Mechanical arm, bomb disposal vehicle and search method

Abstract

The present invention provides a mechanical arm, a bomb disposal vehicle and a search method, and relates to the technical field of bomb disposal. The mechanical arm provided by the present invention comprises: a mounting seat, a first clamping arm, a second clamping arm and a first torsion piece, the first clamping arm and the second clamping arm are respectively pivotally connected to the mounting seat, and the first clamping arm is linked with the second clamping arm; the first torsion piece is connected to the mounting seat, and is used to drive the second clamping arm so that the first clamping arm and the second clamping arm swing in opposite directions around their respective pivot axes. The mechanical arm provided by the present invention solves the technical problem of poor clamping stability of the mechanical arm in the prior art, can stably clamp explosives, avoids the problem of clamping deviation, simplifies the composition of the power source, and is conducive to reducing the manufacturing cost of the mechanical arm.

Description

Technical Field

[0001] The present invention relates to the technical field of bomb disposal, and in particular to a mechanical arm, a bomb disposal vehicle and a search method. Background Art

[0002] Human wars, terrorist organizations, and various violent conflicts will leave a large number of dangerous items in the surrounding environment. The traditional way to deal with dangerous items is to use manual removal and flame detonation. Manual removal is more dangerous for bomb disposal personnel. Even if they wear protective equipment, it is still difficult to ensure personal safety. Through the promotion of artificial intelligence, using robots instead of manual picking up explosives can solve the personal safety problem of bomb disposal personnel, but there is also the problem of robots being damaged by explosives.

[0003] When clamping explosives, in order to ensure that the explosives are stable, two clamping arms are usually brought close to each other to clamp them. Since it is difficult for traditional robotic arms to ensure the synchronous movement of the two clamping arms, the clamping of the explosives is not stable enough, which poses certain safety hazards. Summary of the invention

[0004] The object of the present invention is to provide a mechanical arm, a bomb disposal vehicle and a search method to solve the technical problem of poor clamping stability of the mechanical arm in the prior art.

[0005] In a first aspect, the robotic arm provided by the present invention comprises: a mounting seat, a first clamping arm, a second clamping arm and a first torsion member, wherein the first clamping arm and the second clamping arm are respectively pivotally connected to the mounting seat, and the first clamping arm is linked to the second clamping arm; the first torsion member is connected to the mounting seat, and is used to drive the second clamping arm so that the first clamping arm and the second clamping arm swing in opposite directions around their respective pivot axes.

[0006] In combination with the first aspect, the present invention provides a first possible implementation manner of the first aspect, wherein the first clamping arm includes a first gear portion, a first extension portion and a first clamping portion, the first extension portion is connected between the first gear portion and the first clamping portion, the second clamping arm includes a second gear portion, a second extension portion and a second clamping portion, the second extension portion is connected between the second gear portion and the second clamping portion, and the first gear portion is meshed with the second gear portion; the first extension portion and the second extension portion are arranged opposite to each other, and the middle end of the first extension portion and the middle end of the second extension portion are bent in directions away from each other respectively; the first clamping portion and the second clamping portion are arranged opposite to each other, and the middle end of the first clamping portion and the middle end of the second clamping portion are bent in directions away from each other respectively.

[0007] In combination with the first aspect, the present invention provides a second possible implementation of the first aspect, wherein the robotic arm includes a base and a height adjustment device, and the height adjustment device is connected to the base and is used to drive the mounting seat to rise and fall.

[0008] In combination with the second possible implementation of the first aspect, the present invention provides a third possible implementation of the first aspect, wherein a push-pull device is connected to the base, the movable end of the push-pull device is hinged to the mounting seat, the mounting seat is hinged to the height adjustment device, and the push-pull device is used to drive the mounting seat to swing around the hinge axis between the mounting seat and the height adjustment device.

[0009] In a second aspect, the bomb disposal vehicle provided by the present invention includes a vehicle body, a detector, a controller and the mechanical arm provided in the first aspect, wherein the mechanical arm is arranged on the vehicle body, the detector is connected to the vehicle body and has the same orientation as the mechanical arm; the detector is connected to the controller and is used to identify the target object and detect the distance between the target object and the vehicle body.

[0010] In combination with the second aspect, the present invention provides a first possible implementation scheme of the second aspect, wherein the detector includes an ultrasonic sensor and a visual sensor, the ultrasonic sensor and the visual sensor are respectively connected to the controller, two ultrasonic sensors are provided, both of the two ultrasonic sensors are facing the forward direction of the vehicle body, and are respectively located on both sides of the vehicle body, and the robotic arm is located between the two ultrasonic sensors.

[0011] In a third aspect, the present invention provides a search method comprising the following steps:

[0012] Identify suspected objects based on color; screen suspected objects based on their projection area;

[0013] The suspected objects are screened according to their outer contours; the similarity between the image of the suspected object and the template image is calculated, and the suspected objects with a similarity greater than a preset similarity are determined as target objects.

[0014] In combination with the third aspect, the present invention provides a first possible implementation of the third aspect, wherein the screening of suspected objects based on their outer contours includes: calculating the ratio of the projection area of ​​the suspected object to the area of ​​the minimum circumscribed rectangle of the outline of the suspected object to obtain an outer contour ratio; when the outer contour ratio exceeds a preset ratio range, ending the judgment of this frame image.

[0015] In combination with the third aspect, the present invention provides a second possible implementation of the third aspect, wherein the search method comprises the following steps: respectively calculating the distances between the two ultrasonic sensors and the obstacle; when the left detection distance is greater than the right detection distance, controlling the bomb disposal vehicle to move to the left; when the right detection distance is greater than the left detection distance, controlling the bomb disposal vehicle to move to the right.

[0016] In combination with the second possible implementation of the third aspect, the present invention provides a third possible implementation of the third aspect, wherein, when the left detection distance is equal to the right detection distance, the vehicle is controlled to move forward or backward so that the left detection distance and the right detection distance are both equal to preset values.

[0017] The embodiments of the present invention bring the following beneficial effects: the first clamping arm and the second clamping arm are respectively pivotally connected to the mounting base, and the first clamping arm is linked with the second clamping arm; the first torsion piece is connected to the mounting base and is used to drive the second clamping arm so that the first clamping arm and the second clamping arm swing in opposite directions around their respective pivot axes, and the first clamping arm and the second clamping arm ensure synchronous movement through gear meshing transmission, thereby achieving smooth clamping and avoiding the problem of clamping deviation; the second clamping arm is driven by the first torsion piece to achieve synchronous movement of the second clamping arm and the first clamping arm, thereby simplifying the composition of the power source, which is beneficial to reducing the manufacturing cost of the robotic arm.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of a robotic arm provided in Embodiment 1 of the present invention;

[0021] Figure 2 A schematic diagram of a first clamping arm of a mechanical arm provided in Embodiment 1 of the present invention;

[0022] Figure 3 A schematic diagram of a second clamping arm of a mechanical arm provided in Embodiment 1 of the present invention;

[0023] Figure 4 A schematic diagram of the body of a bomb disposal vehicle provided in Embodiment 2 of the present invention;

[0024] Figure 5 A schematic diagram of an explosive ordnance disposal vehicle provided in Embodiment 2 of the present invention;

[0025] Figure 6 The process of the search method provided in the third embodiment of the present invention Figure 1 ;

[0026] Figure 7 The process of the search method provided in the third embodiment of the present invention Figure 2 .

[0027] Icons: 1-mounting seat; 2-first clamping arm; 21-first gear part; 22-first extension part; 23-first clamping part; 3-second clamping arm; 31-second gear part; 32-second extension part; 33-second clamping part; 4-first torsion member; 5-base; 6-height adjustment device; 61-swing arm; 62-second torsion member; 7-push-pull device; 71-connecting rod; 72-rocker; 73-third torsion member; 8-body; 81-chassis; 82-first drive member; 83-second drive member; 84-third drive member; 85-fourth drive member; 86-first omnidirectional wheel; 87-second omnidirectional wheel; 88-third omnidirectional wheel; 89-fourth omnidirectional wheel; 9-detector; 91-ultrasonic sensor; 92-visual sensor. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Embodiment 1

[0032] like Figure 1 As shown, the mechanical arm provided by the embodiment of the present invention includes: a mounting base 1, a first clamping arm 2, a second clamping arm 3 and a first torsion member 4, the first clamping arm 2 and the second clamping arm 3 are respectively pivotally connected to the mounting base 1, and the first clamping arm 2 is linked to the second clamping arm 3; the first torsion member 4 is connected to the mounting base 1, and is used to drive the second clamping arm 3, so that the first clamping arm 2 and the second clamping arm 3 swing in opposite directions around their respective pivot axes.

[0033] Specifically, the first torsion member 4 is a steering gear or a servo motor, and the first torsion member 4 is used to drive the second clamping arm 3 to swing; the first clamping arm 2 and the second clamping arm 3 are driven by gear meshing, and when the first clamping arm 2 swings around the first pivot axis, the second clamping arm 3 can be driven to swing synchronously and reversely around the second pivot axis. The pivot axis of the first clamping arm 2 is parallel to the pivot axis of the second clamping arm 3. When the first clamping arm 2 and the second clamping arm 3 move synchronously, the first clamping arm 2 and the second clamping arm 3 open or close, so that the explosive can be clamped or released, and the explosive can be clamped stably, thereby reducing safety risks.

[0034] It should be noted that the second clamping arm 3 is driven by the first torsion member 4, and the first torsion member 4 is driven by the second clamping arm 3, thereby simplifying the power source required for clamping the explosive, which is beneficial to reducing the manufacturing cost of the robot arm.

[0035] like Figure 2 and Figure 3As shown, the first clamping arm 2 includes a first gear portion 21, a first extension portion 22 and a first clamping portion 23, the first extension portion 22 is connected between the first gear portion 21 and the first clamping portion 23, the second clamping arm 3 includes a second gear portion 31, a second extension portion 32 and a second clamping portion 33, the second extension portion 32 is connected between the second gear portion 31 and the second clamping portion 33, and the first gear portion 21 is meshed with the second gear portion 31; the first extension portion 22 and the second extension portion 32 are arranged opposite to each other, and the middle end of the first extension portion 22 and the middle end of the second extension portion 32 are bent in directions away from each other; the first clamping portion 23 and the second clamping portion 33 are arranged opposite to each other, and the middle end of the first clamping portion 23 and the middle end of the second clamping portion 33 are bent in directions away from each other. Wherein, the second clamping arm 3 is a T-shaped rod, or the second clamping arm 3 and the first clamping arm 2 are symmetrical in structure relative to the central plane of the first clamping area. The first clamping area and the second clamping area can work together to clamp explosives with irregular shapes. Specifically, the first extension part 22 and the second extension part 32 are closed to form a first clamping area, and the first clamping part 23 and the second clamping part 33 are closed to form a second clamping area. The cross-sectional shapes of the first clamping area and the second clamping area are both circular or elliptical. The explosive is clamped by the middle end of the first clamping part 23 and the middle end of the second clamping part 33, so that the explosive can be prevented from sliding in the vertical direction; the middle end of the first extension part 22 and the middle end of the second extension part 32 can not only be used to clamp the explosive, but also the curved first extension part 22 and the second extension part 32 can prevent the first extension part 22 and the second extension part 32 from bending and deforming in directions away from each other when clamping the explosive.

[0036] Furthermore, a first anti-slip pad is provided on the side of the first clamping arm 2 facing the second clamping arm 3, and a second anti-slip pad is provided on the side of the second clamping arm 3 facing the first clamping arm 2. Both the first anti-slip pad and the second anti-slip pad can be made of sandpaper or a rubber pad with stripes on the surface. The first anti-slip pad and the second anti-slip pad increase friction to prevent the explosive from slipping.

[0037] Furthermore, a first buffer pad is provided between the first clamping arm 2 and the first anti-slip pad, and a second buffer pad is provided between the second clamping arm 3 and the second anti-slip pad. Both the first buffer pad and the second buffer pad are sponges for buffering the pressure during the clamping process, thereby improving the stability during the clamping process of the explosive.

[0038] In the embodiment of the present invention, the mechanical arm includes a base 5 and a height adjustment device 6. The height adjustment device 6 is connected to the base 5 and the mounting base 1 respectively, and is used to drive the mounting base 1 to rise and fall.

[0039] Specifically, the height adjustment device 6 is a telescopic cylinder, the bottom end of which is connected to the base 5, and the mounting seat 1 is connected to the top end of the telescopic cylinder. The mounting seat 1 can be driven to rise and fall through the telescopic action of the telescopic cylinder, so as to clamp explosives at different heights.

[0040] like Figure 1 As shown, the height adjustment device 6 includes a swing arm 61 and a second torsion member 62, the second torsion member 62 is connected to the base 5, one end of the swing arm 61 is connected to the driving shaft of the second torsion member 62, and the other end of the swing arm 61 is connected to the mounting base 1; the second torsion member 62 is a steering gear or a servo motor, and the swing arm 61 can be driven to swing through the second torsion member 62, thereby driving the mounting base 1 to rise and fall.

[0041] Furthermore, a push-pull device 7 is connected to the base 5, the movable end of the push-pull device 7 is hinged to the mounting seat 1, the mounting seat 1 is hinged to the height adjustment device 6, and the push-pull device 7 is used to drive the mounting seat 1 to swing around the hinge axis between the mounting seat 1 and the height adjustment device 6.

[0042] like Figure 1 As shown, the mounting seat 1 is hinged with the height adjustment device 6, and the push-pull device 7 is used to drive the mounting seat 1 to swing around the hinge axis between the mounting seat 1 and the height adjustment device 6, thereby changing the opening direction between the first clamping arm 2 and the second clamping arm 3, so that the clamping angle of the explosive can be adjusted. Among them, the push-pull device 7 is a telescopic cylinder, which is hinged with the base 5, or the push-pull device 7 includes a connecting rod 71, a rocking arm 72 and a third torsion member 73, and the third torsion member 73 is a steering gear or a servo motor, one end of the rocking arm 72 is connected to the driving shaft of the third torsion member 73, and the other end of the rocking arm 72 is hinged with the connecting rod 71, and the end of the connecting rod 71 away from the rocking arm 72 is hinged with the mounting seat 1. The rocking arm 72 is driven by the third torsion member 73 to swing around the axis of the driving shaft of the third torsion member 73, thereby pushing and pulling the connecting rod 71, and the connecting rod 71 pushes and pulls the mounting seat 1, so that the mounting seat 1 swings around the hinge axis between the mounting seat 1 and the height adjustment device 6.

[0043] Embodiment 2

[0044] like Figure 4 and Figure 5 As shown, the bomb disposal vehicle provided in the embodiment of the present invention includes: a vehicle body 8, a detector 9, a controller and the mechanical arm provided in the first embodiment, the mechanical arm is arranged on the vehicle body 8, the detector 9 is connected to the vehicle body 8, and has the same orientation as the mechanical arm; the detector 9 is connected to the controller, and is used to identify the target object and detect the distance between the target object and the vehicle body 8.

[0045] Specifically, the detector 9 is used to detect and analyze whether there is explosive through the controller operation. The vehicle body 8 is used to move the mechanical arm to the corresponding position and clamp the explosive through the mechanical arm. The controller adopts a main control development board based on ATmega2560, model ArduinoMega 2560.

[0046] like Figure 4 and Figure 5 As shown, the vehicle body 8 includes a chassis 81, a first driving member 82, a second driving member 83, a third driving member 84, a fourth driving member 85, a first omnidirectional wheel 86, a second omnidirectional wheel 87, a third omnidirectional wheel 88 and a fourth omnidirectional wheel 89, the first omnidirectional wheel 86 is connected to the driving shaft of the first driving member 82, the second omnidirectional wheel 87 is connected to the driving shaft of the second driving member 83, the third omnidirectional wheel 88 is connected to the driving shaft of the third driving member 84, the fourth omnidirectional wheel 89 is connected to the driving shaft of the fourth driving member 85, and the first driving member 82, the second driving member 83, the third driving member 84 The first and fourth drive members 85 all adopt photoelectric encoder motors, so that the number of rotations of the rotation speed can be accurately controlled. The first omnidirectional wheel 86, the second omnidirectional wheel 87, the third omnidirectional wheel 88 and the fourth omnidirectional wheel 89 are all Mecanum wheels. The first drive member 82, the second drive member 83, the third drive member 84 and the fourth drive member 85 are respectively connected to the controller. By controlling the first drive member 82, the second drive member 83, the third drive member 84 and the fourth drive member 85 respectively, not only the forward or backward movement of the vehicle body 8 can be achieved, but also the movement of the vehicle body 8 to the left or right can be achieved.

[0047] In the embodiment of the present invention, the detector 9 includes an ultrasonic sensor 91 and a visual sensor 92, which are connected to the controller respectively. Two ultrasonic sensors 91 are provided, and both ultrasonic sensors 91 face the forward direction of the vehicle body 8 and are respectively located on both sides of the vehicle body 8, and the mechanical arm is located between the two ultrasonic sensors 91. Among them, the ultrasonic sensor 91 is used to detect the distance between the obstacle and the vehicle body 8, and the ultrasonic sensors 91 located on both sides of the mechanical arm can be used to detect whether the mechanical arm is aligned with the explosive. The visual sensor 92 is used to identify the explosive by color, size, shape and other aspects, and the distance between the explosive and the vehicle body 8 is detected by the ultrasonic sensor 91, and the appearance size of the explosive is detected by the visual sensor 92. In this process, the visual sensor 92 can detect the appearance size when it is a certain distance away from the explosive, thereby ensuring the accuracy of the size detection and avoiding the influence of the visual distance on the size detection. The visual sensor 92 adopts the Pixymon sensor, and the ultrasonic sensor 91 can select the ultrasonic distance sensor of model HC-SR04.

[0048] Embodiment 3

[0049] like Figure 6As shown, the search method provided by the embodiment of the present invention includes the following steps:

[0050] Identify suspected objects based on color; taking a black explosive placed on a lawn as an example, a grayscale value range is preset in the controller, and the visual sensor 92 is used to identify whether the grayscale value of the object is within the preset grayscale value range, and objects with colors similar to the explosive are determined as suspected objects.

[0051] Suspected objects are screened based on their projection area; the controller presets the size range of explosives, and by comparing the projection area of ​​suspected objects, objects that are smaller or too large are excluded, thereby narrowing the search range.

[0052] Screen suspected objects based on their outlines; exclude objects that are very different from explosives based on their shapes, thereby further narrowing the search scope.

[0053] The similarity between the image of the suspected object and the template image is calculated, and the suspected object with a similarity greater than a preset similarity is determined as the target object. The similarity between the image of the suspected object and the template image is calculated using a histogram similarity algorithm, and the suspected object is screened according to color, size and shape before comparing the image similarity, thereby narrowing the search range, which is conducive to improving the calculation speed of the similarity comparison, thereby improving the recognition efficiency of explosives.

[0054] Furthermore, screening the suspected object according to the outline of the suspected object includes: calculating the ratio of the projection area of ​​the suspected object to the area of ​​the smallest circumscribed rectangle of the suspected object outline to obtain an outline ratio; when the outline ratio exceeds a preset ratio range, the judgment of this frame of image is terminated. The closer the outline ratio is to 1, the more similar the outline of the suspected object is to a rectangle, and the suspected object is similar to the common outline of explosives, so objects with shapes that are obviously different from explosives can be excluded.

[0055] like Figure 7As shown, the search method includes the following steps: respectively calculating the distance between the two ultrasonic sensors 91 and the obstacle; when the left detection distance is greater than the right detection distance, controlling the bomb disposal vehicle to move to the left; when the right detection distance is greater than the left detection distance, controlling the bomb disposal vehicle to move to the right. Specifically, when the left detection distance is greater than the right detection distance, the ultrasonic sensor 91 on the left is farther from the obstacle, thereby controlling the bomb disposal vehicle to move to the left; when the right detection distance is greater than the left detection distance, the ultrasonic sensor 91 on the right is farther from the obstacle, thereby controlling the bomb disposal vehicle to move to the right. When the distances between the ultrasonic sensors 91 on the left and right sides and the obstacle are equal, it means that the mechanical arm located between the two ultrasonic sensors 91 is facing the obstacle, and the obstacle is identified by the visual sensor 92 to determine whether the obstacle is an explosive. If the obstacle is an explosive, the mechanical arm can directly clamp the explosive. The vehicle body 8 can move the explosive to the designated explosive destruction area after the explosive is clamped. During the process, no personnel need to approach the explosive, which can ensure the safety of the bomb disposal process.

[0056] It should be noted that when the visual sensor 92 is not facing the suspected object, the image filtering method in the prior art can be used to correct the collected image, thereby improving the accuracy of explosive identification.

[0057] like Figure 7 As shown, when the left detection distance is equal to the right detection distance, the vehicle body 8 is controlled to move forward or backward so that the left detection distance and the right detection distance are equal to the preset value. When the left detection distance is equal to the right detection distance, it means that the mechanical arm is facing the obstacle, and the left detection distance and the right detection distance are equal to the preset value, so as to ensure that the visual sensor 92 can accurately identify the color, shape and size of the suspected object.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm, characterized in that: include: A mounting seat (1), a first clamping arm (2), a second clamping arm (3) and a first torsion member (4), wherein the first clamping arm (2) and the second clamping arm (3) are respectively pivotally connected to the mounting seat (1), and the first clamping arm (2) and the second clamping arm (3) are linked; the first torsion member (4) is connected to the mounting seat (1) and is used to drive the second clamping arm (3) so that the first clamping arm (2) and the second clamping arm (3) swing in opposite directions around their respective pivot axes; The mechanical arm also includes a base (5), a height adjustment device (6) and a push-pull device (7); The height adjustment device (6) comprises: a swing arm (61) and a second torsion member (62), wherein the second torsion member (62) is connected to the base (5), one end of the swing arm (61) is connected to a driving shaft of the second torsion member (62), and the other end of the swing arm (61) is connected to the mounting seat (1); The push-pull device (7) comprises: a connecting rod (71), a rocking rod (72) and a third torsion member (73); one end of the rocking rod (72) is connected to the driving shaft of the third torsion member (73); the other end of the rocking rod (72) is hinged to the connecting rod (71); and one end of the connecting rod (71) away from the rocking rod (72) is hinged to the mounting seat (1); The first clamping arm (2) comprises a first gear portion (21), a first extension portion (22) and a first clamping portion (23), wherein the first extension portion (22) is connected between the first gear portion (21) and the first clamping portion (23), and the second clamping arm (3) comprises a second gear portion (31), a second extension portion (32) and a second clamping portion (33), wherein the second extension portion (32) is connected between the second gear portion (31) and the second clamping portion (33), and the first gear portion (21) is meshed with the second gear portion (31); The first extension portion (22) and the second extension portion (32) are arranged opposite to each other, and the middle end of the first extension portion (22) and the middle end of the second extension portion (32) are bent in directions away from each other; the first clamping portion (23) and the second clamping portion (33) are arranged opposite to each other, and the middle end of the first clamping portion (23) and the middle end of the second clamping portion (33) are bent in directions away from each other.

2. A bomb disposal vehicle, characterized in that: It comprises a vehicle body (8), a detector (9), a controller and the mechanical arm according to claim 1, wherein the mechanical arm is arranged on the vehicle body (8), and the detector (9) is connected to the vehicle body (8) and has the same orientation as the mechanical arm; The detector (9) is connected to the controller and is used to identify the target object and detect the distance between the target object and the vehicle body (8).

3. The bomb disposal vehicle according to claim 2, characterized in that: The detector (9) comprises an ultrasonic sensor (91) and a visual sensor (92), wherein the ultrasonic sensor (91) and the visual sensor (92) are respectively connected to the controller, and two ultrasonic sensors (91) are provided, both of which face the forward direction of the vehicle body (8) and are respectively located on two sides of the vehicle body (8), and the mechanical arm is located between the two ultrasonic sensors (91).

4. A search method, characterized in that: The search method adopts the bomb disposal vehicle according to claim 2 or 3, and comprises the following steps: Identify suspects based on color; Screen suspected objects based on their projection areas; Screening suspected objects based on their appearance and outline; The similarity between the image of the suspected object and the template image is calculated, and the suspected object with a similarity greater than a preset similarity is determined as the target object.

5. The search method according to claim 4, characterized in that: The screening of the suspected object according to the appearance of the suspected object comprises: The ratio of the projection area of ​​the suspected object to the area of ​​the smallest circumscribed rectangle of the suspected object's outline is calculated to obtain the shape ratio; When the appearance ratio exceeds the preset ratio range, the judgment of this frame of image is terminated.

6. The search method according to claim 4, characterized in that: The search method comprises the following steps: Calculating the distances between the two ultrasonic sensors (91) and the obstacles respectively; When the detection distance on the left is greater than the detection distance on the right, the bomb disposal vehicle is controlled to move to the left; When the detection distance on the right side is greater than the detection distance on the left side, the bomb disposal vehicle is controlled to move to the right.

7. The search method according to claim 6, characterized in that: When the left detection distance is equal to the right detection distance, the car is controlled to move forward or backward so that the left detection distance and the right detection distance are both equal to the preset value.

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