 18. Driving gear. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Example 1: Please refer to Figures 1-3In order to achieve the purpose of bomb disposal, this embodiment provides the following technical solution, which specifically discloses: a connecting seat 1, leg modules 2 are rotatably installed on the left and right sides of the connecting seat 1, a chest module 3 is rotatably installed on the top of the connecting seat 1, and arm modules 4 are rotatably installed on the left and right sides of the upper end of the chest module 3, and a head module 5 is installed on the top of the chest module 3; an identification camera 6 and an X-ray machine 7 are fixedly installed on the front outer surface of the chest module 3, and the identification camera 6 is arrayed; a mounting seat 8 is rotatably installed on the front outer surface of the chest module 3, and the mounting seat 8 is driven by a motor fixedly installed inside the chest module 3, and a robotic arm 9 is rotatably installed on the front side of the mounting seat 8. The robotic arm 9 is set as a three-fold structure, and an operating gripper 10 is rotatably installed at the front end of the robotic arm 9, and a positioning camera 11 is fixedly installed on the inner side of the operating gripper 10.

[0028] When bomb disposal operations are required, staff control the robot's overall movement via a remote control device. The leg module 2 simulates human leg movement and walks, moving the robot to the location of the explosive. When encountering obstacles during movement, the arm module 4 is used to move or push over the obstacles to ensure the robot can pass through normally. During movement, the recognition camera 6 takes real-time pictures of the surrounding environment and feeds them back to the operator to help the operator operate the robot better. When the robot reaches the location of the explosive, the X-ray machine 7 is turned on to take a perspective picture of the explosive to determine its internal condition. Professionals determine whether to remove the explosive or dismantle it on-site based on its type. If it needs to be removed, the arm module 4 is used to lift and move the explosive. If it needs to be dismantled on-site, the robotic arm 9 drives the operating gripper 10 to operate on the explosive (such as removing stitches). During this process, the positioning camera 11 is used to accurately locate the internal condition of the explosive.

[0029] Example 2: Please refer to Figures 4-6 In order to achieve the purpose of automatic counterweight to improve stability, this embodiment provides the following technical solution, which specifically discloses: a receiving groove 301 is provided on the rear surface of the chest module 3, and a counterweight component for maintaining stability during operation is provided inside the receiving groove 301. The counterweight component includes a first connecting plate 12 and a second connecting plate 13 installed inside the receiving groove 301, and the first connecting plate 12 and the second connecting plate 13 are rotatably connected. A counterweight block 14 is fixedly installed on the outer surface of the first connecting plate 12 and the second connecting plate 13, and an electric slider 15 is rotatably installed on the upper end of the first connecting plate 12. The electric slider 15 and the electric slide rail 16 form an up-and-down sliding structure, and the electric slider 15 is fixedly installed on the inner walls of the left and right sides of the receiving groove 301. The electric slider 15 moves synchronously with the robotic arm 9 and the arm module 4.

[0030] When the robotic arm 9 or arm module 4 is moving (such as carrying), it will affect the overall center of gravity of the robot. At this time, the electric slider 15 slides accordingly inside the electric slide rail 16. By moving the electric slider 15, the first connecting plate 12 and the second connecting plate 13 rotate, thereby changing the position of the external counterweight 14 of the first connecting plate 12 and the second connecting plate 13, so as to achieve the purpose of adaptive adjustment of the center of gravity and improve the stability of the robot when working.

[0031] Example 3: Please refer to Figure 7 In order to improve flexibility, this embodiment provides the following technical solution, which specifically discloses that: a driven gear 17 is fixedly installed on the external connecting shaft of the chest module 3 and the connecting seat 1, and the driven gear 17 is meshed with the driving gear 18 on the side, and the driving gear 18 is driven by a motor fixedly installed inside the connecting seat 1.

[0032] When operation in confined spaces is required (such as when the leg module 2 is not convenient to move), the motor inside the connecting seat 1 is turned on to drive the active gear 18 to rotate. The driven gear 17, which meshes with the active gear 18, drives the chest module 3 to rotate, thereby realizing the turning operation and improving the overall flexibility of the robot.

[0033] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A humanoid bomb disposal robot, comprising a connecting base (1), wherein leg modules (2) are rotatably mounted on the left and right sides of the connecting base (1), characterized in that, Also includes: The chest module (3) is rotatably installed above the connecting seat (1), and the arm modules (4) are rotatably installed on the left and right sides of the upper end of the chest module (3), and the head module (5) is installed above the chest module (3). The chest module (3) has a recognition camera (6) and an X-ray machine (7) fixedly mounted on its front outer surface, and the recognition camera (6) is arranged in an array. The rear surface of the chest module (3) is provided with a receiving groove (301), and a counterweight component is provided inside the receiving groove (301) to maintain stability during operation.

2. The humanoid bomb disposal robot according to claim 1, characterized in that: The chest module (3) is rotatably mounted on the outer surface of its front side, and the mounting base (8) is driven by a motor fixedly installed inside the chest module (3), and a robotic arm (9) is rotatably mounted on the front side of the mounting base (8).

3. The humanoid bomb disposal robot according to claim 2, characterized in that: The robotic arm (9) is configured with a three-fold structure, and the front end of the robotic arm (9) is rotatably mounted with an operating gripper (10), and a positioning camera (11) is fixedly mounted on the inner side of the operating gripper (10).

4. The humanoid bomb disposal robot according to claim 1, characterized in that: The counterweight assembly includes a first connecting plate (12) and a second connecting plate (13) installed inside the receiving groove (301), and the first connecting plate (12) and the second connecting plate (13) are rotatably connected.

5. A humanoid bomb disposal robot according to claim 4, characterized in that: A counterweight (14) is fixedly installed on the outer surface of the first connecting plate (12) and the second connecting plate (13), and an electric slider (15) is rotatably installed on the upper end of the first connecting plate (12).

6. A humanoid bomb disposal robot according to claim 5, characterized in that: The electric slider (15) and the electric slide rail (16) form an up-and-down sliding structure, and the electric slider (15) is fixedly installed on the inner walls of the left and right sides of the receiving groove (301), and the electric slider (15) moves synchronously with the robotic arm (9) and the arm module (4).

7. A humanoid bomb disposal robot according to claim 1, characterized in that: The driven gear (17) is fixedly installed on the external connecting shaft of the chest module (3) and the connecting seat (1), and the driven gear (17) is meshed with the driving gear (18) on the side, and the driving gear (18) is driven by a motor fixedly installed inside the connecting seat (1).

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