CN108406793B - Intelligent explosion and danger eliminating robot - Google Patents
Intelligent explosion and danger eliminating robot Download PDFInfo
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- CN108406793B CN108406793B CN201810163292.9A CN201810163292A CN108406793B CN 108406793 B CN108406793 B CN 108406793B CN 201810163292 A CN201810163292 A CN 201810163292A CN 108406793 B CN108406793 B CN 108406793B
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- 238000004880 explosion Methods 0.000 title claims description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 42
- 238000004891 communication Methods 0.000 claims abstract description 8
- 239000002360 explosive Substances 0.000 claims abstract description 7
- 230000001681 protective effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000011221 initial treatment Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 238000002955 isolation Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000011282 treatment Methods 0.000 claims description 3
- 239000002699 waste material Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000008030 elimination Effects 0.000 description 4
- 238000003379 elimination reaction Methods 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000003570 air Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 231100000004 severe toxicity Toxicity 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses an intelligent explosion-removing danger-removing robot which comprises a chassis, wherein a transmission mechanism is arranged in the chassis, a travelling mechanism is arranged on the transmission mechanism, an image acquisition unit and an explosion-removing manipulator are arranged on the upper part of the chassis, a control box is arranged in the chassis, and the control box is electrically connected with the transmission mechanism, the travelling mechanism, the image acquisition mechanism and the explosion-removing manipulator. The traveling mechanism is driven by the triangular crawler belt, so that the structure is simple, the weight is light, the adaptability to complex terrains is strong, the obstacle crossing capability is strong, and the safety and reliability are high; the explosion-removing mechanical arm is an independent part, adopts multiple degrees of freedom, can have larger operation space under lighter weight, is flexible and mobile in explosion-removing and danger-removing, and has good maintainability; through wireless mode and operating personnel communication to having the image acquisition unit, operating personnel can in time obtain the field work condition, and regard as control, helping the robot to carry out more high-efficient, reliable explosive disposal operation.
Description
The technical field is as follows:
the invention relates to the technical field of intelligent robots, in particular to an intelligent explosion and danger eliminating robot.
Background art:
the robot for eliminating explosion and danger is also called as dangerous operation robot, and is used for replacing human beings to finish various operations under extremely dangerous environments such as severe toxicity, nuclear radiation and the like at first. It has been rapidly developed because it can replace human beings to perform dangerous works. With the high importance of the public utilities such as national security, social security and the like in various countries, the explosion and danger elimination robot which is characterized by anti-terrorism explosion elimination and danger elimination rescue develops rapidly. The present robots are classified according to their weight and size, and can be roughly classified into large-sized robots and small/micro-sized robots.
The traditional large-scale robot for removing explosion and danger has high task execution capacity, but has large volume and high weight, particularly, the traveling part of a large and medium-sized ground mobile robot mostly adopts a wheel-leg combined type, the rear part of the robot has enough large counter weight, the structure is large and complex, and the overweight of the rear part is not beneficial to the stability of the robot when the robot climbs over stairs; the small robot is poor in terrain adaptability due to small size, insufficient in operation capacity, capable of seriously impacting during descending stairs or steps and prone to overturning.
The invention content is as follows:
aiming at the defects of the prior art, the invention provides the intelligent explosion and danger eliminating robot which has the advantages of small volume, light weight, strong maneuverability and the like.
The technical solution of the invention is as follows:
the utility model provides an intelligence is arranged and is exploded danger elimination robot, its includes the chassis, and the inside on chassis is provided with drive mechanism, installs running gear on the drive mechanism, and the upper portion on chassis is provided with image acquisition unit and arranges and explode the manipulator, and the inside on chassis is provided with the control box, and the control box all is connected with drive mechanism, running gear, image acquisition mechanism and arrange and explode the manipulator electricity.
The chassis comprises a lower bottom box and an upper cover plate which are embedded from top to bottom, a transmission mechanism is contained in the lower bottom box, a sealing isolation plate is arranged above the transmission mechanism, a control box standby power supply, a wireless transmitter and an operation area are fixed on the upper part of the sealing isolation plate, the control box is provided with an independent power supply, and the control box standby power supply performs power supply operation under the condition of independent power supply failure or insufficient electric quantity; the control box is electrically connected with the wireless transmitter, and the wireless transmitter is in wireless communication with an operator.
The operation area comprises a sample primary treatment area, a sample storage area, a sample detection chamber, a waste sample treatment area and an operation robot, a temporary door is arranged on an upper cover plate above the operation area, and the explosive disposal mechanical arm is positioned beside the temporary door; the explosive-handling robot collects external samples, places the collected samples in the sample primary treatment area, operates the robot to perform primary operation on the samples in the sample primary treatment area, and further delivers the primarily treated samples to the sample storage area to wait for entering the sample detection chamber for detection operation.
Proximity switches are arranged on the front side and the rear side of the chassis respectively and are in wireless communication with the control box.
The walking mechanism comprises four walking units with the same structure and arranged on the transmission mechanism, the main body of each walking unit is a triangular support plate, two first belt wheels and one second belt wheel are respectively arranged at three vertex angles of the triangular support plate, a center wheel is arranged at the center of the triangular support plate, the center wheel is connected with the transmission mechanism, and the center wheel is in transmission connection with the second belt wheels through a conveyor belt; the outer sides of the two first belt wheels and the second belt wheel are sleeved with a walking crawler, and the inner side and the outer side of the walking crawler are respectively provided with meshing teeth meshed with the first belt wheels and the second belt wheels and walking teeth tightly clamped with the ground.
The second belt wheel and the first belt wheel are both belt wheels with teeth, wherein a groove is formed in the middle of the second belt wheel, anti-skidding teeth are arranged on the outer surface of the groove, and the conveying belt is sleeved in the groove and meshed with the anti-skidding teeth.
The triangular supporting plate is made of a stainless steel plate, and a plurality of strip-shaped through grooves are formed in the upper portion of the triangular supporting plate. The outer end faces of the first belt wheel and the second belt wheel are provided with obstacle induction switches, and the obstacle induction switches are electrically connected with the control box.
The image acquisition mechanism comprises an installation seat fixed above the upper cover plate, the installation seat is L-shaped and comprises a bottom plate and a vertical plate fixedly connected with the bottom plate, wherein a swing driving assembly is arranged above the bottom plate and comprises a servo motor, an output shaft of the servo motor is connected with a speed reducer through a coupler, an output shaft of the speed reducer is fixedly connected with a worm, a turbine meshed with the worm is arranged above the worm, and the turbine is fixedly connected with a swing shaft; a hollow sleeve is fixed on the vertical plate, a swing shaft penetrates through the hollow sleeve, and the image holder is fixedly connected with the swing shaft through a connecting flange.
The image holder comprises a swing arm, the swing arm is provided with a first arm and a second arm which are oppositely arranged, and first end parts of the first arm and the second arm are fixed on a swing shaft; the second end of first arm and second arm articulates and is connected with the mounting panel, and mounting panel upper portion is provided with rotatory transmission portion, and the upper end of rotatory transmission portion is fixed with image acquisition portion. Wherein, the below of mounting panel is provided with the pinion, and hollow sleeve's outside is provided with the gear wheel, and the transmission is provided with the connecting belt between pinion and the gear wheel, and the connecting belt passes through linking bridge and is connected with the mounting panel, and the gear wheel is connected with every single move driving motor transmission.
The rotary transmission part is a rotary gear rotatably arranged on the upper part of the mounting plate, the upper end of the rotary gear is fixedly connected with the image acquisition part, the side surface of the rotary gear is provided with a driving wheel which is meshed with the rotary gear, and the driving wheel is in transmission connection with the rotary motor.
The image acquisition part comprises a protective box body, an illuminating lamp is arranged above the protective box body, a fine adjustment support is arranged inside the protective box body, and a camera is arranged at the upper end of the fine adjustment support; the fine tuning support is provided with an X-direction moving module, a Y-direction moving module and a Z-direction moving module.
The explosive-handling manipulator comprises a mounting rack in a shape like a Chinese character 'ji', the lower portion of the mounting rack is connected with a rotary table, the rotary table is fixedly connected with an upper cover plate, the upper portion of the mounting rack is provided with a vertical support, the upper end of the vertical support is hinged with a swinging portion, the upper end of the swinging portion is connected with a manipulator support, a multi-degree-of-freedom manipulator is arranged on the manipulator support, the multi-degree-of-freedom manipulator is hidden in a protective cover above the manipulator support and can stretch out of the protective cover to conduct explosive-handling operation, and the multi-degree-of-freedom manipulator is provided with a power supply box.
The side of mounting bracket is provided with vibrating motor, and vibrating motor's top is provided with the vibration frame, and the middle part of vibration frame is hollow out construction, and hollow out construction's four frames are provided with rotatory brush, and rotatory brush can clear up the multi freedom manipulator.
The invention has the beneficial effects that: the traveling mechanism is driven by the triangular crawler belt, so that the structure is simple, the weight is light, the adaptability to complex terrains is strong, the obstacle crossing capability is strong, and the safety and reliability are high; the explosion-removing mechanical arm is an independent part, adopts multiple degrees of freedom, can have larger operation space under lighter weight, is flexible and mobile in explosion-removing and danger-removing, and has good maintainability; through wireless mode and operating personnel communication to having the image acquisition unit, operating personnel can in time obtain the field work condition, and regard as control, helping the robot to carry out more high-efficient, reliable explosive disposal operation.
Description of the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a walking unit;
FIG. 3 is a schematic structural view of a chassis;
FIG. 4 is a schematic structural diagram of an image acquisition unit;
FIG. 5 is a schematic structural diagram of the swing driving assembly;
fig. 6 is a schematic structural diagram of the explosive handling manipulator.
The specific implementation mode is as follows:
in order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1-6, an intelligent explosion-removing and danger-removing robot comprises a chassis 1, a transmission mechanism is arranged inside the chassis 1, a traveling mechanism 2 is installed on the transmission mechanism, an image acquisition unit 4 and an explosion-removing manipulator 3 are arranged on the upper portion of the chassis 1, a control box 14 is arranged inside the chassis 1, and the control box 14 is electrically connected with the transmission mechanism, the traveling mechanism 2, the image acquisition unit 4 and the explosion-removing manipulator 3.
The chassis 1 comprises a lower bottom box and an upper cover plate which are arranged in an up-down embedded mode, a transmission mechanism is contained in the lower bottom box, a sealing isolation plate is arranged above the transmission mechanism, a control box 14, a control box standby power supply 13, a wireless transmitter 11 and an operation area are fixed to the upper portion of the sealing isolation plate, the control box 14 is provided with an independent power supply, and the control box standby power supply 13 carries out power supply operation under the condition that the independent power supply fails or the electric quantity is insufficient; the control box 14 is electrically connected with a wireless transmitter, and the wireless transmitter 11 is in wireless communication with an operator; the operation area comprises a sample primary treatment area 16, a sample storage area 15, a sample detection chamber 12, a waste sample treatment area 17 and an operation robot, a temporary door is arranged on an upper cover plate above the operation area, and the explosion removing mechanical arm 3 is positioned beside the temporary door; the explosive-handling robot 3 collects external samples and places the collected samples in the sample primary processing area 16, and the operation robot performs primary operation on the samples in the sample primary processing area 16 and further delivers the primarily processed samples to the sample storage area 15 to wait for entering the sample detection chamber 12 for detection operation.
The traveling mechanism 2 comprises four traveling units with the same structure and arranged on a transmission mechanism, the main body of each traveling unit is a triangular support plate 20, two first belt wheels 23 and one second belt wheel 22 are respectively arranged at three vertex angles of the triangular support plate 20, a center wheel 21 is arranged at the center of the triangular support plate 20, the center wheel 21 is connected with the transmission mechanism, and the center wheel 21 and the second belt wheels 22 are in transmission connection through a conveyor belt 25; the outer sides of the two first belt wheels 23 and the second belt wheel 22 are sleeved with a walking crawler 24, and the inner side and the outer side of the walking crawler 24 are respectively provided with meshing teeth meshed with the first belt wheel 23 and the second belt wheel 22 and walking teeth gripped with the ground.
The second belt wheel 22 and the first belt wheel 23 are both belt wheels with teeth, wherein a groove is arranged in the middle of the second belt wheel 22, anti-skid teeth are arranged on the outer surface of the groove, and the conveyor belt 25 is sleeved in the groove and meshed with the anti-skid teeth.
The triangular support plate 20 is made of stainless steel plate, and a plurality of strip-shaped through grooves are formed in the upper portion of the triangular support plate. The outer end faces of the first belt wheel 23 and the second belt wheel 22 are provided with obstacle induction switches, and the obstacle induction switches are electrically connected with the control box.
The image acquisition mechanism 4 comprises an installation seat 41 fixed above the upper cover plate, the installation seat 41 is L-shaped and comprises a bottom plate and a vertical plate fixedly connected with the bottom plate, wherein a swing driving assembly 40 is arranged above the bottom plate, the swing driving assembly 40 comprises a servo motor 401, an output shaft of the servo motor 401 is connected with a speed reducer through a coupler, an output shaft of the speed reducer is fixedly connected with a worm 402, a turbine meshed with the worm 402 is arranged above the worm 401, and the turbine is fixedly connected with a swing shaft 403; a hollow sleeve is fixed on the vertical plate, a swing shaft penetrates through the hollow sleeve, and the image holder is fixedly connected with the swing shaft through a connecting flange 404.
The image holder comprises a swing arm 42, the swing arm 42 is provided with a first arm 421 and a second arm 422 which are oppositely arranged, and the first ends of the first arm 421 and the second arm 422 are fixed on a swing shaft; the second end parts of the first arm 421 and the second arm 422 are hinged with a mounting plate 44, the upper part of the mounting plate 44 is provided with a rotary transmission part 45, and the upper end of the rotary transmission part 45 is fixed with an image acquisition part.
Wherein, the below of mounting panel 44 is provided with the pinion, and the outside of hollow sleeve is provided with the gear wheel, and the transmission is provided with connecting belt 43 between pinion and gear wheel 431, and connecting belt 43 passes through linking bridge and is connected with mounting panel 44, and gear wheel 431 is connected with every single move driving motor transmission.
The rotary transmission part 45 is a rotary gear 461 rotatably mounted on the upper part of the mounting plate 44, the upper end of the rotary gear 461 is fixedly connected with the image acquisition part, a driving wheel 45 meshed with the rotary gear 461 is arranged on the side surface of the rotary gear 461, and the driving wheel 45 is in transmission connection with a rotary motor.
The image acquisition part comprises a protective box body 47, an illuminating lamp is arranged above the protective box body 47, a fine adjustment support 46 is arranged inside the protective box body 47, and a camera 48 is arranged at the upper end of the fine adjustment support 46; the fine-tuning support 46 has an X-direction moving module, a Y-direction moving module, and a Z-direction moving module.
The explosive-handling manipulator 3 comprises a mounting frame 33 in a shape like a Chinese character 'ji', the lower part of the mounting frame 33 is connected with a rotating table 35, the rotating table 35 is fixedly connected with an upper cover plate, the upper part of the mounting frame 33 is provided with a vertical support, the upper end of the vertical support is hinged with a swinging part 34, the upper end of the swinging part 34 is connected with a manipulator support 31, the manipulator support 31 is provided with a multi-degree-of-freedom manipulator, the multi-degree-of-freedom manipulator is hidden in a protective cover 30 above the manipulator support 31 and can extend out of the protective cover to carry out explosive-handling, and the multi-degree-of-freedom manipulator is provided with a power supply box 32.
The vibration motor 36 is arranged on the side face of the mounting frame 33, the vibration frame 37 is arranged above the vibration motor 36, the middle of the vibration frame 37 is of a hollow structure, the four frames of the hollow structure are provided with the rotary brushes 38, and the rotary brushes 38 can clean the multi-degree-of-freedom manipulator.
In the process of explosive disposal operation, the robot enters an explosive disposal operation field, due to the arrangement of the obstacle induction switch, the robot can avoid obstacles and climb over a complex terrain through the crawler travel mechanism, and the image acquisition unit arranged above the chassis can move, swing and rotate in multiple directions, so that the operation condition is accurately recorded and transmitted to an operator, and the operator can communicate with the control box in a wireless mode so as to control the operation of the control box; due to the arrangement of the operation area, the environmental parameters such as soil, air, water and the like in special occasions can be collected and processed, and the environmental parameters are provided for operators in a safe area.
The examples are intended to illustrate the invention, but not to limit it. The described embodiments may be modified by those skilled in the art without departing from the spirit and scope of the present invention, and therefore, the scope of the appended claims should be accorded the full scope of the invention as set forth in the appended claims.
Claims (4)
1. An intelligent explosion and danger removing robot is characterized by comprising a chassis (1), wherein a transmission mechanism is arranged inside the chassis (1), a traveling mechanism (2) is mounted on the transmission mechanism, an image acquisition mechanism (4) and an explosion removing mechanical arm (3) are arranged on the upper portion of the chassis (1), a control box (14) is arranged inside the chassis (1), and the control box (14) is electrically connected with the transmission mechanism, the traveling mechanism (2), the image acquisition mechanism (4) and the explosion removing mechanical arm (3);
the chassis (1) comprises a lower bottom box and an upper cover plate which are vertically embedded, a transmission mechanism is contained in the lower bottom box, a sealing isolation plate is arranged above the transmission mechanism, a control box (14), a control box standby power supply (13), a wireless transmitter (11) and an operation area are fixed on the upper portion of the sealing isolation plate, the control box (14) is provided with an independent power supply, and the control box standby power supply (13) performs power supply operation under the condition that the independent power supply fails or is insufficient in electric quantity; the control box (14) is electrically connected with the wireless transmitter, and the wireless transmitter (11) is in wireless communication with an operator;
the operation area comprises a sample primary processing area (16), a sample storage area (15), a sample detection chamber (12), a waste sample treatment area (17) and an operation robot, a temporary door is arranged on an upper cover plate above the operation area, and the explosive disposal mechanical arm (3) is positioned beside the temporary door; the explosive-handling mechanical arm (3) collects an external sample, the collected sample is placed in the sample primary treatment area (16), the operation robot performs primary operation on the sample in the sample primary treatment area (16), and further delivers the primarily processed sample to the sample storage area (15) to wait for entering the sample detection chamber (12) for detection operation;
the explosive-handling manipulator (3) comprises a mounting frame (33) in a shape like a Chinese character 'ji', the lower part of the mounting frame (33) is connected with a rotating table (35), the rotating table (35) is fixedly connected with an upper cover plate, the upper part of the mounting frame (33) is provided with a vertical support, the upper end of the vertical support is hinged with a swinging part (34), the upper end of the swinging part (34) is connected with a manipulator support (31), the manipulator support (31) is provided with a multi-degree-of-freedom manipulator, the multi-degree-of-freedom manipulator is hidden in a protective cover (30) above the manipulator support (31) and can extend out of the protective cover to carry out explosive-handling operation, and the multi-degree-freedom manipulator is provided with a power supply box (32); a vibration motor (36) is arranged on the side face of the mounting frame (33), a vibration frame (37) is arranged above the vibration motor (36), the middle of the vibration frame (37) is of a hollow structure, four frames of the hollow structure are provided with rotary brushes (38), and the rotary brushes (38) can clean the multi-degree-of-freedom manipulator;
the image acquisition mechanism (4) comprises an installation seat (41) fixed above the upper cover plate, the installation seat (41) is L-shaped and comprises a bottom plate and a vertical plate fixedly connected with the bottom plate, wherein a swing driving assembly (40) is arranged above the bottom plate, the swing driving assembly (40) comprises a servo motor (401), an output shaft of the servo motor (401) is connected with a speed reducer through a coupler, an output shaft of the speed reducer is fixedly connected with a worm (402), a turbine meshed with the worm (402) is arranged above the worm (402), and the turbine is fixedly connected with a swing shaft (403); a hollow sleeve is fixed on the vertical plate, a swing shaft penetrates through the hollow sleeve, and the image holder is fixedly connected with the swing shaft through a connecting flange (404);
the image holder comprises a swing arm (42), the swing arm (42) is provided with a first arm (421) and a second arm (422) which are oppositely arranged, and first ends of the first arm (421) and the second arm (422) are fixed on a swing shaft; the second end parts of the first arm (421) and the second arm (422) are hinged with a mounting plate (44), the upper part of the mounting plate (44) is provided with a rotary transmission part (45), and the upper end of the rotary transmission part (45) is fixed with an image acquisition part; a small gear is arranged below the mounting plate (44), a large gear is arranged on the outer side of the hollow sleeve, a connecting belt (43) is arranged between the small gear and the large gear (431) in a transmission manner, the connecting belt (43) is connected with the mounting plate (44) through a connecting support, and the large gear (431) is in transmission connection with the pitching driving motor; the rotary transmission part (45) is a rotary gear (461) rotatably mounted on the upper part of the mounting plate (44), the upper end of the rotary gear (461) is fixedly connected with the image acquisition part, a driving wheel meshed with the rotary gear (461) is arranged on the side surface of the rotary gear (461), and the driving wheel is in transmission connection with a rotary motor; the image acquisition part comprises a protective box body (47), an illuminating lamp is arranged above the protective box body (47), a fine adjustment support (46) is arranged inside the protective box body (47), and a camera (48) is arranged at the upper end of the fine adjustment support (46); the fine-tuning support (46) has an X-direction moving module, a Y-direction moving module, and a Z-direction moving module.
2. The intelligent explosion and danger eliminating robot of claim 1, wherein: the walking mechanism (2) comprises four walking units with the same structure arranged on the transmission mechanism, the main body of each walking unit is a triangular support plate (20), three vertex angles of the triangular support plate (20) are respectively provided with two first belt wheels (23) and one second belt wheel (22), the center of the triangular support plate (20) is provided with a center wheel (21), the center wheel (21) is connected with the transmission mechanism, and the center wheel (21) is in transmission connection with the second belt wheels (22) through a conveyor belt (25); the outer sides of the two first belt wheels (23) and the second belt wheel (22) are sleeved with a walking crawler (24), and the inner side and the outer side of the walking crawler (24) are respectively provided with meshing teeth meshed with the first belt wheels (23) and the second belt wheels (22) and walking teeth grasped with the ground.
3. The intelligent explosion and danger eliminating robot of claim 2, wherein: the second belt wheel (22) and the first belt wheel (23) are both belt wheels with teeth, wherein a groove is formed in the middle of the second belt wheel (22), anti-skidding teeth are arranged on the outer surface of the groove, and the conveyor belt (25) is sleeved in the groove and meshed with the anti-skidding teeth; the triangular support plate (20) is made of a stainless steel plate, and a plurality of strip-shaped through grooves are formed in the upper part of the triangular support plate; the outer end faces of the first belt wheel (23) and the second belt wheel (22) are provided with obstacle induction switches, and the obstacle induction switches are electrically connected with the control box.
4. The intelligent explosion and danger eliminating robot of claim 1, wherein: proximity switches (10) are respectively arranged on the front side and the rear side of the chassis (1), and the proximity switches (10) are in wireless communication with the control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163292.9A CN108406793B (en) | 2018-02-26 | 2018-02-26 | Intelligent explosion and danger eliminating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163292.9A CN108406793B (en) | 2018-02-26 | 2018-02-26 | Intelligent explosion and danger eliminating robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108406793A CN108406793A (en) | 2018-08-17 |
| CN108406793B true CN108406793B (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163292.9A Active CN108406793B (en) | 2018-02-26 | 2018-02-26 | Intelligent explosion and danger eliminating robot |
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| Country | Link |
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| CN (1) | CN108406793B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109667265A (en) * | 2019-02-25 | 2019-04-23 | 安徽建筑大学 | Hydraulic pile driver |
| CN114709759A (en) * | 2022-06-06 | 2022-07-05 | 山东尼采科技有限公司 | Laying device for submarine cable and working method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205345098U (en) * | 2016-01-23 | 2016-06-29 | 哈尔滨理工大学 | Robot is exploded to planet wheel -track belt row |
| CN106240662A (en) * | 2016-08-24 | 2016-12-21 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN107176218A (en) * | 2017-06-21 | 2017-09-19 | 北方智能装备有限公司 | Full landform crusing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140031977A1 (en) * | 2012-07-27 | 2014-01-30 | Engineering Services Inc. | Modular mobile robot |
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2018
- 2018-02-26 CN CN201810163292.9A patent/CN108406793B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205345098U (en) * | 2016-01-23 | 2016-06-29 | 哈尔滨理工大学 | Robot is exploded to planet wheel -track belt row |
| CN106240662A (en) * | 2016-08-24 | 2016-12-21 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN107176218A (en) * | 2017-06-21 | 2017-09-19 | 北方智能装备有限公司 | Full landform crusing robot |
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| CN108406793A (en) | 2018-08-17 |
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Inventor after: Hua Bing Inventor after: Fan Lingfeng Inventor before: Fan Lingfeng |
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Effective date of registration: 20211109 Address after: 272100 Kaiyuan Road, high tech Zone, Jining City, Shandong Province Applicant after: SHANDONG MINGDE GANGCHENG MACHINERY Co.,Ltd. Address before: 1202a, block C, building 2, software industry base, 1003 Keyuan Road, Yuehai street, Nanshan District, Shenzhen, Guangdong 518061 Applicant before: SHENZHEN DAVINCI INNOVATION TECHNOLOGY Co.,Ltd. |
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Denomination of invention: An intelligent explosion and danger elimination robot Effective date of registration: 20221230 Granted publication date: 20211126 Pledgee: China Postal Savings Bank Co.,Ltd. Jining Branch Pledgor: SHANDONG MINGDE GANGCHENG MACHINERY Co.,Ltd. Registration number: Y2022980029823 |