CN207256259U - Airport explosive-removal robot - Google Patents
Airport explosive-removal robot Download PDFInfo
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- CN207256259U CN207256259U CN201721213875.5U CN201721213875U CN207256259U CN 207256259 U CN207256259 U CN 207256259U CN 201721213875 U CN201721213875 U CN 201721213875U CN 207256259 U CN207256259 U CN 207256259U
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- unmanned plane
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Abstract
The utility model is a kind of airport explosive-removal robot.It includes car body, advance system, mechanical arm system, unmanned plane；The mechanical arm system includes the first six degree of freedom arm mechanism, the second six degree of freedom arm mechanism；The car body includes chassis, master controller, both hands arm mounting platform, unmanned plane airplane parking area; the master controller is fixed in the chassis, and the master controller includes the first data transmit-receive module, microprocessor, the data processor being connected respectively with the microprocessor, image recognition processing module, gps data processing module, arm power train control module, body powered control module and energy supply control module；The data processor is connected with described image recognition processing module, gps data processing module and the first data transmit-receive module respectively.The utility model can either large area carry out danger investigation, and can quickly walk in hazardous environment, steadily carry explosive, harm of the isolation hazardous environment to airport personnel.
Description
Technical field
A kind of explosive-removal robot is the utility model is related to, particularly discloses a kind of airport explosive-removal robot.
Background technology
Aircraft selects aircraft for convenience as the vehicles relatively conventional now, more and more people's trip, thus
The flow of the people on airport is larger, once the hazard events such as explosion occur, can bring about immeasurable injures and deaths and loss.
Explosive-removal robot is explosive for the progress of Various Complex landform, is carried instead of explosive personnel, transfer suspicious explosive product
And other harmful dangerous material, Explosive Ordnance Demolition device destruction of bomb is used instead of explosive personnel, is surveyed on the spot instead of on-the-spot security inspection personnel
Examine, real-time Transmission image scene, so as to reduce the generation of the hazard events such as explosion and reduce the wound of personnel as far as possible
Die and lose.
But although existing explosive-removal robot can also be positioned in real time at present, hazardous environment is investigated, still
So there are many places not reconnoitre, still remain very big security risk.
In order to preferably maintain social stability and public place safety, thus need for this large-scale place research in airport
Go out a kind of airport explosive-removal robot.
The content of the invention
The purpose of this utility model is that solve problems of the prior art, there is provided it is a kind of can either large area into
The dangerous investigation of row, and can quickly walk in hazardous environment, explosive is steadily carried, isolation hazardous environment is to airport personnel
The airport explosive-removal robot of harm.
The utility model is realized in this way：A kind of airport explosive-removal robot, including car body, advance system, mechanical arm system
System, unmanned plane；It is characterized in that：The mechanical arm system includes the first six degree of freedom arm mechanism, the second six degree of freedom arm
Mechanism；
The car body includes chassis, master controller, both hands arm mounting platform, the unmanned plane shutdown for stopping unmanned plane
Level ground, the master controller are fixed in the chassis, and the master controller includes the first data transmit-receive module, microprocessor, divides
The data processor that is not connected with the microprocessor, image recognition processing module, gps data processing module, arm power control
Molding block, body powered control module and energy supply control module, the energy supply control module are equipped with charging circuit；The data
Processor is connected with described image recognition processing module, gps data processing module and the first data transmit-receive module respectively；The hand
Arm power train control module passes through the reducing gear being separately positioned in the both hands arm mounting platform and first six degree of freedom
Arm mechanism, the second six degree of freedom arm mechanism are connected；The body powered control module is connected with the advance system；
The unmanned plane include unmanned aerial vehicle (UAV) control module, unmanned plane photographing module, GPS module, the second data transmit-receive module,
Charging module, the unmanned aerial vehicle (UAV) control module are connected with unmanned plane photographing module, GPS module and the charging module respectively, institute
The second data transmit-receive module is stated with the first data transmit-receive module wireless telecommunications to be connected；
The both hands arm mounting platform is fixed on the top surface first half on the chassis, and the unmanned plane airplane parking area is fixed on institute
The top surface for stating chassis is latter half of；The first six degree of freedom arm mechanism and the second six degree of freedom arm mechanism are respectively by described
Reducing gear is fixed on the both hands arm mounting platform.
Lifting clouds terrace system is further included, the lifting clouds terrace system includes lifting assembly, holder photographing module；The master control
Device processed further includes the holder elevating control module being connected respectively with the microprocessor and lifting assembly；The holder photographing module
It is connected with described image recognition processing module；The lifting assembly is fixed on the chassis, and the holder photographing module is located at
The top of the lifting assembly.
The lifting assembly include base, electric pushrod, lifting connection clip, interior elevating lever, outer elevating lever, sliding bearing,
The bottom of head seat, the bottom of the electric pushrod and outer elevating lever is separately fixed on the base, the interior elevating lever position
It is connected inside the outer elevating lever and by the sliding bearing with the outer elevating lever, the upper end of the interior elevating lever passes through
The lifting connection clip is connected with the upper end of the electric pushrod, and the electric pushrod drives the interior elevating lever along the outer liter
Drop bar moves up and down, and the head seat is fixed on the top of the interior elevating lever, and the holder photographing module is fixed on the cloud
On pedestal.
The unmanned plane airplane parking area is equipped with the unmanned plane clamping device for clamping unmanned plane, for detecting unmanned plane
The no unmanned plane inductor rested on unmanned plane airplane parking area and respectively with unmanned plane clamping device, unmanned plane inductor phase
Signal processor even, the signal processor are also connected with the microprocessor, the unmanned plane clamping device or unmanned plane
Airplane parking area is equipped with the charging output port being connected with the charging circuit, and the unmanned plane is equipped with and the charging output terminal
The matched charging input end mouth of mouth, the charging input end mouth are connected with the charging module；The bottom of the unmanned plane is set
Have and the matched undercarriage of the clamping device.
The unmanned plane clamping device includes the clamping driving motor being connected with the signal processor, the clamping driving
The both ends of motor are respectively equipped with power output end, and the power output end is equipped with a pair can be along the axis of the power output end
Opposite tightening or geometrical clamp separated opposite to each other.
The charging output port is fixed with the geometrical clamp, the charging input end mouth is fixed on the undercarriage
On.
The front end of the second six degree of freedom arm is equipped with shock bracket, the shock bracket be equipped with laser sight and
The exciter being connected with laser sight.
The first six degree of freedom arm mechanism is the big machinery arm of the kg of heavy burden 10kg ~ 50, second six degree of freedom
Arm is the small-sized machine arm of heavy burden 3 kg ~ 8kg.
The front end on the chassis is equipped with chipping.
The reducing gear includes planetary reducing motor, worm-gear speed reducer, absolute encoder, connecting flange, described
The input terminal of planetary reducing motor is connected with the arm power train control module, the output terminal of the planetary reducing motor with it is described
The rear end of the worm screw of worm-gear speed reducer is connected, the front end of the worm screw of the worm-gear speed reducer and the absolute encoder
It is connected, the worm gear end of the worm-gear speed reducer is connected with the connecting flange, and the connecting flange and the described 1st is certainly
It is connected by degree arm mechanism or the second six degree of freedom arm mechanism.
The absolute encoder is by controlling the worm screw rotational angle of the worm-gear speed reducer, further described in control
The arm joint angle of first six degree of freedom arm mechanism, the second six degree of freedom arm mechanism, realizes the opposite of double arm motions
Coordinate.
The beneficial effects of the utility model are：1st, the unmanned plane alert utilization regarded in the air, occurs when can reduce traditional explosive
Robot miss the quick-fried thing of pressure and the explosion that triggers.
2nd, can safely and fast be maked an inspection tour comprehensively with unmanned plane, moreover, unmanned plane can return accurate GPS location and picture letter
Breath, it is small to solve traditional explosive-removal robot visual field, it is impossible to accurately the shortcomings that explosive scope.
3rd, by the GPS module of unmanned plane and the gps data processing module of master controller, quickly robot can be guided to arrive
Explosive task is carried out up to appointed place.
4th, when unmanned plane can be rested on unmanned plane airplane parking area, the signal of unmanned plane inductor, triggering unmanned plane folder are passed through
Hold mechanism to clamp unmanned plane, prevent the vibration to unmanned plane in car body traveling.Meanwhile two sides of clamping device are positive and negative two
The charging output port of pole power supply.Unmanned plane can fill by the charging input end mouth on undercarriage on unmanned plane
Electricity, greatly prolongs the current usage time of unmanned plane.
5th,, can be because of strength deficiency or round-trip during an arm because bomb or suspicious item can be pricked in soil during tradition is explosive
Replace paw and exciter and be delayed opportunity of combat.By mainly by the first six degree of freedom arm mechanism and the second six degree of freedom arm machine
The both hands arm system of structure composition, the second six degree of freedom arm mechanism are equipped with exciter, and the first six degree of freedom arm mechanism can match somebody with somebody
Exciter movement bomb or suspicious item are closed, quick destruction of bomb or suspicious item can be more convenient.
6th, both hands arm mounting platform is located at center immediately ahead of robot, by planetary reducing motor, then passes through worm gear
The worm and gear of worm decelerating machine carries out transmission moment of torsion, and the absolute encoder set by worm screw front end carries out signal and controls two
The relative position of connecting flange, is avoided both hands arm from being occurred mutual collision situation in using process and occurred.And both hands arm is installed
Platform, replaceable different mounting flange replace installation different platform, realize removable differentiation, be convenient for changing different arms and
Other weapon mounting platforms.
7th, the lifting clouds terrace system, which allows, more opens expansion depending on eye, explosive safer.
8th, the lifting clouds terrace system, can realize 1-3 meters of liftings by lifting assembly, can be seen using infrared cradle head camera
Measure more distant positions.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the frame structure schematic diagram of the utility model control section.
Fig. 3 is the structure diagram of the utility model the first six degree of freedom arm mechanism.
Fig. 4 is the structure diagram of the utility model the second six degree of freedom arm mechanism.
Fig. 5 is the structure diagram of the utility model unmanned plane.
Fig. 6 is the primary structure schematic diagram of the utility model reducing gear.
Fig. 7 is the overall structure diagram of the utility model embodiment one.
Fig. 8 is the structure diagram of the unmanned plane clamping device of the utility model embodiment one.
Fig. 9 is the structure diagram of the lifting clouds terrace system of the utility model embodiment one.
Figure 10 is the frame structure schematic diagram of the control section of the utility model embodiment one.
Wherein：1st, advance system；
2nd, unmanned plane；21st, unmanned plane clamping device；22nd, unmanned plane inductor；23rd, signal processor；24th, charging output
Port；25th, charging input end mouth；26th, undercarriage；211st, clamping driving motor；
3rd, the first six degree of freedom arm mechanism；31st, the first pawl opening and closing joint；32nd, the first pawl rotary joint；33rd, the first pendulum
Head；34th, the first forearm swinging joint；35th, the first forearm；36th, the first large arm swinging joint；37th, the first large arm；38th, the first shoulder
Swinging joint；39th, the first shoulder rotary joint；
4th, the second six degree of freedom arm mechanism；41st, the second pawl opening and closing joint；42nd, the second pawl rotary joint；43rd, the second pendulum
Head；44th, the second forearm swinging joint；45th, the second forearm；46th, second largest arm swing joint；47th, the second large arm；48th, the second shoulder
Swinging joint；49th, the second shoulder rotary joint；410th, shock bracket；411st, laser sight；412nd, exciter；
5th, chassis；6th, master controller；7th, both hands arm mounting platform；71st, reducing gear；711st, planetary reducing motor；712、
Worm-gear speed reducer；713rd, absolute encoder；714th, connecting flange；7121st, worm screw；7122nd, worm gear end；
8th, unmanned plane airplane parking area；81st, airplane parking area top surface；82nd, fixed frame displacement aperture；
9th, chipping；
10th, clouds terrace system is lifted；101st, holder photographing module；102nd, base；103rd, electric pushrod；104th, lifting connection
Folder；105th, interior elevating lever；106th, outer elevating lever；107th, sliding bearing；108th, head seat.
Embodiment
According to Fig. 1 ~ Figure 10, the utility model includes advance system 1, unmanned plane 2, car body, mechanical arm system；The machinery
Arm system includes the first six degree of freedom arm mechanism 3, the second six degree of freedom arm mechanism 4.
The car body includes chassis 5, master controller 6, both hands arm mounting platform 7, stops for stopping the unmanned plane of unmanned plane 2
Machine level ground 8, the master controller 6 are fixed in the chassis 5, and the master controller 6 includes the first data transmit-receive module, microprocessor
Device, the data processor being connected respectively with the microprocessor, image recognition processing module, gps data processing module, arm move
Power control module, body powered control module and energy supply control module, the energy supply control module are equipped with charging circuit；It is described
Data processor is connected with described image recognition processing module, gps data processing module and the first data transmit-receive module respectively；Institute
State arm power train control module and pass through 2 reducing gears 71 being separately positioned in the both hands arm mounting platform 7 and described the
One six degree of freedom arm mechanism 3, the second six degree of freedom arm mechanism 4 are connected；The body powered control module and the traveling
System 1 is connected；The front end on the chassis 5 is equipped with chipping 9.
The unmanned plane 2 includes unmanned aerial vehicle (UAV) control module, unmanned plane photographing module, GPS module, the second data transmit-receive mould
Block, charging module, the unmanned aerial vehicle (UAV) control module are connected with unmanned plane photographing module, GPS module and the charging module respectively,
Second data transmit-receive module is connected with the first data transmit-receive module wireless telecommunications.
The both hands arm mounting platform 7 is fixed on the top surface first half on the chassis 5, and the unmanned plane airplane parking area 8 is fixed
Top surface on the chassis 5 is latter half of；The first six degree of freedom arm mechanism 3 and the second six degree of freedom arm mechanism 4 are distinguished
It is fixed on the both hands arm mounting platform 7.
The first six degree of freedom arm mechanism 3 includes the first pawl opening and closing joint 31, the first pawl rotation pass being sequentially connected
Save the 32, first yaw 33, the first forearm swinging joint 34, the first forearm 35, the first large arm swinging joint 36, the first large arm 37,
First shoulder swinging joint 38, the first shoulder rotary joint 39, the first shoulder rotary joint 39 pass through 1 reducing gear and described pair
Arm mounting platform 7 is connected.
The second six degree of freedom arm mechanism 4 includes the second pawl opening and closing joint 41, the second pawl rotation pass being sequentially connected
Save the 42, second yaw 43, the second forearm swinging joint 44, the second forearm 45, second largest arm swing joint 46, the second large arm 47,
Second shoulder swinging joint 48, the second shoulder rotary joint 49, the second shoulder rotary joint 49 pass through another 1 reducing gear 71 and institute
Both hands arm mounting platform is stated to be connected；The front end of the second six degree of freedom arm 4 is equipped with shock bracket 410, the shock bracket
410 are equipped with laser sight 411 and the exciter 412 being connected with laser sight.
The big machinery arm of the kg of first six degree of freedom arm mechanism, the 3 heavy burden 10kg ~ 50, second six degree of freedom
The small-sized machine arm of the heavy burden of arm 43 kg ~ 8kg.
71 structure of gear reducer includes planetary reducing motor 711, worm-gear speed reducer 712, absolute encoder 713, company
Acting flange 714, the input terminal of the planetary reducing motor 711 are connected with the arm power train control module, the planetary reduction gear
The output terminal of motor 711 is connected by shaft coupling with the rear end of the worm screw 7121 of the worm-gear speed reducer 712, the worm gear
The front end of the worm screw 7121 of worm decelerating machine 712 is connected with the absolute encoder 713, the worm-gear speed reducer 712
Worm gear end 7122 is connected with the connecting flange 714, the connecting flange 714 and the first six degree of freedom arm mechanism 3 or
Second six degree of freedom arm mechanism 4 is connected.
The absolute encoder 714 is by controlling the worm screw rotational angle of the worm-gear speed reducer 712, further control
The first six degree of freedom arm mechanism 3, the arm joint angle of the second six degree of freedom arm mechanism 4 are made, realizes that both hands arm is transported
Dynamic opposite coordination.
Embodiment one：
According to Fig. 7-10, with reference to Fig. 1-5, the present embodiment further includes lifting clouds terrace system 10, the lifting clouds terrace system 10
Including holder photographing module 101, lifting assembly；The master controller 6 further include respectively with the microprocessor and lifting assembly
Connected holder elevating control module；The holder photographing module 101 is connected with described image recognition processing module；The lifting
Component is fixed on the chassis 5, and the holder photographing module 101 is located at the top of the lifting assembly.
The lifting assembly includes base 102, electric pushrod 103, lifting connection clip 104, interior elevating lever 105, outer lifting
Bar 106, sliding bearing 107, head seat 108, the bottom of the electric pushrod 103 and the bottom of outer elevating lever 106 are fixed respectively
On the base 102, the interior elevating lever 105 positioned at the inside of outer elevating lever 106 and by the sliding bearing 107 with
The outer elevating lever 106 is connected, and the upper end of the interior elevating lever 105 passes through the lifting connection clip 104 and the electric pushrod
103 upper end is connected, and the electric pushrod 103 drives the interior elevating lever 105 to be moved up and down along the outer elevating lever 106, institute
The top that head seat 108 is fixed on the interior elevating lever 105 is stated, the holder photographing module 101 is fixed on the head seat 108
On.
The unmanned plane airplane parking area 8, which is equipped with, to be used to clamp the unmanned plane clamping device 21 of unmanned plane 2, for detecting nobody
Machine 2 whether rest in unmanned plane inductor 22 on unmanned plane airplane parking area 8 and respectively with unmanned plane clamping device 21, nobody
The connected signal processor 23 of machine inductor 22, the signal processor 23 are also connected with the microprocessor, the unmanned plane
Clamping device 21 or unmanned plane airplane parking area 8 are equipped with the charging output port 24 being connected with the charging circuit, preferably charge defeated
Exit port 24 is located on the unmanned plane clamping device 21, on the unmanned plane 2 be equipped with it is described charging output port 24 match
The charging input end mouth 25 of conjunction, the charging input end mouth 25 are connected with the charging module；The bottom of the unmanned plane 2 is equipped with
With the matched undercarriage 26 of the clamping device 21.
Preferably, the unmanned plane clamping device 21 includes the clamping driving motor being connected with the signal processor 23
211, the both ends of the clamping driving motor 211 are respectively equipped with power output end 212, and the power output end 212 is equipped with one
Pair can along the axis of the power output end 212 tighten or separated geometrical clamp 213；In order to make the tightening of geometrical clamp 213 or divide
Open more smooth, prevent displacement, can be set between geometrical clamp 213 and the axis of the power output end 212 is parallel leads
To track 214, geometrical clamp 213 is set to be slided along the axis of guide rail 214 and power output end 212.It is solid on the geometrical clamp 213
Surely there is the charging output port 24, the charging input end mouth 25 is fixed on the undercarriage 26.The unmanned plane sensing
The lower part of device 22, signal processor 23 and the unmanned plane clamping device 21 is fixed on the inside of the unmanned plane airplane parking area 8, institute
The airplane parking area top surface 81 for stating unmanned plane airplane parking area 8 is equipped with fixed frame displacement aperture 82, and the upper end of the fixed frame 213 passes through described
Fixed frame displacement aperture 82 stretches out the airplane parking area top surface 81 of the unmanned plane airplane parking area 8.
During utility model works, working signal instruction is sent to data processor by the microprocessor, passes through first
Data transmit-receive module carries out data communication with the unmanned plane；The second data transmit-receive module on unmanned plane will be received from first
The instruction received is simultaneously sent to unmanned aerial vehicle (UAV) control module control unmanned plane and taken off investigation by the instruction of data transmit-receive module；Nobody
Machine is used to find suspicious item by unmanned plane camera module captured in real-time image, and the image of captured in real-time is passed through the second number
It is sent to according to transceiver module and the first data transmit-receive module in microprocessor；GPS module records unmanned plane positional information in real time, and
Unmanned plane positional information information is passed back in microprocessor by the second data transmit-receive module and the first data transmit-receive module, it
Unmanned plane will continue to investigate afterwards.When unmanned plane feeds back not enough power supply, microprocessor postbacks out back the order of airplane parking area to nobody,
Unmanned plane returns to unmanned plane airplane parking area excitation unmanned plane inductor, and stopping signal is sent to signal processing by unmanned plane inductor
Device, signal processor control unmanned plane clamping device action, so that unmanned plane clamping device clamps unmanned plane, charging output
Automatically charge to unmanned plane charging input end mouth port.
When the image of the received unmanned plane camera module shooting of microprocessor and the unmanned plane positional information of GPS module
When, the car body position information that data processor is sent to the gps data processing module of master controller compares and analyzes, data
After processor is analyzed, comparing result is passed back into microprocessor, microprocessor control body powered control module commander's car body
Advance the unmanned plane position returned to unmanned plane GPS module.
When reaching unmanned plane location point, by holder elevating control module control lifting holder observe surrounding enviroment and
The image information photographed is sent to image recognition processing module, master control by the suspicious item of unmanned plane identification, holder photographing module
Device processed after suspicious item is found, controls arm power train control module to make first by image recognition processing module by microprocessor
Six degree of freedom arm mechanism pulls suspicious item, after suspicious item is put into home, utilizes the second six degree of freedom arm
The laser sight alignment of mechanism, the suspicious item of exciter destruction afterwards.Circulate execution task.Remaining structure is for example above-mentioned.
Claims (10)
1. a kind of airport explosive-removal robot, including car body, advance system, mechanical arm system, unmanned plane；It is characterized in that：It is described
Mechanical arm system includes the first six degree of freedom arm mechanism, the second six degree of freedom arm mechanism；
The car body includes chassis, master controller, both hands arm mounting platform, the unmanned plane airplane parking area for stopping unmanned plane, institute
Master controller is stated to be fixed in the chassis, the master controller include the first data transmit-receive module, microprocessor, respectively with institute
State data processor, image recognition processing module, gps data processing module, arm power train control module that microprocessor is connected,
Body powered control module and energy supply control module, the energy supply control module are equipped with charging circuit；The data processor
It is connected respectively with described image recognition processing module, gps data processing module and the first data transmit-receive module；The arm power
Control module passes through the reducing gear being separately positioned in the both hands arm mounting platform and the first six degree of freedom arm machine
Structure, the second six degree of freedom arm mechanism are connected；The body powered control module is connected with the advance system；
The unmanned plane includes unmanned aerial vehicle (UAV) control module, unmanned plane photographing module, GPS module, the second data transmit-receive module, charging
Module, the unmanned aerial vehicle (UAV) control module are connected with unmanned plane photographing module, GPS module and the charging module respectively, and described
Two data transmit-receive modules are connected with the first data transmit-receive module wireless telecommunications；
The both hands arm mounting platform is fixed on the top surface first half on the chassis, and the unmanned plane airplane parking area is fixed on the bottom
The top surface of disk is latter half of；The first six degree of freedom arm mechanism and the second six degree of freedom arm mechanism pass through the deceleration respectively
Mechanism is fixed on the both hands arm mounting platform.
2. the airport explosive-removal robot according to claim 1, it is characterised in that：Lifting clouds terrace system is further included, it is described
Lifting clouds terrace system includes lifting assembly, holder photographing module；The master controller further include respectively with the microprocessor and
The holder elevating control module that lifting assembly is connected；The holder photographing module is connected with described image recognition processing module；Institute
State lifting assembly to be fixed on the chassis, the holder photographing module is located at the top of the lifting assembly.
3. airport explosive-removal robot according to claim 2, it is characterised in that：The lifting assembly includes base, electronic
Push rod, lifting connection clip, interior elevating lever, outer elevating lever, sliding bearing, head seat, the bottom of the electric pushrod and outer lifting
The bottom of bar is separately fixed on the base, and the interior elevating lever is positioned at the outer elevating lever inside and passes through the sliding axle
Hold and be connected with the outer elevating lever, the upper end of the interior elevating lever passes through the upper end of the lifting connection clip and the electric pushrod
It is connected, the electric pushrod drives the interior elevating lever to be moved up and down along the outer elevating lever, and the head seat is fixed on described
The top of interior elevating lever, the holder photographing module are fixed on the head seat.
4. the airport explosive-removal robot according to claim 1, it is characterised in that：The unmanned plane airplane parking area, which is equipped with, to be used
Unmanned plane clamping device in clamping unmanned plane, for detecting whether unmanned plane rests in unmanned plane sense on unmanned plane airplane parking area
Answer device and the signal processor being connected respectively with unmanned plane clamping device, unmanned plane inductor, the signal processor also with
The microprocessor is connected, and the unmanned plane clamping device or unmanned plane airplane parking area are equipped with to be filled with what the charging circuit was connected
Electricity output port, the unmanned plane are equipped with defeated with the charging matched charging input end mouth of output port, the charging
Inbound port is connected with the charging module；The bottom of the unmanned plane is equipped with and the matched undercarriage of the clamping device.
5. airport explosive-removal robot according to claim 4, it is characterised in that：The unmanned plane clamping device includes and institute
The clamping driving motor that signal processor is connected is stated, the both ends of the clamping driving motor are respectively equipped with power output end, described
Power output end is equipped with a pair can be along the opposite tightening of axis of the power output end or geometrical clamp separated opposite to each other.
6. airport explosive-removal robot according to claim 5, it is characterised in that：The charging is fixed with the geometrical clamp
Output port, the charging input end mouth are fixed on the undercarriage.
7. the airport explosive-removal robot according to claim 1, it is characterised in that：Before the second six degree of freedom arm
End is equipped with shock bracket, and the shock bracket is equipped with laser sight and the exciter being connected with laser sight.
8. the airport explosive-removal robot according to claim 1 or 7, it is characterised in that：The first six degree of freedom arm machine
Structure is the big machinery arm for the 10 kg ~ 50kg that bears a heavy burden, and the second six degree of freedom arm is the small-sized machine arm of heavy burden 3kg ~ 8kg.
9. the airport explosive-removal robot according to claim 1, it is characterised in that：The front end on the chassis is equipped with chipping.
10. the airport explosive-removal robot according to claim 1, it is characterised in that：The reducing gear subtracts including planet
Speed motor, worm-gear speed reducer, absolute encoder, connecting flange, the input terminal of the planetary reducing motor and the arm
Power train control module is connected, the output terminal of the planetary reducing motor and the rear end phase of the worm screw of the worm-gear speed reducer
Even, the front end of the worm screw of the worm-gear speed reducer is connected with the absolute encoder, the snail of the worm-gear speed reducer
Wheel end is connected with the connecting flange, the connecting flange and the first six degree of freedom arm mechanism or the second six degree of freedom hand
Arm mechanism is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721213875.5U CN207256259U (en) | 2017-09-21 | 2017-09-21 | Airport explosive-removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721213875.5U CN207256259U (en) | 2017-09-21 | 2017-09-21 | Airport explosive-removal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207256259U true CN207256259U (en) | 2018-04-20 |
Family
ID=61918138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721213875.5U Withdrawn - After Issue CN207256259U (en) | 2017-09-21 | 2017-09-21 | Airport explosive-removal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207256259U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471225A (en) * | 2017-09-21 | 2017-12-15 | 上海合时安防技术有限公司 | Airport explosive-removal robot |
| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
-
2017
- 2017-09-21 CN CN201721213875.5U patent/CN207256259U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471225A (en) * | 2017-09-21 | 2017-12-15 | 上海合时安防技术有限公司 | Airport explosive-removal robot |
| CN107471225B (en) * | 2017-09-21 | 2023-09-12 | 上海合时安防技术有限公司 | Airport explosive-handling robot |
| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
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