Marking structure based on mine sweeping robot

Abstract

The utility model relates to the technical field of mine sweeping equipment accessories, in particular to a marking structure based on a mine sweeping robot. A driving mechanism is assembled on the inner side of the machine body and comprises a rotating seat, a supporting arm, a first hydraulic rod, a first motor and a first guide rail frame, one end of the top of the machine body is rotationally connected with the rotating seat, the first motor is fixed on the inner side of the machine body, and the output end of the first motor penetrates through the top of the machine body to be fixed to the rotating seat. According to the utility model, through the structural design of the driving mechanism, the taking mechanism and the conveying mechanism, after a metal detector finds a mine clearance point, the device can quickly lift the mark block storage box to a rectangular opening, so that a clamping jaw can conveniently take a warning mark block and place the warning mark block at the mine clearance point; the mine clearing points of the whole anti-infantry mine field can be marked in a concentrated mode conveniently, rolling and concentrated sweeping can be achieved in cooperation with a crawler-type vehicle, a road roller and the like, the overall working efficiency of mine sweeping and clearing is improved, and use is facilitated.

Description

Technical Field

[0001] This utility model relates to the technical field of mine-clearing equipment accessories, and in particular to a marking structure based on a mine-clearing robot. Background Technology

[0002] The development of mine clearance technology can be traced back to the 1960s. With the widespread use of landmines, mine clearance and demining technologies have gained global attention. Mine clearance and demining tasks are of great significance in complex environments such as battlefields and disaster areas. However, traditional manual mine clearance methods and existing mine clearance equipment have limitations in many scenarios.

[0003] Mine-clearing robots, as advanced automated equipment, play a vital role in post-war and disaster area reconstruction. In recent years, with the continuous advancements in robotics, artificial intelligence, sensor technology, and materials science, research on mine-clearing robots has deepened both domestically and internationally. In particular, the application of bionics and multi-degree-of-freedom control systems has greatly improved the robot's mobility and stability in complex terrains.

[0004] For example, a mine-clearing demolition robot with public announcement number CN211491554U includes a control unit, a cantilever fixedly connected to the side of the control unit, a drive motor provided at the end of the cantilever away from the control unit, a propeller fixedly connected to the output shaft of the drive motor, a box provided at the bottom of the control unit, a landing support leg fixedly connected to the side of the box, a cylinder provided above the landing support leg and located on the side of the box, and a miniature air pump provided on the surface of the cylinder.

[0005] In summary, the following technical problems exist in the existing technology: Although the existing technology can achieve the purpose of mine clearance, the current working method requires dismantling after the mine clearance point is discovered in the anti-personnel minefield. It is not convenient to mark the mine clearance points in the area and then use tracked vehicles, road rollers, etc. to compact and sweep them. The operation efficiency is not ideal. Therefore, we propose a marking structure based on a mine clearance robot. Utility Model Content

[0006] The purpose of this invention is to provide a marking structure based on a mine-sweeping robot to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] A marking structure based on a mine-clearing robot includes a body. A drive mechanism is mounted on the inner side of the body. The drive mechanism includes a rotating base, a support arm, a first hydraulic rod, a first motor, and a first guide rail. The rotating base is rotatably connected to one end of the top of the body. The first motor is fixed to the inner side of the body. The output end of the first motor passes through the top of the body and is fixed to the rotating base. The support arm is rotatably connected to the inner side of the rotating base. The first hydraulic rod is rotatably connected to one end of the support arm. The output end of the first hydraulic rod is rotatably connected to the first guide rail. One side of the first guide rail is rotatably connected to the other end of the support arm. A picking mechanism is mounted on the inner side of the first guide rail.

[0009] Preferably, the picking mechanism includes an adjustment component and a clamping component, the adjustment component is mounted on the inner side of the first guide rail, and the clamping component is mounted on one side of the adjustment component.

[0010] Preferably, the adjustment assembly includes a second motor, a first threaded rod, and a movable frame. The second motor is fixed to the top of the first guide rail frame, and a first threaded rod is rotatably connected to the top and bottom of the inner side of the first guide rail frame. The movable frame is threadedly connected to the outer side of the first threaded rod, and the movable frame is slidably connected to the inner side of the first guide rail frame.

[0011] Preferably, the clamping assembly includes a second hydraulic rod, a connecting frame, a third hydraulic rod, a movable triangular plate, a fourth hydraulic rod, and grippers. The second hydraulic rod is fixed to the top of the movable frame, and the output end of the second hydraulic rod passes through the movable frame and is fixed to the connecting frame. Multiple third hydraulic rods are evenly distributed and rotatably connected to the top of the connecting frame. Multiple movable triangular plates are evenly distributed and rotatably connected to the outer side of the connecting frame. The output ends of the third hydraulic rods are rotatably connected to the movable triangular plates. The top of each movable triangular plate is rotatably connected to a fourth hydraulic rod, and the output end of each fourth hydraulic rod is rotatably connected to a gripper. One end of the gripper is rotatably connected to the movable triangular plate.

[0012] Preferably, a fifth hydraulic rod is fixed to the bottom of the machine body, and a metal detector is fixed to the output end of the fifth hydraulic rod.

[0013] Preferably, the inner side of the machine body is also equipped with a conveying mechanism, which includes a second guide rail frame, a third motor, a second threaded rod, a displacement block, and a marker block storage box. A rectangular opening is provided at the other end of the top of the machine body. The second guide rail frame is fixed inside the rectangular opening. The third motor is fixed at the top of the second guide rail frame. A second threaded rod is rotatably connected to the top and bottom of the inner side of the second guide rail frame. A displacement block is threadedly connected to the outer side of the second threaded rod. The displacement block is slidably connected to the inner side of the second guide rail frame. A marker block storage box is fixed at one end of the displacement block. A warning marker block is placed inside the marker block storage box.

[0014] Preferably, a controller is provided on the inner side of the machine body, and the controller is electrically connected to the first hydraulic rod, the first motor, the second motor, the second hydraulic rod, the third hydraulic rod, the fourth hydraulic rod, the fifth hydraulic rod, the metal detector, and the third motor via wires.

[0015] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0016] At the same time, through the above technical solutions, this utility model has at least the following beneficial effects:

[0017] This invention, through the structural design of the drive mechanism, the picking mechanism, and the conveying mechanism, enables the device to quickly raise the marker block storage box to the rectangular opening after the metal detector detects a mine-clearing point. This allows the grippers to pick up the warning marker blocks and place them at the mine-clearing point, facilitating the centralized marking of mine-clearing points throughout the entire anti-personnel minefield. It can also be used in conjunction with tracked vehicles, road rollers, etc., to compact and clear the mines, thus accelerating the overall efficiency of mine-clearing and demining work and making it more user-friendly. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the connection structure between the body and the fifth hydraulic rod of this utility model;

[0021] Figure 3 This is a schematic diagram of the connection structure between the support arm and the rotating seat of this utility model;

[0022] Figure 4 This is a schematic diagram of the connection structure between the body and the second guide rail frame of this utility model.

[0023] The attached diagram lists the components represented by each number as follows:

[0024] In the diagram: 1. Body; 2. Rotating seat; 3. Support arm; 4. First hydraulic rod; 5. First motor; 6. First guide rail frame; 7. Second motor; 8. First threaded rod; 9. Moving frame; 10. Second hydraulic rod; 11. Connecting frame; 12. Third hydraulic rod; 13. Movable triangular plate; 14. Fourth hydraulic rod; 15. Gripper; 16. Fifth hydraulic rod; 17. Metal detector; 18. Second guide rail frame; 19. Third motor; 20. Second threaded rod; 21. Displacement block; 22. Marker block storage box. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0026] Example 1

[0027] Reference Figure 1-4 A marking structure based on a mine-clearing robot includes a body 1. A drive mechanism is mounted on the inner side of the body 1. The drive mechanism includes a rotating base 2, a support arm 3, a first hydraulic rod 4, a first motor 5, and a first guide rail frame 6. The rotating base 2 is rotatably connected to one end of the top of the body 1. The first motor 5 is fixed to the inner side of the body 1. The output end of the first motor 5 passes through the top of the body 1 and is fixed to the rotating base 2. The support arm 3 is rotatably connected to the inner side of the rotating base 2. The first hydraulic rod 4 is rotatably connected to one end of the support arm 3. The first guide rail frame 6 is rotatably connected to the output end of the first hydraulic rod 4. One side of the first guide rail frame 6 is rotatably connected to the other end of the support arm 3. A picking mechanism is mounted on the inner side of the first guide rail frame 6. The body 1 is a ZN-BL401 B-type spider-type industrial robot or a FANUC ROBOT M-3iA spider-type robot, which are existing mature technologies. Their electrical connections and specific circuit structures will not be described in detail here.

[0028] The grasping mechanism includes an adjustment component and a gripping component. The adjustment component is mounted on the inner side of the first guide rail frame 6, and the gripping component is mounted on one side of the adjustment component. The adjustment component includes a second motor 7, a first threaded rod 8, and a movable frame 9. The second motor 7 is fixed to the top of the first guide rail frame 6. The top and bottom of the inner side of the first guide rail frame 6 are rotatably connected to a first threaded rod 8. The outer side of the first threaded rod 8 is threadedly connected to the movable frame 9. The movable frame 9 is slidably connected to the inner side of the first guide rail frame 6. When the second motor 7 is started, the output end of the second motor 7 drives the first threaded rod 8 to rotate, thereby causing the movable frame 9 to move vertically along the inner side of the first guide rail frame 6, driving the second hydraulic rod 10 to move, thus realizing the raising and lowering of the gripper 15.

[0029] The clamping assembly includes a second hydraulic rod 10, a connecting frame 11, a third hydraulic rod 12, a movable triangular plate 13, a fourth hydraulic rod 14, and grippers 15. The second hydraulic rod 10 is fixed to the top of the movable frame 9. The output end of the second hydraulic rod 10 passes through the movable frame 9 and is fixed to the connecting frame 11. Multiple third hydraulic rods 12 are evenly distributed and rotatably connected to the top of the connecting frame 11. Multiple movable triangular plates 13 are evenly distributed and rotatably connected to the outer side of the connecting frame 11. The output ends of the third hydraulic rods 12 are rotatably connected to the movable triangular plates 13. The tops of the movable triangular plates 13 are evenly distributed and rotatably connected to the third hydraulic rods 12. A fourth hydraulic rod 14 is rotatably connected, and each output end of the fourth hydraulic rod 14 is rotatably connected to a gripper 15. One end of the gripper 15 is rotatably connected to a movable triangular plate 13. When the third hydraulic rod 12 and the fourth hydraulic rod 14 are activated, the output end of the third hydraulic rod 12 pushes or pulls the movable triangular plate 13 to rotate downward or upward, and the output end of the fourth hydraulic rod 14 pushes or pulls the gripper 15 to rotate downward or upward, thereby causing one end of the multiple grippers 15 to move towards each other or away from each other, so as to realize the gripping and release of the warning marker block.

[0030] The bottom of the body 1 is fixed with a fifth hydraulic rod 16, and the output end of the fifth hydraulic rod 16 is fixed with a metal detector 17. The metal detector 17 is a BSH-L90 or FisherF4 series device, which is a commonly used device and belongs to existing mature technology. Its working principle will not be described in detail here. The metal detector 17 facilitates the rapid detection of minefields in anti-personnel minefields.

[0031] The inner side of the body 1 is also equipped with a conveying mechanism, which includes a second guide rail frame 18, a third motor 19, a second threaded rod 20, a displacement block 21, and a marker block storage box 22. A rectangular opening is provided at the other end of the top of the body 1. The second guide rail frame 18 is fixed inside the rectangular opening. The third motor 19 is fixed at the top of the second guide rail frame 18. A second threaded rod 20 is rotatably connected to the top and bottom of the inner side of the second guide rail frame 18. The displacement block 21 is threadedly connected to the outer side of the second threaded rod 20. The displacement block 21 is slidably connected to the inner side of the second guide rail frame 18. A marker block storage box 22 is fixed to one end of the displacement block 21. A warning marker block is placed inside the marker block storage box 22. When the third motor 19 is started, the output end of the third motor 19 drives the second threaded rod 20 to rotate, thereby causing the displacement block 21 to move vertically along the inner side of the second guide rail frame 18 and drive the marker block storage box 22 to move, realizing the raising and lowering of the warning marker block.

[0032] Example 2

[0033] Further optimizations to Example 1, specifically, such as... Figure 1-4As shown, a controller is installed inside the machine body 1. The controller is electrically connected to the first hydraulic rod 4, the first motor 5, the second motor 7, the second hydraulic rod 10, the third hydraulic rod 12, the fourth hydraulic rod 14, the fifth hydraulic rod 16, the metal detector 17, and the third motor 19 via wires. The controller is an NJ501-2020 KV series programmable controller. Based on its powerful instruction set and high-speed processing capabilities, it uses built-in motion control function blocks to program and implement the control logic for the hydraulic rod components and servo motor components. During operation, the PLC continuously reads feedback signals from the hydraulic system and servo motors, such as pressure and position signals provided by hydraulic sensors and position and speed information fed back by the servo motor encoder. Then, it performs calculations and processing according to the pre-programmed control algorithm to generate corresponding control output signals. These signals are sent to the hydraulic servo driver and servo motor driver through their rich I / O interfaces, driving the hydraulic rod and servo motor to perform precise actions according to the set program. This is a commonly used device and belongs to existing mature technology. Its electrical connection relationship and specific circuit structure will not be described in detail here. The first hydraulic rod 4, the first motor 5, the second motor 7, the second hydraulic rod 10, the third hydraulic rod 12, the fourth hydraulic rod 14, the fifth hydraulic rod 16, the metal detector 17, and the third motor 19 are all implemented using models that can achieve their working effect. Those skilled in the art can make arbitrary selections according to their needs.

[0034] In summary:

[0035] This utility model addresses the technical problem that, while existing technologies can achieve mine clearance, the current method requires dismantling mines after they are discovered in anti-personnel minefields. This is inconvenient because it's not feasible to mark all mines in the area and then use tracked vehicles or road rollers to compact and clear them, resulting in inefficient operations. The present invention adopts the technical solutions described in the above embodiments. Furthermore, the implementation process of the above technical solutions is as follows:

[0036] All electrical components in this device are existing technologies, and their models are only one of them. Any electrical component that can achieve the purpose of this device can be used. Connect all electrical components in the device to their compatible power supply through wires. In addition, a suitable controller should be selected according to the actual situation to meet the control requirements. The specific connection and control sequence should refer to the working principle below, and the electrical connection between each electrical component should be completed in the order of operation. The detailed connection method is a well-known technology in this field. The following mainly introduces the working principle and process, and will not explain the electrical control.

[0037] During the movement of the machine body 1, the ground of the anti-personnel minefield is scanned and detected by the metal detector 17. When the metal detector 17 detects a mine-clearing point, the third motor 19 is activated, causing the second threaded rod 20 to rotate, which in turn causes the marker block storage box 22 to rise to the rectangular opening. At the same time, the first motor 5 is activated, causing the output end of the first motor 5 to drive the rotating seat 2 to rotate half a revolution, thereby aligning the gripper 15 with the warning marker block on the marker block storage box 22. Then, the second motor 7, the third hydraulic rod 12, and the fourth hydraulic rod 14 are activated, allowing the gripper 15 to move downwards. At the same time, the third hydraulic rod 19... The output end of the first hydraulic rod 14 pushes the movable triangular plate 13 to rotate downwards, and the output end of the fourth hydraulic rod 14 pushes the gripper 15 to rotate downwards, thereby causing one end of the multiple grippers 15 to move towards each other until the warning marker block is gripped. Then, the output end of the first motor 5 rotates half a turn in the opposite direction, activating the second hydraulic rod 10, which causes the second hydraulic rod 10 to drive the connecting frame 11 to move downwards until the warning marker block is moved to the designated mine clearance point. Finally, the output ends of the third hydraulic rod 12 and the fourth hydraulic rod 14 are controlled to retract, so that the grippers 15 release the warning marker block, thus completing one mine clearance marking operation.

[0038] With the above-mentioned settings, this application will certainly solve the above-mentioned technical problems, and at the same time achieve the following technical effects:

[0039] Through the structural design of the drive mechanism, the picking mechanism, and the conveying mechanism, this utility model enables the device to quickly raise the marker block storage box 22 to the rectangular opening after the metal detector 17 detects the mine clearance point. This allows the gripper 15 to pick up the warning marker block and place it at the mine clearance point, facilitating the centralized marking of all mine clearance points in the entire anti-personnel minefield. It can also be used in conjunction with tracked vehicles, road rollers, etc., to compact and sweep the mines, thus accelerating the overall efficiency of mine clearance and demining and making it more convenient to use.

[0040] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0041] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A marking structure based on a mine-sweeping robot, characterized in that, The device includes a body (1), and a drive mechanism is mounted on the inner side of the body (1). The drive mechanism includes a rotating seat (2), a support arm (3), a first hydraulic rod (4), a first motor (5), and a first guide rail frame (6). The rotating seat (2) is rotatably connected to one end of the top of the body (1). The first motor (5) is fixed on the inner side of the body (1). The output end of the first motor (5) passes through the top of the body (1) and is fixed to the rotating seat (2). The support arm (3) is rotatably connected to the inner side of the rotating seat (2). The first hydraulic rod (4) is rotatably connected to one end of the support arm (3). The first guide rail frame (6) is rotatably connected to the output end of the first hydraulic rod (4). One side of the first guide rail frame (6) is rotatably connected to the other end of the support arm (3). A picking mechanism is mounted on the inner side of the first guide rail frame (6).

2. The marking structure based on a mine-sweeping robot according to claim 1, characterized in that, The picking mechanism includes an adjustment component and a clamping component. The adjustment component is mounted on the inner side of the first guide rail (6), and the clamping component is mounted on one side of the adjustment component.

3. The marking structure based on a mine-sweeping robot according to claim 2, characterized in that, The adjustment assembly includes a second motor (7), a first threaded rod (8), and a movable frame (9). The second motor (7) is fixed to the top of the first guide rail frame (6). The top and bottom of the inner side of the first guide rail frame (6) are rotatably connected to a first threaded rod (8). The outer side of the first threaded rod (8) is threadedly connected to the movable frame (9). The movable frame (9) is slidably connected to the inner side of the first guide rail frame (6).

4. The marking structure based on a mine-sweeping robot according to claim 3, characterized in that, The clamping assembly includes a second hydraulic rod (10), a connecting frame (11), a third hydraulic rod (12), a movable triangular plate (13), a fourth hydraulic rod (14), and a gripper (15). The top of the movable frame (9) is fixed with the second hydraulic rod (10). The output end of the second hydraulic rod (10) passes through the movable frame (9) and is fixed with the connecting frame (11). The top of the connecting frame (11) is evenly and rotatably connected with multiple third hydraulic rods (12). The outer side of the connecting frame (11) is evenly and rotatably connected with multiple movable triangular plates (13). The output end of the third hydraulic rod (12) is rotatably connected to the movable triangular plate (13). The top of each movable triangular plate (13) is rotatably connected with a fourth hydraulic rod (14). The output end of each fourth hydraulic rod (14) is rotatably connected with a gripper (15). One end of the gripper (15) is rotatably connected to the movable triangular plate (13).

5. A marking structure based on a mine-sweeping robot according to claim 4, characterized in that, A fifth hydraulic rod (16) is fixed to the bottom of the body (1), and a metal detector (17) is fixed to the output end of the fifth hydraulic rod (16).

6. A marking structure based on a mine-sweeping robot according to claim 5, characterized in that, The inner side of the body (1) is also equipped with a conveying mechanism, which includes a second guide rail frame (18), a third motor (19), a second threaded rod (20), a displacement block (21), and a marker block storage box (22). A rectangular opening is provided at the other end of the top of the body (1). The second guide rail frame (18) is fixed inside the rectangular opening. The third motor (19) is fixed at the top of the second guide rail frame (18). A second threaded rod (20) is rotatably connected to the top and bottom of the inner side of the second guide rail frame (18). The displacement block (21) is threadedly connected to the outer side of the second threaded rod (20). The displacement block (21) is slidably connected to the inner side of the second guide rail frame (18). A marker block storage box (22) is fixed at one end of the displacement block (21). A warning marker block is placed inside the marker block storage box (22).

7. A marking structure based on a mine-sweeping robot according to claim 6, characterized in that, The inner side of the body (1) is provided with a controller, which is electrically connected to the first hydraulic rod (4), the first motor (5), the second motor (7), the second hydraulic rod (10), the third hydraulic rod (12), the fourth hydraulic rod (14), the fifth hydraulic rod (16), the metal detector (17), and the third motor (19) via wires.

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