Explosive ordnance disposal quadruped robot

Abstract

The utility model discloses an explosive-handling quadruped robot, which relates to the field of quadruped robots and comprises a quadruped walking mechanism, a connecting seat is fixedly mounted on the upper surface of the quadruped walking mechanism, a rotating piece is fixedly mounted on the upper surface of the connecting seat, a connecting piece is arranged at the top end of the rotating piece, and a mechanical arm is fixedly mounted on the upper surface of the connecting piece. An explosive destroyer is fixedly installed at the output end of the mechanical arm, and a detection block is fixedly installed on the upper surface of the explosive destroyer. Through the combination of the four-foot walking mechanism and the walking legs, the explosive destroying device can have excellent terrain adaptive capacity, through the arrangement of the mechanical arm and the explosive destroying device and in cooperation with a high-precision camera on the detection block, detailed pictures of explosives can be transmitted to remote operators in real time, and the explosive destroying device is convenient to use and high in practicability. An operator can accurately judge the explosive structure and the triggering device according to high-definition image information, and then the mechanical arm and the explosive destroyer are remotely controlled to conduct harmless treatment on explosives.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robots, and in particular to a bomb disposal quadruped robot. Background Technology

[0002] With the continuous advancement of science and technology, robotics has been widely applied and rapidly developed in various fields. Robots are characterized by programmability, automated operation, and the ability to work in hazardous environments. In particular, the emergence of legged robots has unique advantages in movement. Compared with traditional tracked and wheeled robots, quadruped robots perform better in terms of adaptability to complex terrain, flexibility, and stability.

[0003] Currently, bomb disposal work faces extremely high risks in fields such as public safety. The presence of explosives poses a serious threat to the lives of personnel. Traditional manual bomb disposal methods not only expose bomb disposal personnel to danger, but also make manual bomb disposal difficult and inefficient in complex environments, such as narrow spaces, areas with many ditches or obstacles. To address these issues, we propose a quadruped bomb disposal robot. Utility Model Content

[0004] The purpose of this invention is to provide a bomb disposal quadruped robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a four-legged bomb disposal robot, comprising a four-legged walking mechanism, a connecting seat fixedly mounted on the upper surface of the four-legged walking mechanism, a rotating component fixedly mounted on the upper surface of the connecting seat, a connecting component at the top of the rotating component, a robotic arm fixedly mounted on the upper surface of the connecting component, an explosive ordnance disposal device fixedly mounted at the output end of the robotic arm, a detection block fixedly mounted on the upper surface of the explosive ordnance disposal device, and a high-precision camera fixedly mounted on one side of the detection block.

[0006] In a further embodiment, a sensing unit is provided at one end of the quadrupedal walking mechanism, a chemical sensor is fixedly installed on the upper surface of the sensing unit, and an infrared camera is fixedly installed on one side of the sensing unit.

[0007] In a further embodiment, a lidar is fixedly installed at one end of the quadrupedal walking mechanism, and two sets of walking legs are movably installed at the drive end of the quadrupedal walking mechanism.

[0008] In a further embodiment, the rotating component includes a servo motor whose output end is fixedly mounted on the upper surface of the connector, and a rotating shaft is fixedly mounted on the top end of the rotating shaft to the bottom end of the connector.

[0009] In a further embodiment, a protective cover is fixedly installed on the upper surface of the connecting seat, and a bearing ring is fixedly embedded on the upper surface of the protective cover. The outer surface of the rotating shaft is rotatably connected to the inner ring of the bearing ring.

[0010] In a further embodiment, the robotic arm has a multi-joint structure, comprising a large arm and a small arm that are hinged in sequence. Both the large arm and the small arm of the robotic arm are equipped with built-in hydraulic drive devices, which are connected to a hydraulic pump inside the quadrupedal walking mechanism via oil pipes.

[0011] Compared with existing technologies, the advantages of this invention are as follows: This invention, through the combination of a quadrupedal walking mechanism and walking legs, enables it to have excellent terrain adaptability. Even in narrow spaces or areas with many obstacles, it can successfully reach the location of explosives without requiring bomb disposal personnel to risk entering, thus ensuring the safety of personnel. At the same time, through infrared cameras and chemical sensors, it can monitor the environment in real time during movement. With the setting of the robotic arm and explosive disposal device, and in addition to the high-precision camera on the detection block, it can transmit detailed images of the explosives to remote operators in real time. Based on the high-definition image information, operators can accurately determine the structure of the explosives and the triggering device, and then remotely control the robotic arm and explosive disposal device to harmlessly dispose of the explosives. Compared with manual bomb disposal, it improves the accuracy and efficiency of bomb disposal and does not expose bomb disposal personnel to danger. Attached Figure Description

[0012] Figure 1 A three-dimensional structural diagram of a bomb disposal quadruped robot viewed from the front; Figure 2 A partial 3D structural diagram of the rear view of the bomb disposal quadruped robot; Figure 3 A three-dimensional structural diagram of the robotic arm in a bomb disposal quadruped robot, viewed from the front. Figure 4 A sectional view of the rotating component in a bomb disposal quadruped robot from the side.

[0013] In the diagram: 1. Quadrupedal walking mechanism; 2. Connecting seat; 3. Sensing unit; 4. Infrared camera; 5. Chemical sensor; 6. Rotating component; 601. Servo motor; 602. Protective cover; 603. Rotating shaft; 604. Bearing ring; 7. LiDAR; 8. Robotic arm; 9. Explosives disposal device; 10. Detection block; 11. High-precision camera; 12. Walking leg; 13. Connecting component. Detailed Implementation

[0014] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0015] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0016] 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.

[0017] Please see Figures 1-4In this utility model, a four-legged bomb disposal robot includes a four-legged walking mechanism 1. A connecting seat 2 is fixedly installed on the upper surface of the four-legged walking mechanism 1. A rotating component 6 is fixedly installed on the upper surface of the connecting seat 2. A connecting component 13 is provided at the top of the rotating component 6. A robotic arm 8 is fixedly installed on the upper surface of the connecting component 13. The robotic arm 8 has a multi-joint structure and includes a large arm and a small arm that are hinged in sequence. Both the large arm and the small arm of the robotic arm 8 are equipped with built-in hydraulic drive devices. The hydraulic drive devices are connected to the hydraulic pump inside the four-legged walking mechanism 1 through oil pipes. An explosive disposal device 9 is fixedly installed at the output end of the robotic arm 8. The explosive disposal device 9 adopts any one of the following explosive disposal devices: high-pressure water jet principle, mechanical crushing principle, and chemical principle. A detection block 10 is fixedly installed on the upper surface of the explosive disposal device 9. A high-precision camera 11 is fixedly mounted on the side. The quadrupedal walking mechanism 1 serves as the main support and movement unit of the robot, providing it with the ability to move in complex terrain. The connecting seat 2 is used to fix the rotating part 6, which can connect the quadrupedal walking mechanism 1 to the upper robotic arm 8 and other structures. The rotating part 6 can drive the connecting part 13 and the robotic arm 8 to adjust their angles, expanding the working range of the robotic arm 8. The multi-joint structure of the robotic arm 8, combined with the built-in hydraulic drive device, can achieve precise and flexible movements, accurately controlling the explosive disposal device 9 to handle explosives. The high-precision camera 11 is used to collect detailed images of explosives, providing intuitive information to remote operators and assisting in operational decisions. In addition, the electrical equipment in this application are all common electrical equipment in the prior art, and this application will not elaborate on their models or internal structures.

[0018] In a further embodiment, a sensing unit 3 is provided at one end of the quadrupedal walking mechanism 1. A chemical sensor 5 is fixedly installed on the upper surface of the sensing unit 3, and an infrared camera 4 is fixedly installed on one side of the sensing unit 3. A lidar 7 is fixedly installed at one end of the quadrupedal walking mechanism 1. Two sets of walking legs 12 are movably installed at the drive end of the quadrupedal walking mechanism 1. The sensing unit 3 is the core area for environmental perception. The chemical sensor 5 is used to detect the chemical components volatilized from explosives in the air to achieve early warning of explosives. The infrared camera 4 uses thermal imaging technology to identify the heat source information of surrounding objects in low light or dark environments to assist the robot in detecting obstacles and people. The lidar 7 emits lasers and receives reflected signals to construct a three-dimensional map of the environment, enabling the robot to navigate and avoid obstacles autonomously. The two sets of walking legs 12 are installed at the drive end of the quadrupedal walking mechanism 1. Through coordinated movement, the robot can move stably and flexibly on different terrains.

[0019] In a further embodiment, the rotating component 6 includes a servo motor 601 fixedly mounted on the upper surface of the connecting seat 2. A rotating shaft 603 is fixedly mounted on the output end of the servo motor 601. The top end of the rotating shaft 603 is fixedly mounted to the bottom end of the connecting component 13. A protective cover 602 is fixedly mounted on the upper surface of the connecting seat 2. A bearing ring 604 is fixedly embedded on the upper surface of the protective cover 602. The outer surface of the rotating shaft 603 is rotatably connected to the inner ring of the bearing ring 604. The rotating shaft 603 is driven to rotate by the servo motor 601, thereby driving the connecting component 13 and the robotic arm 8 to adjust their angles. The bearing ring 604 is embedded above the protective cover 602, which can reduce friction during rotation and ensure smooth rotation. The protective cover 602 protects the internal components such as the servo motor 601 from the influence of external environmental factors and ensures the stable operation of the rotating component 6.

[0020] The working principle of this utility model is as follows: First, the four-legged walking mechanism 1 and the walking legs 12 flexibly move to the location of the explosive. During the movement, the infrared camera 4 on the sensing unit 3 captures the heat source information of the surrounding objects in low light or dark environments using thermal imaging technology, which helps the robot identify potential obstacles or people. Meanwhile, the chemical sensor 5 detects in real time whether there are chemical components volatilized from the explosive in the air. Once the relevant components are detected, an early warning is sent to the control system.

[0021] Once the robot reaches the vicinity of the explosive, the rotating component 6 begins to operate, driving the connecting component 13 and the robotic arm 8 to adjust their angle and position, allowing the robotic arm 8 to flexibly approach the explosive. Then, the robotic arm 8 drives the explosive disposal device 9 to perform harmless treatment of the explosive. During the operation, the high-precision camera 11 on the detection block 10 transmits detailed images of the explosive to the remote operator in real time. The operator remotely controls the robotic arm 8 and the explosive disposal device 9 based on the images, using the high-definition image information provided by the high-precision camera 11 to accurately determine the structure and triggering device of the explosive, thereby safely and efficiently completing the bomb disposal task.

[0022] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0023] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An explosive ordnance disposal quadruped robot characterized by: The device includes a quadrupedal walking mechanism, a connecting seat fixedly mounted on the upper surface of the quadrupedal walking mechanism, a rotating component fixedly mounted on the upper surface of the connecting seat, a connecting component at the top of the rotating component, a robotic arm fixedly mounted on the upper surface of the connecting component, an explosive ordnance disposal device fixedly mounted on the output end of the robotic arm, a detection block fixedly mounted on the upper surface of the explosive ordnance disposal device, and a high-precision camera fixedly mounted on one side of the detection block.

2. The EOD quadruped robot according to claim 1, characterized in that: A sensing unit is provided at one end of the quadrupedal walking mechanism. A chemical sensor is fixedly installed on the upper surface of the sensing unit, and an infrared camera is fixedly installed on one side of the sensing unit.

3. The EOD quadruped robot according to claim 1, characterized in that: A lidar is fixedly installed at one end of the quadrupedal walking mechanism, and two sets of walking legs are movably installed at the drive end of the quadrupedal walking mechanism.

4. The EOD quadruped robot according to claim 1, characterized in that: The rotating component includes a servo motor fixedly mounted on the upper surface of the connecting seat, and a rotating shaft fixedly mounted on the output end of the servo motor. The top end of the rotating shaft is fixedly mounted to the bottom end of the connecting component.

5. The EOD quadruped robot according to claim 4, characterized in that: A protective cover is fixedly installed on the upper surface of the connecting seat, and a bearing ring is fixedly embedded on the upper surface of the protective cover. The outer surface of the rotating shaft is rotatably connected to the inner ring of the bearing ring.

6. The EOD quadruped robot according to claim 1, characterized in that: The robotic arm has a multi-joint structure, comprising a large arm and a small arm that are hinged together in sequence. Both the large arm and the small arm are equipped with built-in hydraulic drive devices, which are connected to the hydraulic pump inside the quadrupedal walking mechanism via oil pipes.

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