CN217552402U - An indoor bomb disposal robot - Google Patents

Abstract

The utility model relates to the field of bomb disposal robots, in particular to an indoor bomb disposal robot. Including a body, the body is provided with a component mounting plate, the component mounting plate is provided with a control element, one end of the component mounting plate is provided with a mechanical arm mounting seat, and four track wheel mounting seats are provided under the body, Two of the track wheel mounting seats are provided with a track wheel motor on one side, and the other side of the track wheel mounting seat is provided with an active track wheel, and the side of the active track wheel far from the track wheel mounting seat is provided with an obstacle-crossing track active The other two track wheel mounting bases are provided with driven track wheels on one side. The utility model provides an indoor bomb disposal robot in which the cable lines of the bomb disposal robot are all stored in the component compartment, the operation of the mechanical arm is not affected, the mechanical arm structure is simple, the hollowing method is used, the weight is reduced, and the center of gravity of the fuselage is not affected.

Description

An indoor bomb disposal robot

technical field

The utility model relates to the field of bomb disposal robots, in particular to an indoor bomb disposal robot.

Background technique

A bomb disposal robot is a robot that can be remotely operated to defuse bombs, because the operator uses remote control to defuse bombs, so that personnel can be far away from suspected explosives for bomb disposal work, which can reduce casualties once the bomb explodes. The original bomb disposal robot Many rope controls are required, but as technology advances, telecommunication cables can be used to transmit commands to the robot's electronic system. Existing indoor bomb disposal robots are complex in structure, with many wires exposed, which can easily affect the bomb disposal, and the bomb disposal The weight of the robotic arm of the robot is too large, which easily affects the center of gravity of the robot, which may cause the body to shake during bomb disposal and affect the bomb disposal work.

Utility model content

In order to solve the problems existing in the background technology, the utility model provides that the cable lines of the bomb disposal robot are all stored in the component compartment, which does not affect the operation of the mechanical arm. An indoor bomb disposal robot.

The technical solution provided by the utility model is an indoor bomb disposal robot, which is characterized in that it comprises a body, a component mounting plate is provided on the body, a control element is provided on the component mounting plate, and one end of the component mounting plate is provided with a control element. There are mechanical arm mounts, four track wheel mounts are arranged under the body, two of the track wheel mounts are provided with a track wheel motor on one side, and the other side of the track wheel mount is provided with an active track wheel One side of the active track wheel away from the track wheel mounting seat is provided with an obstacle-surmounting track driving wheel, and one side of the other two track wheel mounting seats is provided with driven track wheels.

The vehicle body is provided with an obstacle-surmounting track driven wheel installation rod, one end of the obstacle-surmounting track driven wheel mounting rod is provided with an obstacle-surmounting track driven wheel, and an avoidance track is provided between the obstacle-surmounting track driving wheel and the obstacle-surmounting track driven wheel. Obstructed track.

A flat crawler is arranged between the driving track wheel and the driven track wheel, a robot arm rotating chassis is arranged on the mechanical arm mounting seat, and a robot arm base is arranged above the robot arm rotating chassis.

The base of the manipulator is provided with a base rotating steering gear, one side of the base of the manipulator is provided with a manipulator control steering gear 1, and a manipulator segment 1 is arranged in the base of the manipulator.

One end of the robotic arm section is provided with a second robotic arm section, and one end of the robotic arm section is provided with a second robotic arm control steering gear. Bolt one connection.

The second manipulator section is provided with a manipulator section 3 at one end away from the manipulator section, and the manipulator section 2 is provided with a manipulator control steering gear at one end away from the manipulator section, and the manipulator arm controls the steering gear The third rudder plate and the third manipulator arm section are connected by two bolts.

The mechanical arm controls the steering gear 3 with a mechanical claw, and the mechanical arm controls the steering gear 3 with a mechanical claw rotating steering gear, and the mechanical claw rotating steering gear and the mechanical claw are connected by three bolts, The mechanical claw is provided with a mechanical claw control ring, both sides of the mechanical claw control ring are provided with clamping claws, and the two ends of the mechanical claw control ring are respectively connected with the clamping claws on both sides by four bolts. One side of the mechanical claw is provided with a gripper control steering gear, and the gripper gripper control steering gear rudder plate and the mechanical gripper control ring are connected by bolts.

The beneficial effects of the present utility model:

The utility model provides that when moving, the crawler wheel motor rotates to drive the obstacle avoidance crawler belt and the leveling crawler belt, so that the body can move, and the obstacle avoidance crawler can drive the body to overcome obstacles when encountering obstacles. The mechanical arm is divided into three sections, each The sections are controlled by the steering gear. There are mechanical claws on the third section of the manipulator arm. The two gripping claws are connected to both sides of the mechanical gripper control ring. A relaxing indoor bomb disposal robot.

Description of drawings

Fig. 1 is the overall structure schematic diagram of a kind of indoor bomb disposal robot of the present utility model

Figure 2 is a right side view of an indoor bomb disposal robot of the present invention

FIG. 3 is a schematic diagram of the mechanical arm structure of an indoor bomb disposal robot of the present invention.

(1. Body; 2. Component mounting plate; 3. Control element; 4. Robot arm mounting seat; 5. Track wheel mounting seat; 6. Track wheel motor; 7. Driving track wheel; 8. Driving wheel for obstacle crossing track; 9. Driven crawler wheel; 10. Driven wheel mounting rod; 11. Obstacle-surmounting crawler track; 12. Obstacle avoidance crawler; 13. Flat track; 14. Robotic arm rotating chassis; 15. Robotic arm base; 16. Base rotation Steering gear; 17. Robotic arm control steering gear 1; 18. Robotic arm segment 1; 19. Robotic arm segment 2; 20. Robotic arm control steering gear 2; 21. Robotic arm segment 3; 22. Robotic arm control steering gear 3 ;23, mechanical claw; 24, mechanical claw turning steering gear; 25, mechanical claw control ring; 26, gripper jaw; 27, gripper jaw control steering gear)

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings:

In order to solve the problem of the complex structure of the existing indoor bomb disposal robot, many wires are exposed, which is easy to affect the bomb disposal, and the mechanical arm of the bomb disposal robot is too heavy, which easily affects the center of gravity of the robot, which may cause the impact of the body shaking during bomb disposal. To solve the problems of bomb disposal, the present invention provides an indoor bomb disposal robot as shown in the figure, which is characterized in that it includes a body 1, and a component mounting plate 2 is arranged on the body 1, and a component mounting plate 2 is arranged on the component mounting plate 2. There is a control element 3, one end of the element mounting plate 2 is provided with a robotic arm mounting seat 4, and four track wheel mounting seats 5 are provided under the body 1, two of which are provided with a track on one side of the track wheel mounting seat 5 Wheel motor 6, the other side of the track wheel mounting seat 5 is provided with a driving track wheel 7, the side of the driving track wheel 7 away from the track wheel mounting seat 5 is provided with an obstacle-surmounting track driving wheel 8, and the other two tracks A driven crawler wheel 9 is provided on one side of the wheel mounting base 5 .

In the present invention, the vehicle body 1 is provided with an obstacle-surmounting track driven wheel installation rod 10, and one end of the obstacle-surmounting track driven wheel mounting rod 10 is provided with an obstacle-surmounting track driven wheel 11. An obstacle avoidance track 12 is provided between the obstacle track driven wheels 11 .

In the present invention, a flat track 13 is provided between the driving track wheel 7 and the driven track wheel 9 , the robotic arm mounting base 4 is provided with a robotic arm rotating chassis 14 , and a robotic arm rotating chassis 14 is provided above the robotic arm rotating chassis 14 . Robot arm base 15.

In the present invention, the base 15 of the manipulator is provided with a base rotating steering gear 16, one side of the base 15 of the manipulator is provided with a steering gear 17 for controlling the manipulator, and the base 15 of the manipulator is provided with a manipulator section 1 18.

In the utility model, one end of the mechanical arm section 18 is provided with a mechanical arm section 2 19, one end of the mechanical arm section 19 is provided with a mechanical arm control steering gear 2 20, and the mechanical arm control steering gear 2 20 is connected to the steering wheel. The manipulator section 18 is connected by bolts 1.

In the present invention, one end of the manipulator section 19 away from the manipulator section one 18 is provided with a manipulator section three 21, and one end of the manipulator section two 19 away from the manipulator section one 18 is provided with a manipulator control steering gear three 22 , the three steering plates of the robotic arm control steering gear and the robotic arm section three 21 are connected by two bolts.

In the present utility model, the mechanical arm control steering gear 22 is provided with a mechanical claw 23, the mechanical arm control steering gear 22 is provided with a mechanical claw rotating steering gear 24, and the mechanical claw rotating steering gear 24 is connected to the steering plate The mechanical claw 23 is connected by three bolts. The mechanical claw 23 is provided with a mechanical claw control ring 25, and both sides of the mechanical claw control ring 25 are provided with clamping claws 26. The two ends of the mechanical claw control ring 25 are respectively It is connected with the clamping jaws 26 on both sides by four bolts. One side of the mechanical jaw 23 is provided with a clamping jaw control steering gear 27. The clamping jaw control steering gear 27 and the mechanical jaw control ring 25 are connected by bolts. connect.

The working principle of the present utility model:

In the indoor bomb disposal robot of this embodiment, when moving, the crawler wheel motor 6 rotates to drive the obstacle avoidance crawler 12 and the leveling crawler 13, so that the body can move, and the obstacle avoidance crawler 12 can drive the body when encountering obstacles Over obstacles, the manipulator is divided into three sections, each of which is controlled by a steering gear. There are mechanical claws 23 on the third 21 of the manipulator arm section, and two grippers 26 are connected to both sides of the gripper control ring 25, and the steering gear is controlled by the gripper. 27 drives the mechanical claw control ring 25 to rotate, so that the clamping claw 26 is tightened and loosened.

The present invention and the embodiments thereof have been described above, and this description is not restrictive, and what is shown in the specific embodiments is only one of the embodiments of the present invention, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it, without departing from the purpose of the present invention, and without creatively designing the structural modes and embodiments similar to the technical scheme, all should belong to the protection of the present invention. scope.

Claims (7)

1. An indoor bomb disposal robot, characterized in that: it comprises a body (1), a component mounting plate (2) is provided on the body (1), and a control element (3) is provided on the component mounting plate (2). ), one end of the component mounting plate (2) is provided with a mechanical arm mounting seat (4), and four track wheel mounting seats (5) are provided under the body (1), two of which are provided with the track wheel mounting seats ( 5) A crawler wheel motor (6) is provided on one side, and a driving track wheel (7) is provided on the other side of the track wheel mounting seat (5), and the driving track wheel (7) is far away from the track wheel mounting seat (5) One side is provided with a driving wheel (8) for an obstacle-crossing track, and one side of the other two said track wheel mounting seats (5) is provided with a driven track wheel (9). 2. An indoor bomb disposal robot according to claim 1, characterized in that: the vehicle body (1) is provided with an obstacle-crossing track driven wheel mounting rod (10), and the obstacle-crossing track driven wheel mounting rod ( 10) One end is provided with an obstacle-surmounting crawler driven wheel (11), and an obstacle-avoiding crawler (12) is provided between the obstacle-surmounting crawler driving wheel (8) and the obstacle-surmounting crawler driven wheel (11). 3. An indoor bomb disposal robot according to claim 1, characterized in that: a flat crawler (13) is provided between the active crawler wheel (7) and the driven crawler wheel (9), and the mechanical arm A robotic arm rotating chassis (14) is arranged on the mounting seat (4), and a robotic arm base (15) is arranged above the robotic arm rotating chassis (14). 4. An indoor bomb disposal robot according to claim 3, characterized in that: a base rotation steering gear (16) is provided on the robotic arm base (15), and a side of the robotic arm base (15) is provided with a steering gear (16). There is a mechanical arm to control the steering gear one (17), and the mechanical arm base (15) is provided with a mechanical arm section one (18). 5. An indoor bomb disposal robot according to claim 4, characterized in that: one end of the robotic arm segment one (18) is provided with a robotic arm segment two (19), and one end of the robotic arm segment two (19) A second robotic arm control steering gear (20) is provided, the steering wheel of the robotic arm control steering gear two (20) and the robotic arm segment one (18) are connected by a bolt one. 6. An indoor bomb disposal robot according to claim 5, characterized in that: the end of the second robotic arm section (19) away from the first robotic arm section (18) is provided with a robotic arm section three (21), the On the end of the robotic arm section two (19) away from the robotic arm section one (18), there is a robotic arm control steering gear three (22), the robotic arm controls the steering gear three (22), the steering plate and the robotic arm section three (21) Connected by two bolts. 7. An indoor bomb disposal robot according to claim 6, characterized in that: a mechanical claw (23) is provided on the third (22) of the robotic arm control steering gear, and the robotic arm controls the third steering gear (22). ) is provided with a mechanical claw rotating steering gear (24), the rudder plate of the mechanical claw rotating steering gear (24) and the mechanical claw (23) are connected by three bolts, and the mechanical claw (23) is provided with a mechanical claw A control ring (25), both sides of the mechanical claw control ring (25) are provided with clamping claws (26), and both ends of the mechanical claw control ring (25) pass between the clamping claws (26) on both sides respectively Four bolts are connected, one side of the mechanical claw (23) is provided with a gripper control steering gear (27), and the gripper control steering gear (27) rudder plate and the mechanical gripper control ring (25) are connected by bolts.

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