CN1792571A - Caterpillar counterterror robot with remote operation - Google Patents

Abstract

A remotely controlled anti-terrorism caterpillar robot is composed of a chassis with caterpillar belts and drive system, a foldable and telescopic gate frame pivoted to the front end of chassis, a cylinder connected to lower end of gate frame, a lift arrier installed in the front of said lift gate frame. It can carry a 500-kg explosive object.

Description

Caterpillar counterterror robot with remote operation

Technical field

The present invention relates to a kind of compact conformation, mobility strong, multi-functional, the remote-controlled robot that is mainly used in the anti-terrorism field operation, be used in the deathtrap explosive detection, transport and get rid of; Under specific circumstances, change accessories such as the folder clasping spine on the installing rack, pusher weapons such as into transmitter, machine gun, also can launch a offensive.

Background technology

After entering 21st century, the terrorism of globalization, narco-traffic and organized crime have replaced traditional security threat, and the corresponding techniques equipment seems weak and hysteresis in the antagonism measure.Though weigh tens of tons the combat engineer vehicle and the report of hypomegetic bomb disposal robot have abroad been arranged, and the terrorist activity that has occurred be can not check the number also.All about 100 kilograms, car bomb weight is all about 500 kilograms for the roadside bomb weight that occurs in Iraq; The terrorist activity several times of domestic appearance, explosive weight are also more than 100 kilograms.Therefore wish to have equipment that a kind of mobility is good, compact conformation can be moved 500 kilograms of left and right sides explosives again, the energy straighforward operation to occur.

Summary of the invention

The objective of the invention is to design a kind of caterpillar counterterror robot with remote operation, this device has that mobility is good, compact conformation, can move 500 kilograms of left and right sides explosives, can straighforward operation etc. characteristics.

According to design provided by the present invention, in the front on chassis is folding flexible door frame, and the bottom and the chassis of door frame are hinged, and the dump ram of the lower end of door frame below being installed on the chassis is connected, install in the front of door frame can lifting hoisting frame, crawler belt and drive system are arranged on the chassis.

Drive system is made up of driver element, hydraulic system, control system and batteries, crawler belt is by the drive unit drives in the drive system, do the walking action of forward-reverse, the forceful electric power of the pump of layout hydraulic system, valve, fuel tank, control system and light current element, batteries on the chassis.

Arrange pump, valve, the fuel tank of hydraulic system at the first half on chassis, the forceful electric power and the light current element of control system arranged at the middle part on chassis, and both isolate with metal partion (metp), and batteries is arranged at the rear portion, chassis, and batteries double as balance weight body is to keep the balance of complete machine.

Gathering sill is arranged on door frame, the roller that is embedded in the gathering sill is arranged on hoisting frame, hoisting frame relies on lift cylinder and roller to promote in the gathering sill of door frame, and the top of hoisting frame is useful on convex shoulder and/or the installing hole that mounts accessory.

Door frame is made up of outer mast and the inner upright mounting that can move up and down on outer mast.Accessory is folder clasping spine or directly fork or suspension rod and grab bucket or scraper bowl or boom, and the hook that directly fork, suspension rod and scraper bowl can be hung on the hoisting frame is arranged on L shaped straight fork, suspension rod and scraper bowl.The chain hook is installed on hoisting frame, is connected chain on the chain hook, the other end of chain is connected with outer mast, and hoisting frame can be moved up and down along with the piston rod of lift cylinder.

The scraper bowl body is arranged in scraper bowl, the scraper bowl body is connected with support, the lower end of support and the lower end of hook are hinged, nut is installed in upper end at support, be connected in the top of hook rotationally with the other end of nut fit screw rod, motor is installed on support, and the output of this motor is connected with screw mandrel or nut; Slide rail is arranged at folder in the clasping spine, the clamping plate that can move are in opposite directions arranged on slide rail, an end of these clamping plate is connected with forward and reverse screw mandrel, and the nut that cooperatively interacts is arranged on forward and reverse screw mandrel, and nut is connected with motor on being installed on slide rail; The grab bucket that can move is arranged mounting on the suspension rod on suspension rod, in grab bucket, two connecting rods are arranged, the hinged grab bucket body in the lower end of every connecting rod, the upper end and the slide block of connecting rod are hinged, motor is installed on slide block, the output of the motor pulley interior with being installed on slide block is connected, and steel wire rope is arranged on pulley, and the lower end of steel wire rope is connected with an end of grab bucket body.

The main shaft of hollow is set on the chassis, and drive sprocket utilizes bearing holder (housing, cover) to be contained on the cylindrical of main shaft; Drive motors and decelerator are installed in the inside of main shaft, and the output of drive motors and decelerator is connected with hub reduction gear, and the output of hub reduction gear is connected with the internal gear of sprocket wheel, and sprocket wheel is connected with crawler belt.

Characteristics of the present invention: (1) has the hoisting depth of 800 kilograms of lifting tonnages and 2500 millimeters.And preset convex shoulder and installing hole on the hoisting frame, can on hoisting frame, mount fast according to the shape of field condition and explosive as accessories such as folder clasping spine, straight fork, suspension rod and grab bucket, scraper bowl, booms, and be displaced to safe area after explosive mentioned.Also can mount image probe and infrared probe etc. and survey utensil, utilize the hoisting mechanism and the pivot stud function of robot, on all angles and each height, field condition is transferred to command centre.(2) equipment in its place ahead can fold, and is 700 millimeters and make the high compression of complete machine.Therefore can rely on himself presetting programming, sensor-based system, guidance system and control instruction and be advanced into certainly in the casing of special-purpose vehicle attaching, and deliver to the scene rapidly, have motor-driven characteristics fast by special-purpose vehicle.(3) adopt the light crawler walking mechanism, the adaptability of work is good, can stride across irrigation canals and ditches, can be at the soft or rugged ground running of mire.(4) rely on its image surveillance system, all walkings, turn to, promote, action such as inclination, clamping all can finish in command car in remote control, enters dangerous work on the spot to avoid personnel.

2000 millimeters of robot of the present invention total lengths, 1200 millimeters of overall withs, overall height was 700 millimeters when door frame was folding, conducted oneself with dignity 1200 kilograms.50 meters/minute of the maximum speeds of travel.

Description of drawings

Fig. 1 is a side view of the present invention.

Fig. 2 is the vertical view of Fig. 1.

Fig. 3 is the state diagram of crane after rising.

Fig. 4 is the state diagram after folding.

Fig. 5 is 4 kinds of working state figures of collapsible door frame among the present invention.

Fig. 6 is the hoisting frame structure chart.

Fig. 7 is the left view of Fig. 6.

Fig. 8 is the outline drawing of several accessories that can mount fast among the present invention.

Fig. 9 is the track drive unit figure of integral type among the present invention.

Figure 10 enters for the present invention and arrives at on-the-spot schematic diagram in the casing of special-purpose vehicle attaching fast.

The specific embodiment

The general layout of this robot as shown in Figure 1, 2,10 front is folding flexible door frame 1 on the chassis, the bottom of door frame 1 and chassis 10 are hinged, the dump ram 6 of the lower end of door frame 1 below being installed on chassis 10 is connected, install in the front of door frame 1 can lifting hoistingframe 2, crawler belt 4 and drive system are arranged on chassis 10.Drive system is made up of driver element 9, hydraulic system, control system and batteries 8, crawler belt 4 is driven by the driver element in the drive system 9, do the walking action of forward-reverse, the forceful electric power of the pump of layout hydraulic system, valve, fuel tank 5, control system and light current element 7, batteries 8 on chassis 10.During installation, 10 first half is arranged pump, valve, the fuel tank 5 of hydraulic system on the chassis, and the forceful electric power and the light current element 7 of control system arranged at the middle part on chassis 10, and both isolate with metal partion (metp) 40, batteries 8 is arranged at 10 rear portions, chassis, and batteries 8 double as balance weight body are to keep the balance of complete machine.

On door frame 1 gathering sill is arranged, the roller 18 that is embedded in the gathering sill is arranged on hoistingframe 2, hoistingframe 2 relies on lift cylinder and roller 18 to promote in the gathering sill of door frame 1, and the top of hoistingframe 2 is useful on convex shoulder 16 and/or the installing hole 17 that mounts accessory 3.Door frame 1 is made up ofouter mast 12 and the innerupright mounting 11 that can move up and down on outer mast 12.Promote door frame 1 and have 4 kinds of duties, shown in a among Fig. 5, b, c, d: when the piston rod overhang of dump ram 6 is maximum, because gyroaxis bearing 14 and chassis 10 are hinged, door frame 1 arrives horizontal level with hypsokinesis, make complete machine have minimum height of contour, as the d among Fig. 5 and Fig. 4, at this moment the total height of robot is 700 millimeters, thereby might below the chassis of command car, cabinet be set, robot be become with the car equipment send to the scene fast.When extending out to maximum height under the effect of innerupright mounting 11 at lift cylinder fromouter mast 12, hoistingframe 2 carries its accessory 3 in company with raising, and robot will have the ability that its operation utensil and weight is lifted to 2.5 meters height, see as the b among Fig. 5.And when being reduced to extreme position behind the dump ram 6, door frame 1 will lean forward 12 °, make robot have bigger operating space, see a among Fig. 5.C among Fig. 5 is inner upright mounting 11 and hoistingframe 2 state when dropping to minimum altitude.

Chain hook 19 is installed on hoistingframe 2, is connected chain 20 on chain hook 19, the other end of chain 20 is connected withouter mast 12, and hoistingframe 2 can be moved up and down along with the piston rod of lift cylinder.As shown in Figure 6: hoistingframe 2 relies on 4 rollers 18 to move up and down in the gathering sill of innerupright mounting 11; Chain 20 and chain hook 19 makes the hoistingframe 2 can be along with the piston rod of lift cylinder up and down.Convex shoulder 16 and installing hole 17 have been preset on the hoisting frame 2.After robot arrives at the scene, can mount operation accessory 3 according to the shape of explosive fast, be displaced to safe area after explosive is mentioned.

The operating mechanism of robot is the various forms of accessories 3 that are mounted on the hoistingframe 2, accessory 3 can be folder clasping spine 25 or directly pitch 21 or suspension rod 26 and grab bucket 27 or scraper bowl 22 or boom, on L shaped straight fork 21, suspension rod 26 and scraper bowl 22, have can with directly pitch 21, suspension rod 26 and scraper bowl 22 hang over the hook 41 on the hoisting frame 2.Straight fork 21 is the simplest accessories, and it can directly mount on the hoistingframe 2, need not operate the energy, sees the g among Fig. 7.

Scraper bowl body 46 is arranged in scraper bowl 22, scraper bowl body 46 is connected with support 42, the lower end of support 42 is hinged with the lower end of hook 41, nut is installed in upper end at support 42, be connected in the top of hook 41 rotationally with the other end of nut fit screw rod 23, motor 24 is installed on support 42, and the output of this motor 24 is connected with screw mandrel 23 or nut; As mount scraper bowl 22, and will peg graft so and hang cable down from door frame 1 upper sheave, make scraper bowl can do the action of tumbling of 30 ° of maximums by motor 24 and screw mandrel 23, see the f among Fig. 7.

Slide rail 43 is arranged at folder in the clasping spine 25, the clamping plate 45 that can move are in opposite directions arranged on slide rail 43, an end of these clamping plate 45 is connected with forward and reverse screw mandrel 44, on forward and reverse screw mandrel 44 nut that cooperatively interacts is arranged, and nut is connected with motor on being installed on slide rail 43; As mount folder clasping spine 25, and also can make the clamping plate on both sides do to press from both sides and action of releasing behind the socket cable by the forward and reverse screw mandrel in the folder clasping spine 25, see the e among Fig. 7.

The grab bucket 27 that can move is arranged mounting on the suspension rod 26 on suspension rod 26, in grab bucket 27, two connecting rods 46 are arranged, hinged grab bucket body draws in the lower end of every connecting rod 46, the upper end of connecting rod 46 and slide block 47 are hinged, motor 50 is installed on slide block 47, the output of motor 50 is connected with pulley 48 in being installed on slide block 47, and steel wire rope 49 is arranged on pulley 48, and the lower end of steel wire rope 49 is connected with an end of the body 51 of grabbing bucket.As mount suspension rod 26 and grab bucket 27, and then grab bucket is closed up by reel and steel cable mechanism, see the h among Fig. 7.

Also can mount image probe or infrared probe etc. on the hoistingframe 2 and survey utensil, after mounting detector, can utilize the hoisting mechanism and the pivot stud function of robot, field condition is sent to command centre in all angles and each height.Mount then preparation installation base plate and equipped electronic percussion lock separately of weapon as need.After installing the image surveillance system, all advance, retreat, turn to, promote, inclination, clamping, etc. action all can in command car, remote control finish.

In order to make robot have more compact structure, adopted direct track drive unit 9 by power-actuated integral type.Its structure such as Fig. 9: themain shaft 33 of hollow is set on chassis 10, and thedrive sprocket 29 of crawler belt 4 is sleeved on the cylindrical ofmain shaft 33 by two bearings 31.Drive motors anddecelerator 34 are installed in the inside ofmain shaft 33, the output of drive motors anddecelerator 34 is connected withhub reduction gear 32, the output ofhub reduction gear 32 is connected with theinternal gear 30 ofsprocket wheel 29,sprocket wheel 29 is connected with crawler belt 4, byhub reduction gear 32internal gear 30 that transmission of power arrivessprocket wheel 29 is driven crawler belt 4 rotations.About two cover crawler belts 4 respectively have and overlap independently driver element 9, control its rotating speed and direction by operating system, thereby finish the action that turns to and advance, retreat of robot.The present invention has adopted can be by the light crawler walking mechanism on muddy, soft and rugged road surface, and directly drive by the integral type track drive unit, motor and decelerator have been installed in the main shaft of hollow, drive sprocket wheel by hub reduction gear, make structure more compact, and simplified traveling control device.

Below the crossbeam of command car, cabinet is set, just robot can arrive at the scene fast, as Figure 10.Cabinet 36 is fixed oncrossbeam 37 times, and thefront shroud 35 of cabinet turns over downwards, is the springboard of robot discrepancy cabinet.In the dead ahead of cabinet the laser reflecting plate is set robot is led, make its correctly in-position.

Robot has two kinds of duties: a kind of is operation outside 20 meters are disembarked with interior low coverage, and its actuating signal can be pressed associated button on the handheld operation dish, the servo-control system that enters robot then by digital transmission system by the operator.The motion action person of robot is visual under this state reaches, need be by means of the image surveillance system.Another kind of state is the remote control duties beyond 50 meters, just must be by means of the on-the-spot image that miniature stylus transmitted that is installed in the place ahead, chassis and door frame top careful operation.Therefore laser range finder and various kinds of sensors also need be installed on the equipment of robot more safely finish field operation to help the operator.

When level was arrived in the door frame hypsokinesis, robot had minimum height dimension.Therefore can rely on its programming of presetting, sensor-based system, guidance system and control instruction and come into voluntarily in the cabinet of special-purpose vehicle attaching, arrive at the scene fast with car.

Of the present invention consisting of: the folding door frame of cover and a hoisting frame and a various accessory; Door frame is that secondary is telescopic, relies on the oil cylinder of its bottom hypsokinesis to arrive horizontal level, and making the complete machine high compression is 700 millimeters.Have the convex shoulder and the installing hole that can mount all kinds of accessories fast and survey utensil on the hoisting frame.Hoisting frame and accessory thereof rely on lift cylinder maximum to be elevated to 2500 millimeters, to tackle different field conditions.

Walking mechanism is a cover light track transmission system.Each is driven the crawler belt of the right and left by a direct current generator, therefore just can realize the pivot stud of robot when the crawler belt reverse rotation of both sides.The drive motors of crawler belt and drive sprocket form one and sealing is installed, to prevent into water and damage under attack.Coated glue-line of the ground connection of creeper tread reduces noise to improve the ground connection resistance, and reduces the damage of road pavement.

Inside, chassis is jumbo battery and parts such as hydraulic pump, valve, fuel tank and dump ram.Battery provides the driving power of walking and hydraulic system, and charging procedure should regularly be finished at ordinary times, and in the boost charge in the process of transporting of automobile.Accumulator capacity can be kept continuous 6 hours required electric weight of working of robot approximately.

Digital transmission system, laser range finder, laser scanner and the various kinds of sensors of graphic transmission system, actuating signal installed by this robot, can finish remote control walking, turn to and field operations such as clamping, lifting.

2 meters of this robot total lengths, wide 1.2 meters, overall height was 700 millimeters when door frame was folding, vertical and 3.0 meters of the overall heights when extending of door frame.800 kilograms of lifting capacities, 2500 millimeters of hoisting depths are conducted oneself with dignity 1.2 tons 50 meters/minute of the maximum speeds of travel.

Claims (9)

1, caterpillar counterterror robot with remote operation, it is characterized in that: the front of (10) is a folding flexible door frame (1) on the chassis, the bottom of door frame (1) and chassis (10) are hinged, the dump ram (6) of the lower end of door frame (1) below being installed on chassis (10) is connected, install in the front of door frame (1) can lifting hoisting frame (2), crawler belt (4) and drive system are arranged on chassis (10).

2, caterpillar counterterror robot with remote operation according to claim 1, it is characterized in that: drive system is made up of driver element (9), hydraulic system, control system and batteries (8), crawler belt (4) is driven by the driver element in the drive system (9), do the walking action of forward-reverse, the forceful electric power of the pump of (10) last layout hydraulic system, valve, fuel tank (5), control system and light current element (7), batteries (8) on the chassis.

3, caterpillar counterterror robot with remote operation according to claim 1, it is characterized in that: the first half of (10) is arranged pump, valve, the fuel tank (5) of hydraulic system on the chassis, the forceful electric power and the light current element (7) of control system arranged at the middle part on chassis (10), both isolate with metal partion (metp) (40), batteries (8) is arranged at rear portion, chassis (10), and batteries (8) double as balance weight body is to keep the balance of complete machine.

4, caterpillar counterterror robot with remote operation according to claim 1, it is characterized in that: on door frame (1), gathering sill is arranged, the roller (18) that is embedded in the gathering sill is arranged on hoisting frame (2), hoisting frame (2) relies on lift cylinder and roller (18) to promote in the gathering sill of door frame (1), and the top of hoisting frame (2) is useful on convex shoulder (16) and/or the installing hole (17) that mounts accessory (3).

5, caterpillar counterterror robot with remote operation according to claim 1 is characterized in that: door frame (1) is made up of outer mast (12) and the inner upright mounting (11) that can move up and down on outer mast (12).

6, as caterpillar counterterror robot with remote operation as described in the claim 4, it is characterized in that: accessory (3) is folder clasping spine (25) or straight fork (21) or suspension rod (26) and grab bucket (27) or scraper bowl (22) or boom, has to hang over hook (41) on the hoisting frame (2) with directly pitching (21), suspension rod (26) and scraper bowl (22) on L shaped straight fork (21), suspension rod (26) and scraper bowl (22).

7, as caterpillar counterterror robot with remote operation as described in claim 1 or 5, it is characterized in that: go up at hoisting frame (2) chain hook (19) is installed, go up connection chain (20) at chain hook (19), the other end of chain (20) is connected with outer mast (12), and hoisting frame (2) can be moved up and down along with the piston rod of lift cylinder.

8, as caterpillar counterterror robot with remote operation as described in the claim 6, it is characterized in that: scraper bowl body (46) is arranged in scraper bowl (22), scraper bowl body (46) is connected with support (42), the lower end of the lower end of support (42) and hook (41) is hinged, nut is installed in upper end at support (42), be connected in the top of hook (41) rotationally with the other end of nut fit screw rod (23), motor (24) is installed on support (42), and the output of this motor (24) is connected with screw mandrel (23) or nut; In folder clasping spine (25), slide rail (43) is arranged, the clamping plate (45) that can move are in opposite directions arranged on slide rail (43), one end of these clamping plate (45) is connected with forward and reverse screw mandrel (44), on forward and reverse screw mandrel (44) nut that cooperatively interacts is arranged, and nut is connected with motor on being installed on slide rail (43); The grab bucket (27) that can go up move at suspension rod (26) is arranged mounting on the suspension rod (26), in grab bucket (27), two connecting rods (46) are arranged, at the hinged grab bucket body in the lower end of every connecting rod (46) (51), the upper end of connecting rod (46) and slide block (47) are hinged, go up installation motor (50) at slide block (47), the output of motor (50) pulley (48) interior with being installed on slide block (47) is connected, steel wire rope (49) is arranged on pulley (48), and the lower end of steel wire rope (49) is connected with an end of grab bucket body (51).

9, caterpillar counterterror robot with remote operation according to claim 1, it is characterized in that: the main shaft (33) of hollow is set on chassis (10), and drive sprocket (29) utilizes bearing (31) to be sleeved on the cylindrical of main shaft (33); Drive motors and decelerator (34) are installed in the inside of main shaft (33), the output of drive motors and decelerator (34) is connected with hub reduction gear (32), the output of hub reduction gear (32) is connected with the internal gear (30) of sprocket wheel (29), and sprocket wheel (29) is connected with crawler belt (4).

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