CN212458157U - Movable explosive removing device - Google Patents
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- CN212458157U CN212458157U CN202021644928.0U CN202021644928U CN212458157U CN 212458157 U CN212458157 U CN 212458157U CN 202021644928 U CN202021644928 U CN 202021644928U CN 212458157 U CN212458157 U CN 212458157U
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Abstract
The utility model relates to the technical field of unexplosive explosive treatment, in particular to a movable explosive disposal device, which comprises a protective part, a movable base, a bionic manipulator and an image acquisition assembly, wherein the protective part is provided with a display screen which is used for receiving and displaying images acquired by the image acquisition assembly so as to adjust the working states of the movable base, a telescopic mechanism and the bionic manipulator; the movable type explosive disposal device is ingenious in structural design and convenient to operate, quick transfer and orientation adjustment are achieved through the movable base, meanwhile, the detonation device is arranged through the telescopic mechanism and the bionic mechanical arm to detonate and destroy unexploded ammunition, and the image acquisition assembly and the display screen are matched to accurately grab, destroy and remove the unexploded ammunition in a visual field blind area, so that the operation safety is improved, the problems that the existing explosive disposal device has the visual field blind area, the operation cannot be accurately performed and the operation risk is high are solved.
Description
Technical Field
The utility model relates to a technical field is handled to unexplosive powder, specifically is a device is exploded to portable row.
Background
With the continuous development of science and technology, the military field also vigorously carries out the live ammunition training to improve the actual combat capability, but the tasks of eliminating the unexploded dumb ammunition are more and more accompanied. The safe and efficient elimination and destruction of the unexploded dumb ammunition becomes the central importance in future battles and training. The unexploded dumb ammunition, namely the unexploded ammunition which has been relieved of insurance but does not normally act, can be detonated at any time when being subjected to external disturbances such as vibration, movement and the like, is extremely dangerous and needs to be processed in time.
At present, according to incomplete statistics, the number of small-caliber unexploded dumb ammunition is the largest, and for small-caliber unexploded dumb ammunition such as grenades and detonation ammunition, the current common treatment methods include an explosion sympathetic approach, a burnout approach and the like, all operators need to directly approach the unexploded dumb ammunition when the methods are used for treatment, the operation process is very dangerous, and casualty accidents are very easy to cause. Although some units are designed with remote mechanical claws to assist explosive discharge, for example, when the gap explosion method is used for disposing the unexploded ammunition, a manipulator is needed to place a device or explosive for detonation near the unexploded ammunition, and when the burnout method is used, the manipulator is needed to transfer the unexploded dummy ammunition into a burnout furnace or an anti-explosion tank.
However, the above technical solutions have the following disadvantages in practical use: at present, the domestic explosion-removing mechanical arms are pure mechanical devices, the whole structure is heavy, the operation is complex, the explosion-removing operation cannot be accurately carried out on unexploded dumbbells in a bullet pit or other vision blind areas, the unexploded dumbbells can explode due to improper operation, and the operation risk is extremely high.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a device is exploded to portable row to solve the current row who proposes in the above-mentioned background and explode the most overall structure of device heavy, have the field of vision blind area moreover, can not accurately arrange and explode the operation, the high problem of operation risk.
The embodiment of the utility model provides a realize like this, a device is exploded to portable row, including being used for carrying out the protection portion that protects when being close to not exploding the ammunition feed, the device is exploded to portable row still includes:
the movable base is arranged at one end of the protection part and is used for driving the protection part to move;
the telescopic mechanism is arranged at the outer edge of the protective part, the output end of the telescopic mechanism is provided with a bionic manipulator used for grabbing and loosening a detonating device or a non-explosive powder, and the detonating device is arranged near the non-explosive powder so as to detonate and destroy the non-explosive powder when the movable explosive ordnance disposal device is evacuated to a safety zone; and
the image acquisition assembly is arranged on the telescopic mechanism and used for acquiring a topographic image and a non-explosive image when the mobile explosive disposal device is close to the non-explosive image, the protection part is far away from one side of the bionic mechanical arm, the display screen is used for receiving the topographic image acquired by the image acquisition assembly and the non-explosive image and displaying the topographic image and the non-explosive image so as to adjust the working states of the mobile base, the telescopic mechanism and the bionic mechanical arm according to the topographic image and the non-explosive image.
Compared with the prior art, the beneficial effects of the utility model are that:
the embodiment of the utility model provides a device is exploded to portable row, including protection part, moving base and telescopic machanism, telescopic machanism's output is installed and is used for snatching and unclamping the bionic manipulator of ignition or the explosive that does not explode, the last image acquisition subassembly that is equipped with of telescopic machanism is used for portable row explodes the device and is close to the explosive that does not explode in-process and acquires topography image and explosive image not exploding, still be equipped with display screen in the protection part, display screen is used for receiving the topography image that the image acquisition subassembly acquireed and the explosive that does not explode image and show to adjust moving base, telescopic machanism and bionic manipulator's operating condition according to topography image and explosive that does not explode image. The utility model provides a portable explosive ordnance disposal device's structural design is ingenious, the simple operation, realize quick transfer and position adjustment through setting up the mobile base, arrange detonating device through telescopic machanism and bionic mechanical hand simultaneously and explode and destroy the unexploded ammunition, owing to be cooperation image acquisition subassembly and display screen realization image passback, can be to being in the accurate snatching and destroying of unexploded ammunition implementation of bullet hole or other field of vision blind areas and get rid of, the operation security has been improved, it is heavy to have solved the most overall structure of current explosive ordnance disposal device, and there is the field of vision blind area, can not accurately carry out the explosive ordnance disposal operation, the operation risk is high problem, wide market prospect has.
Drawings
Fig. 1 is a schematic structural view of a mobile explosive ordnance disposal device according to an embodiment of the present invention.
In the figure: 1-a control member; 2-an observation section; 3-a protective part; 4-a display screen; 5-a power supply; 6-moving the base; 7-a rotary joint part; 8-mounting a base; 9-a telescoping mechanism; 10-an image acquisition component; 11-bionic mechanical arm.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention. In order to make the technical solution of the present invention clearer, the process steps and device structures well known in the art are omitted here.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
The following detailed description is provided for the specific embodiments of the present invention.
As shown in fig. 1, for the utility model discloses a portable structure chart of arranging and exploding device that an embodiment provided, portable arrange and explode device including being used for carrying out the protection portion 3 that protects when being close to not exploding the bomb powder, portable arrange and explode device still includes:
the movable base 6 is arranged at one end of the protection part 3 and is used for driving the protection part 3 to move;
the telescopic mechanism 9 is arranged at the outer edge of the protective part 3, the output end of the telescopic mechanism 9 is provided with a bionic manipulator 11 for grabbing and loosening a detonating device or a non-explosive charge, and the detonating device is arranged near the non-explosive charge so as to detonate and destroy the non-explosive charge when the movable explosive ordnance disposal device is withdrawn to a safety zone; and
In the embodiment of the utility model, the movable base 6 is arranged to realize the advancing, retreating and turning of the movable explosive ordnance disposal device, the bionic mechanical hand 11 is adjusted by the telescopic mechanism 9 to be close to the unexplosive explosive, and the igniter is arranged near the unexplosive explosive by the grabbing and loosening of the bionic mechanical hand 11, so as to detonate the unexplosive explosive when the movable explosive ordnance disposal device is evacuated to a safety zone, because the working states of the movable base 6, the telescopic mechanism 9 and the bionic mechanical hand 11 are adjusted according to the topographic image and the unexplosive explosive image, the unexplosive explosive in a crater or other vision blind areas can be accurately detonated, the unexplosive explosive is prevented from exploding due to improper operation, the operation risk is reduced, the whole structure is simple, the movement is flexible, the operation is convenient, and the handling of the unexplosive explosive, especially small-diameter unexplosive explosive is realized, the safe transfer and destruction of the unexploded ammunition can be realized through the visual and movable explosive disposal device.
In an example of the present invention, the protection part 3 may be a protection shield, the protection shield is made of high-strength impact-resistant material, the strength of the protection shield should meet the industry standard requirement of GA 423-20.03 bulletproof shield, and the protection shield can completely protect the shock wave and fragments generated by the grenade explosion within 1 m.
In another example of the present invention, the display screen 4 may be an existing highlight display screen, and may be an apple ipad mini 2.
The utility model discloses a still another example, moving base 6 specifically can select for use mountain to move the wind machine company large-scale track robot platform, and the size is 1.9 mx 1.3 mx 0.7m, but load 200kg, and the top plane has a plurality of installation interfaces, satisfies the installation requirement of protection shield. The mobile base 6 can adapt to various complex terrains by adopting a crawler-type structure.
In yet another example of the present invention, the image capturing assembly 10 may employ an existing high definition camera or high definition pan/tilt camera. Specifically, the high-definition pan-tilt camera adopts a Sony high-definition camera with the model number of EVI-D70P, and carries a Xinjiang image transmission system to realize real-time return of the front-end image of the bionic manipulator 11; moreover, the highlight display screen is replaced by an apple ipad mini2, so that image return is met, and APP control is achieved by walking of the movable explosion-removing device.
The utility model discloses a in still another example, bionic robot 11 can adopt the mechanical gripper, specifically chooses for use the bionic robot of model JXZ-2-SL of intelligent baby robot company for use, and the manipulator has the regulation of two degrees of freedom of axial rotation and every single move rotation, and five fingers have and hold tightly, loosen two functions, the utility model discloses install the silica gel gasket of laminating shape additional in bionic robot 11's finger inboard to increase the dynamics of holding tightly, the diameter is 20 mm's cylinder can be held tightly to the manipulator gripper minimum.
Further, as the utility model discloses a preferred embodiment, telescopic machanism 9 is used for the drive bionic manipulator 11 is followed telescopic machanism 9's sideline direction carries out reciprocating motion, in order to incite somebody to action bionic manipulator 11 removes extremely the unexplosive powder.
The utility model discloses an in an example, the embodiment of the utility model provides a do not do the restriction to the concrete structural style of telescopic machanism 9, can be current scalable arm for example, also can be common electron telescopic link, can be according to the installation environment and do the adaptability adjustment. The telescopic mechanical arm selects a three-section pen type electric push rod of Songli electronics technology Limited company in Zhongshan City, the electric push rod is externally connected with a 24V direct current power supply, the telescopic length of the push rod can be freely adjusted through a motor, the longest length can be extended to 5m, a handle is designed for a telescopic rod of the electric push rod, the handle is made of rubber materials and is fastened at one end of the electric push rod, which is provided with the motor, by elasticity.
Further, as a preferred embodiment of the present invention, the image capturing component 10 is detachably disposed on the telescoping mechanism 9 near one end of the bionic manipulator 11.
The embodiment of the utility model provides an in, image acquisition subassembly 10 adopts high definition cloud platform camera, has every single move, 360 rotatory two degrees of freedom of axial, can adjust according to the field situation.
Further, as the utility model discloses a preferred embodiment, bionic manipulator 11 has two degrees of freedom of axial rotation and every single move rotation, just bionic manipulator 11's finger inboard is provided with the anti-skidding piece, the anti-skidding piece specifically is the silica gel gasket who has the laminating shape to the dynamics of clenching is held in the increase, can make bionic manipulator 11 minimum can clenching the cylinder that the diameter is 20 mm.
Further, as the utility model discloses a preferred embodiment, still be provided with on the guard portion 3 and be used for adjusting the adjusting part of 11 horizontal directions of bionic manipulator and two degrees of freedom of vertical direction.
The embodiment of the utility model provides an in, adjust through adjusting part 11 horizontal direction of bionic manipulator and two degrees of freedom of vertical direction, and then can drive image acquisition subassembly 10 carries out the position control of horizontal direction and vertical direction.
Further, as a preferred embodiment of the present invention, the adjusting assembly includes:
a mounting base 8 mounted on a side surface of the guard portion 3;
the rotary joint part 7 is installed on the installation base 8, and the output end of the rotary joint part 7 is connected with the telescopic mechanism 9 and used for adjusting two degrees of freedom of the telescopic mechanism 9 in the horizontal direction and the vertical direction so as to drive the bionic manipulator 11 and the image acquisition assembly 10 to adjust the positions in the horizontal direction and the vertical direction; and
and the control piece 1 is arranged at one end of the rotary joint part 7, which is far away from the bionic manipulator 11, and is used for controlling the rotary joint part 7 to drive the telescopic mechanism 9 to adjust the position in the horizontal direction and the vertical direction.
The embodiment of the utility model provides an in, control 1 control swivel joint portion 7 drives telescopic machanism 9 carries out position control at horizontal direction and vertical direction, and then adjusts telescopic machanism 9 is at two degrees of freedom of horizontal direction and vertical direction, in order to drive bionic robot 11 and image acquisition subassembly 10 carry out the position control of horizontal direction and vertical direction.
The utility model discloses an in the example, control 1 specifically can be the control hand (hold), bionic manipulator 11's posture adjustment controller sets up on control handle, realizes grabbing and loosening of bionic manipulator 11 through posture adjustment controller.
In another example of the present invention, the rotary joint part 7 may adopt an existing rotary joint (revolute joint) structure, such as a revolute pair, a cylindrical pair, a spherical pair, etc., and may be selected according to a requirement, and is not limited herein, and may specifically be a spherical rolling bearing, and when the rotary joint part 7 adopts a spherical rolling bearing, it corresponds to that, the mounting base 8 may be a bearing base.
In another embodiment of the present invention, the telescopic mechanism 9 is connected to the lower portion of the edge of the right side of the protection shield through a spherical rolling bearing, so that the adjustable adjustment of the telescopic mechanism 9 with two degrees of freedom in the left and right directions and up and down directions can be realized.
Further, as the utility model discloses a preferred embodiment, still be provided with observation portion 2 on the protection portion 3, the material of observation portion 2 is bulletproof glass, and is concrete, protection portion 3 can be the protection shield, observation portion 2 is the transparent visual window who designs on the protection shield, adopts high strength explosion-proof glass, and explosion-proof glass satisfies the bulletproof glass standard of H class in national standard GB 17840 + 1999.
The embodiment of the utility model provides an in, the device is exploded still includes the controller to portable row, the controller can be the setting on control 1, the controller is used for control the work of removal base 6, rotary joint portion 7, telescopic machanism 9, image acquisition subassembly 10 and bionic manipulator 11, it is concrete, the controller can adopt prior art to realize, for example can be that the communication adopts 433MHz frequency, send PWM (pulse width modulation) signal to the receiving terminal of removal base 6 through the button or the knob of controller in the use, receiving terminal converts the PWM signal into the signal of telecommunication, realizes advancing, retreating, the turn of removal base 6, also can be through the holding of controller control bionic manipulator 11, loosen and the gesture angle adjustment that image acquisition subassembly 10.
In an example of the present invention, the controller may be configured to realize an electric telescopic function of the telescopic mechanical arm. The controller can be used for adjusting two degrees of freedom of pitching and axial rotation of the bionic manipulator 11. The image acquisition assembly 10 adopts a high-definition pan-tilt camera, has two degrees of freedom of pitching and axial 360-degree rotation, and can be adjusted according to the field situation through a controller. The moving base 6 is controlled to travel and turn by the rocker of the controller.
In another example of the present invention, the controller of the mobile base 6 is designed in an external connection manner, and the mobile base 6 is controlled to move forward, retreat and turn, and the camera angle of the high-definition camera is also controlled to be adjusted.
Further, as a preferred embodiment of the present invention, the mobile explosive disposal device further includes a power source 5 for supplying power to the mobile explosive disposal device, the specific installation location of the power source 5 can be designed as required, for example, the power source 5 can be installed on the upper end of the mobile base 6 and located on one side of the protection portion 3 provided with the display screen 4, or the power source 5 can be directly installed on one side of the protection portion 3 provided with the display screen 4, and is specifically selected according to requirements, which is not limited herein.
In an example of the present invention, the power supply 5 is a 24V lithium battery with three brands of grignard.
Further, an embodiment of the present invention further provides a method for processing unexplosive ammunition, wherein the method for processing unexplosive ammunition adopts the above-mentioned mobile explosive disposal device, and the method for processing unexplosive ammunition specifically includes the following steps: the mobile explosive disposal device is moved to a non-explosive area through the mobile base 6, then the bionic manipulator 11 is adjusted to be close to the non-explosive through the telescopic mechanism 9, meanwhile, a topographic image and a non-explosive image acquired and transmitted by the image acquisition assembly 10 are displayed through the display screen 4, so that the working states of the mobile base 6, the telescopic mechanism 9 and the bionic manipulator 11 are adjusted according to the topographic image and the non-explosive image, and when the bionic manipulator 11 is located above the non-explosive, the non-explosive is grabbed and transferred to a safety zone; the unexplosive explosive area is an area which takes the unexplosive explosive as a circle center and has a diameter of four to six meters. Preferably, the unexploded explosive is used as a circle center and the diameter of the area is five meters.
As an embodiment of the present invention, in the method for processing non-explosive ammunition, when the non-explosive ammunition needs to be destroyed on site, the bionic manipulator 11 is adjusted by the telescopic mechanism 9 before being close to the non-explosive ammunition, the detonating device is grabbed by the bionic manipulator 11, and then the detonating device is arranged by the telescopic mechanism 9 and the bionic manipulator 11 near the non-explosive ammunition, so that the non-explosive ammunition is destroyed by initiating when the mobile explosive ordnance disposal device withdraws to a safety zone.
The utility model discloses an in an example, portable arrange explode device be safe visual portable arrange explode manipulator, mainly by control 1 (control the hand (promptly), observation part 2 (adopt the explosion-proof glass of high strength), protection part 3 (protect the shield promptly), display screen 4, power 5, removal base 6, rotary joint portion 7 (specifically be spherical rolling bearing), mounting base 8, telescopic machanism 9 (can flexible arm), image acquisition component 10 (be high definition digtal camera), bionic manipulator 11 are constituteed. The control handle and the telescopic mechanism 9 are integrated, the control handle adjusts the approximate positions of the bionic manipulator 11 and the high-definition camera through the rotary joint part 7, and a control system of the bionic manipulator 11 is designed on the control handle and can control the actions of adjusting the detailed position, grabbing, releasing and the like of the bionic manipulator 11; the rotary joint part 7 and the mounting base 8 are integrated, the mounting base 8 and the protection part 3 are connected into a whole through threads, and the rotary joint part 7 can meet the requirement that the telescopic mechanism 9 rotates randomly within a range of 360 degrees; the bionic manipulator 11 is connected with the telescopic mechanism 9 through threads, and the high-definition camera is clamped with the telescopic mechanism 9 through a clamping sleeve; the protection part 3 and the movable base 6 are fixed through threads, the display screen 4 is embedded in the protection part 3 and fixed through screws, the observation part 2 is embedded in the outer side of the protection part 3 and positioned above the display screen 4, namely, the image acquisition assembly 10 and the telescopic mechanism 9 are clamped and assembled through a clamping device, the display screen 4 is assembled in the inner side of the protection shield through threaded buckles, and the power supply 5 is fixed on a fixed baffle plate in the inner side of the protection shield through screws and clamping grooves and is responsible for power supply of the whole system; the movable base 6 adopts a crawler-type structure and can adapt to various complex terrains.
The utility model discloses a in still another example, during operating condition, be connected moving base 6's controller and power, open power supply, open display screen, the portable explosive device of arranging of controller control through moving base 6 is marchd outside the 5m scope of unexplosive powder, adjust the flexible direction of telescopic machanism 9 through control 1 and rotary joint portion 7, then through the real-time high definition image of display screen 4 passback, through control handle remote control telescopic machanism 9 to the direction extension of unexplosive powder, when bionic manipulator 11 extends to unexplosive powder top, through the high definition image of real-time passback, control bionic manipulator 11 through control handle snatchs unexplosive powder, shift to the safety zone. If the on-site destruction is needed, before the telescopic mechanism 9 stretches, the bionic mechanical arm 11 is controlled to grab the detonating device, the detonating device is conveyed to the position near the unexploded ammunition through the telescopic mechanism 9, the bionic mechanical arm 11 is controlled through the control handle to arrange the detonating device, the telescopic mechanism 9 is retracted, the movable explosive removing device is controlled to withdraw to a safety zone, and the detonation destruction can be carried out.
The utility model provides a portable explosive ordnance disposal device in the above-mentioned embodiment, including protection part 3, mobile base 6 and telescopic machanism 9, the bionic manipulator 11 that is used for snatching and unclamping ignition device or non-explosive powder is installed to telescopic machanism 9's output, be equipped with image acquisition subassembly 10 on the telescopic machanism 9, be used for the portable explosive ordnance disposal device is close to non-explosive powder in-process and acquires topographic map image and non-explosive powder image, still be equipped with display screen 4 on the protection part 3, display screen 4 is used for receiving topographic map image and non-explosive powder image that image acquisition subassembly 10 acquireed and show to adjust the operating condition of mobile base 6, telescopic machanism 9 and bionic manipulator 11 according to topographic map image and non-explosive powder image; the movable explosive ordnance disposal device is provided with a non-explosive handling method, the movable explosive ordnance disposal device can move forwards, backwards and turn through the arrangement of the movable base 6, the bionic mechanical arm 11 is adjusted to be close to the non-explosive by the telescopic mechanism 9, the detonating device is arranged near the non-explosive by the grabbing and loosening of the bionic mechanical arm 11, so as to detonate and destroy the non-explosive when the movable explosive ordnance disposal device is evacuated to a safety zone, because the working states of the movable base 6, the telescopic mechanism 9 and the bionic mechanical arm 11 are adjusted according to a topographic image and a non-explosive image, the non-explosive ordnance in a bullet pit or other vision blind areas can be accurately detonated, the non-explosive ordnance caused by improper operation is avoided, the operation risk is reduced, the whole structure is simple, the movement is flexible, and the operation is convenient, to the processing of the unexplosive powder, especially the small-bore unexplosive powder, the safe transfer and destruction of the unexplosive powder can be realized by the visual and movable explosive removal device, and the problems that most of the existing explosive removal devices are heavy in overall structure, have visual field blind areas, cannot accurately perform explosive removal operation and have extremely high operation risks are solved.
Furthermore, the utility model provides a portable explosive ordnance disposal device specifically is a manipulator is exploded to safe visual portable explosive ordnance disposal, the utility model discloses in the small-bore explosive ordnance treatment process such as grenade, the visual, mobilizable explosive ordnance manipulator of accessible realizes the safe transfer and the destruction of not exploding the dummy ammunition, specifically has following effect:
1) the movable explosion venting device is ingenious in overall structural design and convenient and fast to operate;
2) the combination of the movable base can realize quick transfer and orientation adjustment;
3) the safety of explosive disposal workers is further improved by the protection shield;
4) by matching with a high-definition holder camera and image return, the non-exploded dummy ammunition outside the visual range or in the visual field blind area can be accurately grabbed, destroyed and eliminated, and the operation safety is improved;
5) the telescopic mechanism 9 adopts an electric telescopic structure, and the length of the mechanical arm can be adjusted at will according to the field operation environment;
6) adopt bionic manipulator 11, it is more firm to snatch, operates more humanized.
It should be further noted that, although the remote mechanical claw is arranged in the existing product to perform the auxiliary operation of explosive ordnance disposal, wherein when the unexploded ammunition is disposed by using the sympathetic detonation method, a manipulator is required to place a device or explosive for detonation near the unexploded ammunition, and when the unexploded ammunition is transferred to a burnout furnace or an anti-explosion tank by using the burnout method, the existing domestic explosive ordnance disposal manipulators are all pure mechanical devices, so that the overall structure is heavy, the operation is complex, and for the unexploded ammunition in a bullet pit or other vision blind areas, the explosive ordnance disposal operation cannot be accurately performed, the unexploded ammunition can be exploded due to improper operation, and the operation risk is extremely high. The utility model provides a device is exploded to portable row is a manipulator is exploded to safe visual portable row, and in the small-bore explosive handling process that does not explode, the accessible is visual, mobilizable row explodes the manipulator and realizes not exploding the safe transfer and the destruction of mute's bullet. The electric appliances appearing in the article can be electrically connected with an external main controller, and the main controller can be a conventional known device for controlling a computer, a singlechip and the like.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. And are neither required nor exhaustive of all embodiments. And obvious changes and modifications may be made without departing from the scope of the present invention.
Claims (8)
1. The utility model provides a device is exploded to portable row, includes the guard portion that is used for protecting when being close to unexploded ammunition feed, its characterized in that, device is exploded still to portable row includes:
the movable base is arranged at one end of the protection part and is used for driving the protection part to move;
the telescopic mechanism is arranged at the outer edge of the protective part, the output end of the telescopic mechanism is provided with a bionic manipulator used for grabbing and loosening a detonating device or a non-explosive powder, and the detonating device is arranged near the non-explosive powder so as to detonate and destroy the non-explosive powder when the movable explosive ordnance disposal device is evacuated to a safety zone; and
the image acquisition assembly is arranged on the telescopic mechanism and used for acquiring a topographic image and a non-explosive image when the mobile explosive disposal device is close to the non-explosive image, the protection part is far away from one side of the bionic mechanical arm, the display screen is used for receiving the topographic image acquired by the image acquisition assembly and the non-explosive image and displaying the topographic image and the non-explosive image so as to adjust the working states of the mobile base, the telescopic mechanism and the bionic mechanical arm according to the topographic image and the non-explosive image.
2. The mobile explosive ordnance disposal device of claim 1, wherein the telescoping mechanism is configured to drive the bionic manipulator to reciprocate along a sideline direction of the telescoping mechanism to move the bionic manipulator to the unexploded explosive.
3. The mobile explosive ordnance disposal device of claim 1, wherein the image acquisition assembly is detachably arranged at one end of the telescoping mechanism close to the bionic manipulator.
4. The mobile explosive ordnance disposal device of claim 1, wherein the bionic manipulator has two degrees of freedom of axial rotation and pitching rotation, and anti-slip members are arranged on the inner sides of the fingers of the bionic manipulator.
5. The mobile explosive ordnance disposal device of claim 1, wherein the protection part is further provided with an adjusting component for adjusting two degrees of freedom of the bionic manipulator in the horizontal direction and the vertical direction.
6. The mobile explosive ordnance disposal device of claim 5, wherein said adjustment assembly comprises:
the mounting base is mounted on the side surface of the protection part;
the output end of the rotary joint part is connected with the telescopic mechanism and is used for adjusting two degrees of freedom of the telescopic mechanism in the horizontal direction and the vertical direction so as to drive the bionic manipulator and the image acquisition assembly to carry out position adjustment in the horizontal direction and the vertical direction; and
and the control piece is arranged at one end of the rotary joint part, which is far away from the bionic manipulator, and is used for controlling the rotary joint part to drive the telescopic mechanism to adjust the position in the horizontal direction and the vertical direction.
7. The mobile explosive ordnance disposal device of claim 1, wherein an observation part is further provided on the protection part, and the material of the observation part is bulletproof glass.
8. The mobile explosion venting device of claim 1, further comprising a power source for powering the mobile explosion venting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021644928.0U CN212458157U (en) | 2020-08-10 | 2020-08-10 | Movable explosive removing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021644928.0U CN212458157U (en) | 2020-08-10 | 2020-08-10 | Movable explosive removing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212458157U true CN212458157U (en) | 2021-02-02 |
Family
ID=74475833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021644928.0U Active CN212458157U (en) | 2020-08-10 | 2020-08-10 | Movable explosive removing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212458157U (en) |
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2020
- 2020-08-10 CN CN202021644928.0U patent/CN212458157U/en active Active
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