CN107121018A - Full landform clearance Land mine removing apparatus - Google Patents
Full landform clearance Land mine removing apparatus Download PDFInfo
- Publication number
- CN107121018A CN107121018A CN201710546995.5A CN201710546995A CN107121018A CN 107121018 A CN107121018 A CN 107121018A CN 201710546995 A CN201710546995 A CN 201710546995A CN 107121018 A CN107121018 A CN 107121018A
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- CN
- China
- Prior art keywords
- clearance
- mines
- removal
- rotary table
- supporting plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
- F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
- F41H11/20—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-penetrating elements, e.g. with means for removing buried landmines from the soil
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of full landform clearance Land mine removing apparatus, including traveling supporting plate, two main Caterpillar transmission mechanisms, four secondary track transmission mechanisms, the traveling supporting plate is provided with a rotary table, the rotary table be connected with the steering wheel in traveling supporting plate, make its can 360 ° of rotations, the rotary table is provided with clearance mechanism and mine-clearing agency.This clearance Land mine removing apparatus sets main Caterpillar transmission mechanism and secondary track transmission mechanism, make clearance Land mine removing apparatus wheeled in complicated landform, full ground form traveling, also set up clearance mechanism and mine-clearing agency, identification can be automatically positioned to the advanced row of land mine to be removed mines automatically again, change the mode of the complicated clearance such as existing artificial clearance, automated machine operation, clearance removal of mines efficiency high, effect are good, and security performance is high.
Description
Technical field
The present invention relates to a kind of clearance removal of mines equipment, and in particular to a kind of full landform clearance Land mine removing apparatus.
Background technology
Land mine is a kind of volatile weapon, can be laid in underground or ground with means in many ways, is constituted quick-fried
The barrier of fried property, can effectively kill enemy's effective strength, destroy its technology weapons, prevent enemy from taking action, thus in the whole world
Local war or conflict in, belligerent each side largely use land mine, the minepollution problem that resulting land mine is indiscriminately laid and used,
Belligerent countries' tract is caused to be lain waste, the people drift about aimlessly, and have had a strong impact on economic construction and the life of the people, as China is comprehensive
The enhancing of national power is closed, country progressively increases the humanitarian aid to minepollution country, therefore, and urgent requirement is improved and developed
Humanistic mine clearing technique and means.
So far, about clearance device or the method for the removal of mines has a lot, for example the artificial row's of searching method：This method is should
Widest traditional means are used, for ensureing thoroughly to clear land mines and other explosives；Mechanical work method：Use professional clearance
Mechanical such as chain hammer type mine-dredger, mine clearing plough and bull-dozer, hit, roll, turning over mine sweeping area soil, to reach the mesh cleared land mines
, this method can improve clearance speed, reduce clearance cost, reduce the casualty that hits a mine；Set on fire and ruin thunder method：Burn subtropical zone clump
Woods surface vegetation simultaneously burns the land mine and other explosives that are exposed to ground or shallow embedding or detonation by influence；The above method is to a certain degree
On can exclude mine fields, but postwar clearance can run into various complicated orographic condition, the left mine fields of such as war due to
Desolate and uninhabited, vegetation growth is luxuriant, the complexity landform such as especially more precipitous or similar terrace relief, and either manually the row of searching is still
Mechanical work, set on fire and ruin thunder method, be all difficult to the clearance removal of mines, and workload is big, complex operation, clearance removal of mines efficiency is low.
The content of the invention
In view of the deficienciess of the prior art, the present invention, which provides a kind of full ground form and swept, carrys out Land mine removing apparatus, the present apparatus can be certainly
The dynamic clearance removal of mines, automation apparatus operation, clearance removal of mines efficiency high, effect are good, while setting main Caterpillar transmission mechanism and auxiliary
Caterpillar transmission mechanism, landform can be travelled entirely.
In order to achieve the above object, the technical scheme that the present invention takes：
Full landform clearance Land mine removing apparatus, including traveling supporting plate, the both sides of the traveling supporting plate are arranged with two main shoes
Tape handler, the two main Athey wheels at two main Caterpillar transmission mechanisms two ends including main crawler belt, in main crawler belt, four main crawler belts
The side of wheel is connected an auxiliary shoe with the bidirectional, dc motor connection in traveling supporting plate, opposite side by shaft coupling
Tape handler, four secondary track transmission mechanisms include secondary track, in secondary track one end and with main Athey wheel
It is equipped with the synchronous Athey wheel of connection, the secondary track wheel connected by connecting shaft and synchronous Athey wheel, four secondary track wheels
One wheel bar and connected between the wheel bar of the traveling supporting plate both sides by connecting rod, two connecting rods with can be risen or
The steering wheel connection of decline；The traveling supporting plate is provided with a rotary table, and the rotary table positioned at traveling with supporting
On plate steering wheel connection, make its can 360 ° rotation, the rotary table be provided with clearance mechanism and mine-clearing agency, the clearance
Mechanism includes the clearance support on rotary table, the radar detector above clearance support and located at clearance support
The clearance inductor of front side, the mine-clearing agency includes on rotary table and vertically arranged removal of mines support arm, described
The top of removal of mines support arm is hinged with a mechanical arm that can be rotated about, and the end connection one of the mechanical arm is used for the row removed mines
Thunder pawl, the removal of mines support arm, mechanical arm, removal of mines pawl are the radar detector, clearance inductor, two by servos control
Bidirectional, dc motor, all steering wheels are connected with the intelligence control system on rotary table.
As optimal technical scheme, in order that gripper can free opening and closing, it is described so as to improve the effect and efficiency of the removal of mines
Mechanical arm is connected by two free gears with removal of mines pawl.
As optimal technical scheme, in order to increase the distance between removal of mines pawl and rotary table, so as to improve the removal of mines
Security, the mechanical arm includes some groups of connecting rods being hinged.
Compared with prior art, the device have the advantages that：
The 1st, main Caterpillar transmission mechanism and secondary track transmission mechanism are set, makes clearance Land mine removing apparatus wheeled in intricately
Shape, full ground form traveling, also sets up clearance mechanism and mine-clearing agency, and identification can be automatically positioned to the advanced row of land mine and is carried out again automatically
The removal of mines, changes the mode of the complicated clearance such as existing artificial clearance, and automated machine operation, clearance removal of mines efficiency high, effect are good, and
Security performance is high.
2nd, mechanical arm is connected by two free gears with removal of mines pawl, can make the free opening and closing of gripper, is conducive to improving and is removed mines
Effect and efficiency.
3rd, the structure setting of mechanical arm is scientific and reasonable, is effectively increased the distance between removal of mines pawl and rotary table, enters one
Step improves the security of the removal of mines.
Brief description of the drawings
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 is structural representation of the invention；
Fig. 2 is overlooking structure figure of the invention；
Fig. 3 is front view structure figure of the invention；
Drawing reference numeral：1st, supporting plate is travelled, 2, main Caterpillar transmission mechanism, 2-1, main crawler belt, 2-2, main Athey wheel, 3, two-way
Direct current generator, 4, secondary track transmission mechanism, 4-1, secondary track, 4-2, synchronous Athey wheel, 4-3, connecting shaft, 4-4, auxiliary are carried out
Belt wheel, 4-5, wheel bar, 4-6, connecting rod, 5, steering wheel, 6, rotary table, 7, clearance mechanism, 7-1, clearance support, 7-2, radar inspection
Survey device, 7-3, clearance inductor, 8, mine-clearing agency, 8-1, removal of mines support arm, 8-2, mechanical arm, 8-3, removal of mines pawl, 8-4, activity
Gear.
Embodiment
A kind of specific embodiment of the invention, full landform clearance Land mine removing apparatus, including traveling supporting plate 1 are proposed as shown in Figure 1,
The both sides of the traveling supporting plate 1 are arranged with two main Caterpillar transmission mechanisms 2, and two main Caterpillar transmission mechanisms 2 include main crawler belt
2-1, in main crawler belt 2-1 two ends two main Athey wheel 2-2, four main Athey wheel 2-2 side with positioned at traveling supporting plate 1
On bidirectional, dc motor 3 connect, opposite side by shaft coupling connect a secondary track transmission mechanism 4, four secondary tracks
Transmission mechanism 4 include secondary track 4-1, in secondary track 4-1 one end and with the synchronous crawler belt of main Athey wheel 2-2 connections
Take turns 4-2, be equipped with by connecting shaft 4-3 with secondary track the wheel 4-4, four secondary track wheel 4-4 of synchronous Athey wheel 4-2 connections
One wheel bar 4-5 and connected between the wheel bar 4-5 of traveling supporting plate 1 both sides by connecting rod 4-6, two connecting rod 4-6 with
The steering wheel 5 that can be risen or fallen is connected, i.e., two steering wheels 5 can be located at two secondary track wheel 4- in same horizontal line respectively
4 liftings are put down, and then drive main Caterpillar transmission mechanism 2 across complicated landform, such as more precipitous or similar stepped physical features
Complicated landform；The traveling supporting plate 1 is provided with a rotary table 6, and the rotary table 6 is with being located at traveling supporting plate 1
On steering wheel 5 connect, make its can 360 ° of rotations, the present embodiment sets 2 steering wheels to realize 360 ° of rotary table 6 rotations,
The rotary table 6 is provided with clearance mechanism 7 and mine-clearing agency 8, and the clearance mechanism 7 is included on rotary table 6
Clearance support 7-1, the radar detector 7-2 above clearance support 7-1 and the clearance sense on front side of clearance support 7-1
Answer device 7-3, the radar detector 7-2 mainly for detection of with the presence or absence of land mine, the clearance inductor 7-3 is mainly used in inspection
The position that identification land mine is present is surveyed, the mine-clearing agency 8 includes on rotary table 6 and vertically arranged removal of mines support
Arm 8-1, the removal of mines support arm 8-1 top are hinged with a mechanical arm 8-2 that can be rotated about, the end of the mechanical arm 8-2
The removal of mines pawl 8-3, the removal of mines support arm 8-1, mechanical arm 8-2, removal of mines pawl 8-3 that portion's connection one is used to remove mines are by steering wheel 5
Control, the present embodiment sets mechanical arm 8-2 to be controlled by two steering wheels 5, and removal of mines support arm 8-1, removal of mines pawl 8-3 are by a rudder
Machine 5 is controlled, i.e., the present embodiment sets eight steering wheels 5, the radar detector 7-2, clearance inductor 7-3, two bidirectional, dcs electricity
Machine 3, all steering wheels 5 are connected with the intelligence control system on rotary table 6.
The mechanical arm 8-2 is connected by two free gear 8-4 with removal of mines pawl 8-3, and gear drive is steady, gearratio is smart
Really, two free gear 8-4 forward or reverse are controlled by steering wheel 5, gripper 8-4 is easy to free opening and closing, so that the row of raising
The effect and efficiency of thunder.
The mechanical arm 8-2 includes some groups of connecting rods being hinged, and the present embodiment sets 3 groups, is effectively increased removal of mines pawl
The distance between 8-3 and rotary table 6, so as to improve the security of the removal of mines, extend the service life of clearance Land mine removing apparatus.
When the present invention is used：Clearance Land mine removing apparatus is even connected with the mains, radar detector 7-2 is detected with the presence of land mine
When, by clearance Land mine removing apparatus traveling in radar volume, level terrain, bidirectional, dc motor 3 controls 6 Caterpillar transmission mechanisms same
Walking is sailed, when if desired turning, the steering of intelligence control system 4 bidirectional, dc motors 3 of control or rotating speed, passes two main crawler belts
There is speed difference and carry out turning steering in motivation structure 2, if run into the complexity landform such as more precipitous or similar stepped physical features, intelligence
Control system starts control secondary track wheel 4-4 steering wheel 5, will travel two in the front and back end both sides same horizontal line of supporting plate 1
Secondary track wheel 4-4 is lifted, and then to main 2 one driving dynamics of Caterpillar transmission mechanism, clearance Land mine removing apparatus is travelled on entirely
Shape, driving range is wide；During clearance Land mine removing apparatus traveling, clearance inductor 7-3 carries out the position that sensing identification land mine is present
Put, signal is passed into intelligence control system, intelligence control system receives to be handled after signal and computing, start bidirectional, dc
Motor 3, makes clearance Land mine removing apparatus be travelled to land mine, reaches residing for land mine, intelligence control system starts rotary table 6, makes row
Thunder mechanism 8 is turned to carries out the automatic and accurate removal of mines with the side where land mine, the control removal of mines pawl of steering wheel 5 8-3.
Certainly, simply the preferred embodiments of the disclosure is described in detail with reference to accompanying drawing above, not with this
The practical range of the present invention is limited, the equivalence changes that all principles under this invention, construction and structure are made all should be covered by this
In the protection domain of invention.
Claims (3)
1. full landform clearance Land mine removing apparatus, it is characterised in that：Including traveling supporting plate (1), the both sides of the traveling supporting plate (1)
Two main Caterpillar transmission mechanisms (2) are arranged with, two main Caterpillar transmission mechanisms (2) include main crawler belt (2-1), located at main crawler belt
The two main Athey wheels (2-2) at (2-1) interior two ends, the sides of four main Athey wheels (2-2) with it is double in traveling supporting plate (1)
A secondary track transmission mechanism (4) is connected by shaft coupling to direct current generator (3) connection, opposite side, four secondary tracks are passed
Motivation structure (4) include secondary track (4-1), be connected located at secondary track (4-1) interior one end and with main Athey wheel (2-2) it is same
Stride belt wheel (4-2), the secondary track wheel (4-4) connected by connecting shaft (4-3) and synchronous Athey wheel (4-2), four auxiliary are carried out
A wheel bar (4-5) is equipped with belt wheel (4-4) and between the wheel bar (4-5) of described traveling supporting plate (1) both sides by even
Bar (4-6) is connected, and two connecting rods (4-6) are connected with the steering wheel (5) that can be risen or fallen；On the traveling supporting plate (1)
Provided with a rotary table (6), the rotary table (6) is connected with the steering wheel (5) in traveling supporting plate (1), makes it
Can 360 ° of rotations, the rotary table (6) is provided with clearance mechanism (7) and mine-clearing agency (8), and the clearance mechanism (7) is wrapped
Include the clearance support (7-1) on the rotary table (6), the radar detector (7-2) above clearance support (7-1) and
Clearance inductor (7-3) on front side of clearance support (7-1), the mine-clearing agency (8) includes being located at rotary table (6)
Upper and vertically arranged removal of mines support arm (8-1), the top of the removal of mines support arm (8-1) is hinged with one and can rotated about
Mechanical arm (8-2), the end connection one of the mechanical arm (8-2) is used for the removal of mines pawl (8-3) removed mines, the removal of mines support arm
(8-1), mechanical arm (8-2), removal of mines pawl (8-3) are controlled by steering wheel (5), the radar detector (7-2), clearance inductor
(7-3), two bidirectional, dc motors (3), all steering wheels (5) are connected with the intelligence control system on rotary table (6).
2. full landform clearance Land mine removing apparatus according to claim 1, it is characterised in that：The mechanical arm (8-2) passes through two
Free gear (8-4) is connected with removal of mines pawl (8-3).
3. full landform clearance Land mine removing apparatus according to claim 1, it is characterised in that：The mechanical arm (8-2) is if include
The dry group of connecting rod that is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710546995.5A CN107121018B (en) | 2017-07-06 | 2017-07-06 | Full landform clearance Land mine removing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710546995.5A CN107121018B (en) | 2017-07-06 | 2017-07-06 | Full landform clearance Land mine removing apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107121018A true CN107121018A (en) | 2017-09-01 |
| CN107121018B CN107121018B (en) | 2018-07-31 |
Family
ID=59730919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710546995.5A Expired - Fee Related CN107121018B (en) | 2017-07-06 | 2017-07-06 | Full landform clearance Land mine removing apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107121018B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380280A (en) * | 2017-09-06 | 2017-11-24 | 钦州学院 | The full landform robot running gear of double-crawler type |
| CN109696085A (en) * | 2019-02-17 | 2019-04-30 | 丁皇刚 | A kind of intelligence removal of mines robot |
| CN113758377A (en) * | 2020-05-19 | 2021-12-07 | 山河智能装备股份有限公司 | Integrated equipment for detecting and removing mines and method for detecting and removing mines |
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| CN201380887Y (en) * | 2009-03-27 | 2010-01-13 | 孝感三江航天红林模具制造有限公司 | Vehicle body chassis of robot |
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
| DE102015000871A1 (en) * | 2015-01-23 | 2016-08-11 | Mbda Deutschland Gmbh | Mine clearing machine and mine clearance method |
| JP2017090115A (en) * | 2015-11-05 | 2017-05-25 | 株式会社Ｉｈｉエアロスペース | Explosive Detection System |
| CN206891274U (en) * | 2017-07-06 | 2018-01-16 | 钦州学院 | Full landform clearance Land mine removing apparatus |
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- 2017-07-06 CN CN201710546995.5A patent/CN107121018B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101367207A (en) * | 2008-09-26 | 2009-02-18 | 郭长青 | Miniature self-service ground robot |
| CN201380887Y (en) * | 2009-03-27 | 2010-01-13 | 孝感三江航天红林模具制造有限公司 | Vehicle body chassis of robot |
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380280A (en) * | 2017-09-06 | 2017-11-24 | 钦州学院 | The full landform robot running gear of double-crawler type |
| CN109696085A (en) * | 2019-02-17 | 2019-04-30 | 丁皇刚 | A kind of intelligence removal of mines robot |
| CN113758377A (en) * | 2020-05-19 | 2021-12-07 | 山河智能装备股份有限公司 | Integrated equipment for detecting and removing mines and method for detecting and removing mines |
| CN113758377B (en) * | 2020-05-19 | 2023-05-16 | 山河智能装备股份有限公司 | Integrated equipment for detecting and discharging lightning and method for detecting and discharging lightning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107121018B (en) | 2018-07-31 |
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