A rotating tower structure for an explosive ordnance disposal robot
Patent Information
- Application Number
- CN202522176273.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-15
- Publication Date
- 2026-09-29
- Estimated Expiration
- 2035-10-15
AI Technical Summary
[0005]为了弥补以上不足，本实用新型提供了一种排爆机器人用的旋转塔台结构，旨在改善了现有技术中目前国内排爆机器人塔台机构需要在带电状态下由电机驱动才能实现旋转运动，在断电条件下由于电机刹车或者传动机构自锁导致不能转动塔台的问题
[0013]1、本实用新型中，通过双轴控制电路板对电机的控制，配合齿轮、蜗杆、涡轮等传动部件实现机械臂的电动旋转，同时设置有电机六角扳手可在断电等特殊情况下手动驱动蜗轮蜗杆组件带动机械臂旋转，兼具电动控制的精准高效与手动操作的灵活便捷，适应不同工作场景需求，以及增加手动转动的机构，使得排爆机器人可以在断电的情况下通过使用工具，手动转动塔台解决排爆机器人在机械臂收缩打包状态下电池取放难的问题。
Smart Images
Figure CN224809553U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of bomb disposal robot technology, and in particular to a rotating tower structure for bomb disposal robots. Background Technology
[0002] A rotating tower typically consists of a mounting housing, a rotating platform, and a rotation drive mechanism. The mounting housing is installed on the chassis of the bomb disposal robot, providing support and protection; the rotating platform is mounted above the mounting housing and serves as the connection base for the robotic arm; the rotation drive mechanism is located inside the mounting housing and is generally driven by a motor, which rotates the rotating platform through a transmission device.
[0003] The rotating platform allows the robotic arm to rotate 360 degrees or more, enabling it to access and manipulate explosives from all directions. This enhances the bomb disposal robot's ability to operate in complex environments, allowing it to grasp and transfer explosives from different angles or perform other bomb disposal tasks. The rotating platform works in conjunction with the robotic arm's main arm, secondary arms, forearm, wrist arm, and gripper. One end of the main arm is hinged to the rotating platform. Through the rotation of the platform and the joint movements of the main arm, secondary arms, and forearm, the gripper can reach different positions and angles to perform precise operations. Simultaneously, the rotating platform can also coordinate with the bomb disposal robot's locomotion system, ensuring the robotic arm maintains a stable working posture during robot movement.
[0004] The rotating tower device used in bomb disposal robots has the following defects. Currently, the tower mechanism of domestic bomb disposal robots needs to be driven by a motor to achieve rotation when the power is on. Under the condition of power failure, the tower cannot be rotated due to the motor brake or the self-locking of the transmission mechanism, which makes it impossible to open the battery compartment and affect the battery loading and unloading. Therefore, it will affect the overall structural layout in the design of bomb disposal robots. To solve the above problems, a rotating tower structure for bomb disposal robots is proposed. Utility Model Content
[0005] To overcome the above deficiencies, this utility model provides a rotating tower structure for bomb disposal robots, aiming to improve the problem that the tower mechanism of domestic bomb disposal robots currently requires a motor to drive rotation when energized, and cannot rotate under power-off conditions due to motor braking or transmission mechanism self-locking.
[0006] To achieve the above objectives, this utility model adopts the following technical solution: a rotating tower structure for a bomb disposal robot, comprising a tower cover, a dual-axis control circuit board, and a tower top cover. The dual-axis control circuit board is fixedly installed on the bottom outer wall of the tower cover, and the tower top cover is snapped onto the bottom outer wall of the dual-axis control circuit board. A sixth hexagon socket head cap screw is threaded onto the top inner wall of the tower top cover. A tower worm gear assembly is fixedly installed on the bottom outer wall of the tower top cover. The bottom outer wall of the tower top cover contacts a lower tower cover, and the bottom inner wall of the lower tower cover is fixedly installed... The system is equipped with a star-shaped seal ring. A third bearing is fixedly connected to the top outer wall of the star-shaped seal ring. A lower tower shaft is fixedly installed on the top outer wall of the third bearing. A cylindrical pin is fixedly installed on the top outer wall of the lower tower shaft. A tower turbine is fixedly installed on the top outer wall of the cylindrical pin. A tower upper shaft is fixedly installed on the top outer wall of the tower turbine. A second internal hexagon countersunk screw is fixedly connected to the front outer wall of the tower upper cover. An O-ring is fixedly installed on the bottom inner wall of the tower upper cover. A second internal hexagon countersunk screw is fixedly installed on the bottom outer wall of the O-ring.
[0007] As a further description of the above technical solution: A gear cover is snapped onto the left outer wall of the tower worm gear assembly; a deep groove ball bearing is fixedly installed on the right inner wall of the gear cover; a gear one is fixedly installed on the right outer wall of the deep groove ball bearing; a third hexagon countersunk screw is fixedly installed on the right outer wall of the gear one; a motor base is fixedly installed on the right outer wall of the third hexagon countersunk screw; a flat key is fixedly installed on the right outer wall of the motor base; a first hexagon countersunk screw is fixedly installed on the right outer wall of the motor base; a gear cap is fixedly installed on the right outer wall of the first hexagon countersunk screw; and the gear cap has a... A worm gear is fixedly installed on the outer wall. A tower worm gear bracket is fixedly installed on the right outer wall of the worm gear. A motor is fixedly installed on the top outer wall of the tower worm gear bracket. A motor hex wrench is fixedly installed on the right outer wall of the motor. A motor shaft cover is fixedly installed on the right outer wall of the motor hex wrench. A second internal hex socket head cap screw is threaded onto the right inner wall of the motor shaft cover. A second gear is fixedly installed on the left outer wall of the first internal hex socket head cap screw. A third gear contacts the side outer wall of the second gear. A first bearing contacts the left outer wall of the third gear. A set screw is threaded onto the right inner wall of the gear cover.
[0008] As a further description of the above technical solution: a sealing cover is snapped onto the right inner wall of the tower top cover, a dust cover is snapped onto the front inner wall of the tower top cover, and a tower connector is fixedly installed on the rear inner wall of the dust cover.
[0009] As a further description of the above technical solution: the bottom inner wall of the tower cover is threaded with a fifth internal hexagon socket head cap screw, and the upper shaft of the tower contacts the bottom outer wall of the O-ring seal.
[0010] As a further description of the above technical solution: a fourth hexagon socket head cap screw is snapped into the left inner wall of the gear cover, a second bearing is fixedly installed on the bottom outer wall of the tower worm gear bracket, and a hexagon socket set screw is threaded into the right outer wall of the motor.
[0011] As a further description of the above technical solution: an encoder is fixedly installed on the outer right side of the tower worm gear support, and a seventh socket head cap screw is threadedly connected to the inner right side of the encoder.
[0012] This utility model has the following beneficial effects:
[0013] 1. In this utility model, the motor is controlled by a dual-axis control circuit board, and the electric rotation of the robotic arm is achieved in conjunction with transmission components such as gears, worm gears, and turbines. At the same time, a motor hex wrench is provided to manually drive the worm gear assembly to rotate the robotic arm in special circumstances such as power failure. It combines the precision and efficiency of electric control with the flexibility and convenience of manual operation, adapting to the needs of different working scenarios. The addition of a manual rotation mechanism allows the bomb disposal robot to solve the problem of battery access difficulty when the robotic arm is retracted and packed in the event of a power failure by manually rotating the tower using tools.
[0014] 2. In this utility model, by setting sealing and protective components such as sealing rings and dust covers, it is possible to effectively prevent dust, moisture and other impurities from entering the internal structure. At the same time, by using components such as bearings to reduce frictional resistance during transmission, it ensures the stability and smoothness of operation of each component and extends the service life of the device. Attached Figure Description
[0015] Figure 1 This is a schematic front view of the rotating tower structure for a bomb disposal robot proposed in this utility model.
[0016] Figure 2 This is a split diagram of a rotating tower structure for a bomb disposal robot proposed in this utility model;
[0017] Figure 3 This is a cross-sectional schematic diagram of a rotating tower structure for a bomb disposal robot proposed in this utility model.
[0018] Legend:
[0019] 1. Tower cover; 2. Dual-axis control circuit board; 3. Sixth socket head cap screw; 4. Tower upper cover; 5. Sealing cover; 6. Tower worm gear assembly; 7. Tower lower cover; 8. Fifth socket head cap screw; 9. Star seal; 10. Third bearing; 11. Tower lower shaft; 12. Cylindrical pin; 13. Tower turbine; 14. Tower upper shaft; 15. O-ring seal; 16. Second socket head cap countersunk screw; 17. Dust cover; 18. Tower connector; 19. Fourth socket head cap screw; 20. Gear cover; 21. Deep 21. Ball bearing; 22. Gear 1; 23. Third socket head cap countersunk screw; 24. Motor mount; 25. Key; 26. Motor; 27. Motor hex wrench; 28. Motor shaft cover; 29. Second socket head cap screw; 30. Socket head cap set screw; 31. Seventh socket head cap screw; 32. Encoder; 33. Tower worm gear bracket; 34. Second bearing; 35. Worm gear; 36. Gear cap; 37. First socket head cap countersunk screw; 38. Gear 2; 39. Gear 3; 40. First bearing; 41. Set screw. Detailed Implementation
[0020] 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.
[0021] Reference Figures 1-3This utility model provides an embodiment of a rotating tower structure for a bomb disposal robot, comprising a tower cover 1, a dual-axis control circuit board 2, and a tower upper cover 4. The dual-axis control circuit board 2 is fixedly installed on the bottom outer wall of the tower cover 1. The tower upper cover 4 is snapped onto the bottom outer wall of the dual-axis control circuit board 2. A sixth hexagon socket head cap screw 3 is threaded onto the top inner wall of the tower upper cover 4. A tower worm gear assembly 6 is fixedly installed on the bottom outer wall of the tower upper cover 4. A tower lower cover 7 contacts the bottom outer wall of the tower upper cover 4. The tower lower cover 7 and the tower upper cover 4 cooperate to form a closed space, protecting internal components such as the tower turbine 13 and the tower lower shaft 11. A star-shaped sealing ring 9 is fixedly installed on the bottom inner wall of the tower lower cover 7. A third bearing 10 is fixedly connected to the top outer wall of the star-shaped seal ring 9. A lower tower shaft 11 is fixedly installed on the top outer wall of the third bearing 10. A cylindrical pin 12 is fixedly installed on the top outer wall of the lower tower shaft 11. A tower turbine 13 is fixedly installed on the top outer wall of the cylindrical pin 12. A tower upper shaft 14 is fixedly installed on the top outer wall of the tower turbine 13. A second internal hexagon countersunk screw 16 is fixedly connected to the front outer wall of the tower upper cover 4. The second internal hexagon countersunk screw 16 is used to fix the relevant components to the front outer wall of the tower upper cover 4 to ensure the firmness of the connection. An O-ring 15 is fixedly installed on the bottom inner wall of the tower upper cover 4. A second internal hexagon countersunk screw 16 is fixedly installed on the bottom outer wall of the O-ring 15.
[0022] Reference Figures 1-3 A sealing cover 5 is snapped onto the inner right side of the tower top cover 4. The sealing cover 5 can seal and protect the opening on the right side of the tower top cover 4 to prevent impurities from entering. It can also be removed when manual operation is required. A dust cover 17 is snapped onto the inner front side of the tower top cover 4. A tower connector 18 is fixedly installed on the inner rear side of the dust cover 17. A fifth internal hexagon socket head cap screw 8 is threaded onto the inner bottom of the tower bottom cover 7. The tower top shaft 14 contacts the outer bottom of the O-ring seal 15.
[0023] Reference Figures 1-3A gear cover 20 is snapped onto the left outer wall of the tower worm gear assembly 6. A deep groove ball bearing 21 is fixedly installed on the right inner wall of the gear cover 20. A gear 22 is fixedly installed on the right outer wall of the deep groove ball bearing 21. A third hexagon countersunk screw 23 is fixedly installed on the right outer wall of the gear 22. A motor base 24 is fixedly installed on the right outer wall of the third hexagon countersunk screw 23. The motor base 24 provides a mounting foundation for the motor 26, fixing the motor 26 in a suitable position to ensure the stable operation of the motor 26. A flat key 2 is fixedly installed on the right outer wall of the motor base 24. 5. A first hexagon countersunk head screw 37 is fixedly installed on the right outer wall of the motor base 24. A gear cap 36 is fixedly installed on the right outer wall of the first hexagon countersunk head screw 37. The gear cap 36 protects the gears and other components, preventing foreign objects from entering the gear meshing part and protecting the gears. A worm gear 35 is fixedly installed on the right outer wall of the gear cap 36. A tower worm gear bracket 33 is fixedly installed on the right outer wall of the worm gear 35. A motor 26 is fixedly installed on the top outer wall of the tower worm gear bracket 33. The motor 26 is the power source of the entire rotating tower structure and can provide rotation. The power source drives the worm gear 35 to rotate via gear transmission or other means. A motor hex wrench 27 is fixedly installed on the right outer wall of the motor 26. A motor shaft cover 28 is fixedly installed on the right outer wall of the motor hex wrench 27. A second internal hex socket head cap screw 29 is threadedly connected to the right inner wall of the motor shaft cover 28. A gear 2 38 is fixedly installed on the left outer wall of the first internal hex socket countersunk screw 37. A gear 39 is in contact with the side outer wall of gear 2 38. A first bearing 40 is in contact with the left outer wall of gear 39. A set screw is threadedly connected to the right inner wall of the gear cover 20. 41. A fourth hexagon socket head cap screw 19 is snapped into the left inner wall of the gear cover 20. A second bearing 34 is fixedly installed on the bottom outer wall of the tower worm gear bracket 33. A hexagon socket set screw 30 is threaded into the right outer wall of the motor 26. An encoder 32 is fixedly installed on the right outer wall of the tower worm gear bracket 33. The encoder 32 can detect parameters such as the rotation angle and speed of the motor 26 or related components and feed the signal back to the dual-axis control circuit board 2 to achieve precise control. A seventh hexagon socket head cap screw 31 is threaded into the right inner wall of the encoder 32.
[0024] Working principle: When powered on, the bomb disposal robot tower is controlled by a dual-axis control circuit board. Motor 26 drives gears 38 (second), 39 (third), and 22 (first) to the worm gear 35, which in turn drives the tower turbine 13, rotating the lower tower shaft 11 and the upper tower shaft 14, thus rotating the robotic arm. When the power is off or the battery needs to be removed for packaging, the sealing cover 5 can be removed. Using a tool, the hex wrench 27 (motor) can be turned manually to rotate the self-locking worm gear assembly 35, thereby rotating the robotic arm.
[0025] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present 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 embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A rotating tower structure for a bomb disposal robot, comprising a tower cover (1), a dual-axis control circuit board (2), and a tower top cover (4), characterized in that: The dual-axis control circuit board (2) is fixedly installed on the bottom outer wall of the tower cover (1). The tower top cover (4) is snapped onto the bottom outer wall of the dual-axis control circuit board (2). The top inner wall of the tower top cover (4) is threaded with a sixth internal hexagon socket head cap screw (3). The bottom outer wall of the tower top cover (4) is fixedly installed with a tower worm gear assembly (6). The bottom outer wall of the tower top cover (4) contacts the tower bottom cover (7). The bottom inner wall of the tower bottom cover (7) is fixedly installed with a star-shaped sealing ring (9). The top outer wall of the star-shaped sealing ring (9) is fixedly connected with a third bearing (10). The third shaft... A tower lower shaft (11) is fixedly installed on the top outer wall of the bearing (10). A cylindrical pin (12) is fixedly installed on the top outer wall of the tower lower shaft (11). A tower turbine (13) is fixedly installed on the top outer wall of the cylindrical pin (12). A tower upper shaft (14) is fixedly installed on the top outer wall of the tower turbine (13). A second internal hexagon countersunk screw (16) is fixedly connected to the front outer wall of the tower upper cover (4). An O-ring seal (15) is fixedly installed on the bottom inner wall of the tower upper cover (4). A second internal hexagon countersunk screw (16) is fixedly installed on the bottom outer wall of the O-ring seal (15).
2. The rotating tower structure for a bomb disposal robot according to claim 1, characterized in that: A gear cover (20) is snapped onto the left outer wall of the tower worm gear assembly (6). A deep groove ball bearing (21) is fixedly installed on the right inner wall of the gear cover (20). A gear (22) is fixedly installed on the right outer wall of the deep groove ball bearing (21). A third internal hexagon countersunk screw (23) is fixedly installed on the right outer wall of the gear (22). A motor mount (24) is fixedly installed on the right outer wall of the third internal hexagon countersunk screw (23). A flat key (25) is fixedly installed on the right outer wall of the motor mount (24). A first internal hexagon countersunk screw (37) is fixedly installed on the right outer wall of the motor mount (24). A gear cap (36) is fixedly installed on the right outer wall of the first internal hexagon countersunk screw (37). A worm gear (35) is fixedly installed on the right outer wall of the gear cap (36). The worm gear (35) is fixedly mounted on the right outer wall of the tower worm gear bracket (33). The top outer wall of the tower worm gear bracket (33) is fixedly mounted on the motor (26). The right outer wall of the motor (26) is fixedly mounted on the motor hex wrench (27). The right outer wall of the motor hex wrench (27) is fixedly mounted on the motor shaft cover (28). The right inner wall of the motor shaft cover (28) is threaded with a second internal hex socket head cap screw (29). The left outer wall of the first internal hex socket countersunk screw (37) is fixedly mounted with a second gear (38). The side outer wall of the second gear (38) contacts a third gear (39). The left outer wall of the third gear (39) contacts a first bearing (40). The right inner wall of the gear cover (20) is threaded with a set screw (41).
3. The rotating tower structure for a bomb disposal robot according to claim 1, characterized in that: A sealing cover (5) is snapped onto the inner right side of the tower top cover (4), a dust cover (17) is snapped onto the inner front side of the tower top cover (4), and a tower connector (18) is fixedly installed on the inner rear side of the dust cover (17).
4. The rotating tower structure for a bomb disposal robot according to claim 1, characterized in that: The bottom inner wall of the tower base cover (7) is threaded with a fifth internal hexagonal head screw (8), and the tower top shaft (14) contacts the bottom outer wall of the O-ring seal (15).
5. The rotating tower structure for a bomb disposal robot according to claim 2, characterized in that: The gear cover (20) has a fourth hexagon socket head cap screw (19) snapped into the left inner wall, the tower worm gear bracket (33) has a second bearing (34) fixedly installed on the bottom outer wall, and the motor (26) has a hexagon socket set screw (30) threaded into the right outer wall.
6. The rotating tower structure for a bomb disposal robot according to claim 2, characterized in that: An encoder (32) is fixedly installed on the outer right side of the tower worm gear support (33), and a seventh internal hexagon head screw (31) is threadedly connected to the inner right side of the encoder (32).