Flexible manipulator for grenade grabbing

Abstract

The invention discloses a flexible manipulator for grenade grabbing. The flexible manipulator comprises a power mechanism, a shell, a guide block, discs, reeds and elastic pieces; the power mechanism is mounted in the shell, one end of each reed is driven by the power mechanism and does linear motion in the shell under the action of the guide block, the other end of each reed stretches out of the shell and is fixedly connected with the corresponding elastic piece and the corresponding disc to form one mechanical arm clamping jaw, and the at least three mechanical arm clamping jaws are evenly distributed on the outer circumference of the shell; one end of each elastic piece is fixedly connected with the corresponding reed, and the other end is fixed to the outer circumference of the shell; the rigidity of the reeds is higher than that of the elastic pieces, when the length of the extending parts of the reeds is greater than the length of the elastic pieces from the end surface to the tail end of the shell, the reeds are opened outwards under the limiting action of the elastic pieces; when the length of the extending parts of the reeds is smaller than the length of the elastic pieces from the end surface to the tail end of the shell, the elastic pieces are bent inwards under the pulling force of the reeds, and meanwhile, the deformation directions of the reeds are opposite to those of the elastic pieces through the elastic force generated by deformation of the reeds to clamp a grenade. According to the flexible manipulator, the safety and reliability of clamping the grenade can be improved.

Description

technical field [0001] The invention relates to the field of explosion-proof and de-explosion technology, in particular to a flexible manipulator for grabbing grenades. Background technique [0002] At present, the disposal of unexploded grenades in military training is mainly by manual or long-range shooting, and the disposal method is relatively backward. With the introduction of EOD robots, remote explosive disposal can be realized. However, the disposal object of the EOD robot is conventional suspected explosives, and there are various types of disposal. Therefore, the mechanical gripper designed by it cannot grasp the grenade very well. The conventional gripper is symmetrically gripped on two planes or the gripping part is made into an arc. Shape, point contact when gripping the grenade, there is a risk of falling off after gripping. Contents of the invention [0003] In view of this, the present invention provides a flexible manipulator for grasping the grenade, whi...

AI Technical Summary

Problems solved by technology

However, the disposal object of the EOD robot is conventional suspected explosives, and there are various types of disposal. Therefore, the mechanical gripper designed by it cannot grasp the grenade very well. The conventional gripper is symmetrically gripped on two planes or the gripping part is made into an arc. Shape, point contact when gripping the grenade, there is a risk of falling off after gripping

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