Multifunctional scissor-type end effector and robotic arm for reconnaissance and rescue missions

Abstract

The present invention relates to a multifunctional scissor-type end effector and a mechanical arm for reconnaissance and rescue missions. The multifunctional scissor-type end effector comprises an actuator frame, telescopic drive mechanisms are respectively arranged on both sides of the actuator frame, connecting rods are respectively hinged on both sides of the front end of the actuator frame, one end of the telescopic drive mechanism is hinged at the rear end of the actuator frame, and the other end is hinged to the connecting rod, a shearing head extending forward is arranged on the inner side of the connecting rod, and the two shearing heads are driven to mate and open by two telescopic drive mechanisms, and a screwing mechanism is arranged between the two shearing heads. The multifunctional scissor-type mechanical arm comprises a fixed base, a rotating disk, a first arm, a second arm and a mounting frame, and a multifunctional scissor-type end effector is arranged on the mounting frame. The present invention has the functions of shearing, clamping and removing screws, and is competent for bomb removal.

Description

Technical Field

[0001] The invention relates to a mechanical arm, in particular to a multifunctional scissor-type end effector and a mechanical arm for reconnaissance and rescue tasks. Background Art

[0002] In today's anti-terrorism operations, it is very dangerous for bomb disposal personnel to dismantle bombs installed by terrorists. Therefore, all countries are developing mobile operating robots to replace bomb disposal personnel to perform operations, so that operators can stay away from dangerous environments and improve the safety of operations. The most typical of such robots is the PackBot series of robots developed by the American iRobot company, which plays an important role in the military and anti-terrorism fields. However, the end effectors carried by the existing bomb disposal robot arms can only realize one function at a time. If other functions or tasks with many steps are required, it will take a lot of time to frequently replace the end effectors or even the entire arm, which limits the scope of application of the robot. For example, the 510PackBot in the PackBot series of robots mentioned above has only one mechanical wire cutter as the end effector, which is somewhat powerless when encountering a bomb line inside the device.

[0003] Nowadays, there are not many robots with scissor-type end effectors circulating on the market, and most of them are still in the experimental development stage. The main reason is that there are the following problems in development:

[0004] The existing scissor-type end-effector robot arms usually cannot complete the cutting task well due to their weak autonomous capabilities and complex working objects. When cutting round objects such as wires in bombs, the objects cannot be well confined in the scissors due to the squeezing of the blades and are easy to slip out of the scissors, resulting in cutting failure.

[0005] The structure is relatively complex and the cost is too high. If it is damaged while operating in a dangerous environment, it will increase the difficulty and financial investment of the repair work.

[0006] The applicability is not high. Most existing products are only equipped with blades for cutting. Therefore, in addition to cutting, they cannot perform other tasks, which greatly reduces the work efficiency and applicability of robots for reconnaissance and rescue missions. Summary of the invention

[0007] The purpose of the present invention is to provide a multifunctional scissor-type end effector and a mechanical arm for reconnaissance and rescue tasks, so as to solve the problem that the existing mechanical arm cannot complete a variety of tasks.

[0008] The present invention is implemented as follows: a multifunctional scissor-type end effector for reconnaissance and rescue tasks includes an actuator frame, telescopic drive mechanisms are respectively arranged on both sides of the actuator frame, connecting rods are respectively hinged on both sides of the front end of the actuator frame, one end of the telescopic drive mechanism is hinged to the rear end of the actuator frame, and the other end is hinged to the connecting rod, a cutting head extending forward is provided on the inner side of the connecting rod, the two telescopic drive mechanisms drive the two cutting heads to mate and open, and a screwing mechanism is arranged between the two cutting heads.

[0009] The screwing mechanism comprises a rotation driving mechanism arranged on the actuator frame, a rotation shaft is arranged at the front end of the actuator frame, a screwdriver is detachably mounted at the end of the rotation shaft, and the rotation shaft is driven by the rotation driving mechanism.

[0010] A blade is arranged on one of the shearing heads, an arc-shaped notch is arranged on the other shearing head, a cutting groove is arranged on the top surface of the arc-shaped notch, and the blade corresponds to the cutting groove.

[0011] A semicircular groove is arranged at the center of the arc-shaped recess.

[0012] A clamping block is arranged at the front end of the shearing head.

[0013] The two shearing heads are in a herringbone shape after being matched, and the screwing mechanism is exposed after the two shearing heads are fully opened.

[0014] The present invention also discloses a multifunctional scissor-type mechanical arm for reconnaissance and rescue tasks, comprising a fixed base, a rotating disk is arranged on the fixed base, a first arm is arranged on the rotating disk, a second arm is arranged at the end of the first arm, a mounting frame is arranged at the end of the second arm, and a multifunctional scissor-type end effector is arranged on the mounting frame; the multifunctional scissor-type end effector comprises an actuator frame, telescopic driving mechanisms are respectively arranged on both sides of the actuator frame, connecting rods are respectively hinged on both sides of the front end of the actuator frame, one end of the telescopic driving mechanism is hinged to the rear end of the actuator frame, and the other end is hinged to the connecting rod, a cutting head extending forward is arranged on the inner side of the connecting rod, the two telescopic driving mechanisms drive the two cutting heads to mate and open, and a screwing mechanism is arranged between the two cutting heads.

[0015] A first steering gear is arranged between the rotating disk and the fixed base, a second steering gear is arranged between the rotating disk and the first arm, a third steering gear is arranged between the first arm and the second arm, a fourth steering gear is arranged between the second arm and the mounting frame, and a fifth steering gear is arranged between the mounting frame and the multifunctional scissor-type end effector.

[0016] The multifunctional scissor-type end effector is installed on the mounting frame through a quick-installation mechanism, and the quick-installation mechanism includes a connecting tube arranged on one side of the mounting frame, a plurality of snap-in seams are opened on the side wall of the connecting tube, and snap-in grooves are opened on the same sides of both ends of the snap-in seams respectively, and the plug-in tube is installed on the multifunctional scissor-type end effector through a connecting disk at the end, and a snap-in piece is provided on the connecting disk, and a plug-in column is provided in the plug-in tube, a snap-in disk is provided at one end of the plug-in column, and a limit disk is provided at the other end, and a plurality of snap-in protrusions are provided on the side of the snap-in disk, and a spring is connected to the outer sleeve of the plug-in tube, and the spring is located between the snap-in disk and the connecting disk, and the snap-in disk is inserted into the connecting tube, and the snap-in protrusion and the snap-in piece are respectively snap-into the snap-in groove at the end of the snap-in seam.

[0017] The first arm and the second arm are both frame structures, and U-shaped frames are respectively arranged at both ends of the frame structure. The multifunctional scissor-type end effector for reconnaissance and rescue missions of the present invention can realize three functions of cutting cables, screwing screws, and clamping and moving through a multifunctional scissor-type end effector. In the bomb disposal mission, the bomb shell screws can be unscrewed, the bomb shell can be removed, and the wires inside the bomb can be cut, thereby completing the bomb disposal mission.

[0018] The two shearing heads are driven by the telescopic driving mechanism on both sides to engage or open each other, and the engagement of the shearing heads realizes shearing or clamping, and the opening of the shearing heads exposes the end of the screwing mechanism for screw removal. When shearing or clamping is performed, since the screwing mechanism is located at the rear of the shearing head, the screwing mechanism will not affect the normal clamping and shearing work of the shearing head, and when the screw needs to be removed, the opened shearing head will not affect the screwing work of the screw.

[0019] The screwdriver can be replaced to suit screws of different specifications.

[0020] When cutting, the round cable slides into the arc-shaped notch under extrusion, thereby restricting the cable in the cutting position and preventing the cable from slipping out of the cutting position during the cutting process.

[0021] The multifunctional scissor-type mechanical arm for reconnaissance and rescue missions of the present invention is a five-degree-of-freedom mechanical arm, which, in conjunction with a multifunctional scissor-type end effector, can flexibly and quickly complete bomb disposal tasks. The multifunctional scissor-type end effector is connected to the mechanical arm through a quick-install mechanism, which can quickly install or replace the end effector, thereby increasing the use range of the mechanical arm and facilitating on-site replacement of a spare end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of the multifunctional scissor-type end effector (with the shearing head closed) of the present invention.

[0023] Figure 2 It is a stereoscopic view of the multifunctional scissor-type end effector (with the shearing head closed) of the present invention.

[0024] Figure 3 It is a structural diagram of the multifunctional scissor-type end effector (with the shearing head opened) of the present invention.

[0025] Figure 4 It is a stereoscopic view of the multifunctional scissor-type end effector (with the shearing head opened) of the present invention.

[0026] Figure 5 It is a structural diagram of the multifunctional scissor-type mechanical arm of the present invention.

[0027] Figure 6 It is a structural diagram of the quick-loading mechanism of the present invention.

[0028] In the figure: 1. Multifunctional scissor-type end effector; 2. Fixed base; 3. Rotating plate; 4. First arm; 5. Second arm; 6. Mounting frame; 7. Quick-install mechanism; 8. First servo; 9. Second servo; 10. Third servo; 11. Fourth servo; 12. Fifth servo; 1-1. Actuator frame; 1-2. Telescopic drive mechanism; 1-3. Connecting rod; 1-4. Shear head; 1-5. Rotating drive mechanism; 1-6 , rotating shaft; 1-7, screwdriver; 1-8, clamping block; 1-9, cutting groove; 1-10, blade; 1-11, arc-shaped notch; 1-12, semicircular groove; 7-1, connecting tube; 7-2, snap joint; 7-3, plug-in tube; 7-4, connecting disk; 7-5, spring; 7-6, plug-in column; 7-7, limit disk; 7-8, snap-in disk; 7-9, snap-in protrusion; 7-10, snap-in groove; 7-11, snap-in sheet. DETAILED DESCRIPTION

[0029] like Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, the multifunctional scissor-type end effector 1 for reconnaissance and rescue tasks of the present invention comprises an actuator frame 1-1, telescopic driving mechanisms 1-2 are respectively arranged on both sides of the actuator frame 1-1, connecting rods 1-3 are respectively hinged on both sides of the front end of the actuator frame 1-1, one end of the telescopic driving mechanism 1-2 is hinged at the rear end of the actuator frame 1-1, and the other end is hinged to the connecting rod 1-3, a cutting head 1-4 extending forward is provided on the inner side of the connecting rod 1-3, the two telescopic driving mechanisms 1-2 drive the two cutting heads 1-4 to mate and open, and a screwing mechanism is provided between the two cutting heads 1-4.

[0030] The two shear heads 1-4 are in a herringbone shape after being matched, and the screwing mechanism is hidden behind the shear heads 1-4. When the two shear heads 1-4 are fully opened, the screwing mechanism is exposed. When shearing or clamping is performed, since the screwing mechanism is located at the rear of the shear heads 1-4, the screwing mechanism will not affect the normal clamping and shearing work of the shear heads 1-4. When the screws need to be removed, the opened shear heads 1-4 will not affect the screwing work of the screws.

[0031] The two shearing heads 1-4 are driven to swing by the extension and retraction of the two telescopic driving mechanisms 1-2. When shearing or clamping is performed, sufficient force can be provided to bring the two shearing heads 1-4 closer to each other, thereby cutting the cable between the two shearing heads 1-4, or clamping the object by the ends of the shearing heads 1-4.

[0032] Among them, the connecting rod 1-3 is an H-shaped frame, one end of the H-shaped frame is hinged to the front end of the actuator frame 1-1, and the other end is hinged to the front end of the telescopic rod of the telescopic driving mechanism 1-2. The shearing head 1-4 is connected to the middle part of the H-shaped frame. The distance between the part where the H-shaped frame is connected to the telescopic rod is larger than the outline size of the telescopic driving mechanism 1-2. When the H-shaped frame swings around the hinge axis, it has a larger swing range, so that the opening angle of the two shearing heads 1-4 is as large as possible, thereby exposing the screwing mechanism.

[0033] The telescopic driving mechanism 1-2 can be a micro electric push rod, a micro cylinder or a micro hydraulic cylinder.

[0034] A blade 1-10 is provided on one of the shearing heads 1-4, and an arcuate notch 1-11 is provided on the other shearing head 1-4. A cutting groove 1-9 is provided on the top surface of the arcuate notch 1-11, and the blade 1-10 and the cutting groove 1-9 correspond to each other.

[0035] A semicircular groove 1-12 is provided at the center of the arc-shaped recess 1-11.

[0036] During cutting, the cable is located in the arc-shaped notch 1-11 and will not fall out of the arc-shaped notch 1-11 under the pressure of the blade 1-10, and the cable will slide into the semicircular groove 1-12 to fix the position of the cable, thereby limiting the cable to the cutting position and preventing the cable from slipping out of the cutting position during the cutting process. The blade 1-10 gradually enters the cutting groove 1-9 to achieve the cutting of the cable.

[0037] The screwing mechanism includes a rotation drive mechanism 1-5 arranged on the actuator frame 1-1, a rotation shaft 1-6 is arranged at the front end of the actuator frame 1-1, a screwdriver 1-7 is detachably mounted at the end of the rotation shaft 1-6, and the rotation shaft 1-6 is driven by the rotation drive mechanism 1-5.

[0038] When removing the screw, the two cutting heads 1-4 are opened to both sides, so that the front end of the screwdriver 1-7 is exposed, and the screwdriver 1-7 is aligned with the screw and driven to rotate by the rotary drive mechanism 1-5, so that the screw is removed.

[0039] Among them, screwdrivers 1-7 can be replaced to be suitable for screws of different specifications.

[0040] The rotary drive mechanism 1-5 can be an electric motor, a pneumatic motor or a hydraulic motor.

[0041] A clamping block 1-8 is provided at the front end of the shearing head 1-4. The clamping block 1-8 is made of a material with a high surface friction coefficient, so as to stably clamp the object.

[0042] The present invention integrates a shearing head 1-4 with clamping and shearing functions and a screwing mechanism with a screwing function. A multifunctional scissor-type end effector 1 can realize the three functions of cutting cables, screwing screws and clamping and moving. It can realize the operations of unscrewing the screws of the bomb casing, removing the bomb casing and cutting the wires inside the bomb during the bomb disposal task, thereby completing the bomb disposal task.

[0043] like Figure 5 As shown, the present invention also discloses a multifunctional scissor-type mechanical arm for reconnaissance and rescue tasks, including a fixed base 2, a rotating disk 3 is arranged on the fixed base 2, a first arm 4 is arranged on the rotating disk 3, a second arm 5 is arranged at the end of the first arm 4, a mounting frame 6 is arranged at the end of the second arm 5, and a multifunctional scissor-type end effector 1 is arranged on the mounting frame 6. The multifunctional scissor-type end effector 1 includes an actuator frame 1-1, telescopic drive mechanisms 1-2 are respectively arranged on both sides of the actuator frame 1-1, connecting rods 1-3 are respectively hinged on both sides of the front end of the actuator frame 1-1, one end of the telescopic drive mechanism 1-2 is hinged to the rear end of the actuator frame 1-1, and the other end is hinged to the connecting rod 1-3, a shearing head 1-4 extending forward is arranged on the inner side of the connecting rod 1-3, the two telescopic drive mechanisms 1-2 drive the two shearing heads 1-4 to match and open, and a screwing mechanism is arranged between the two shearing heads 1-4.

[0044] A first steering gear 8 is arranged between the rotating disk 3 and the fixed base 2, and the rotation of the rotating disk 3 is driven by the first steering gear 8. A second steering gear 9 is arranged between the rotating disk 3 and the first arm 4, and the swing of the first arm 4 is driven by the second steering gear 9. A third steering gear 10 is arranged between the first arm 4 and the second arm 5, and the swing of the second arm 5 is driven by the third steering gear 10. A fourth steering gear 11 is arranged between the second arm 5 and the mounting frame 6, and the swing of the mounting frame 6 is driven by the fourth steering gear 11. A fifth steering gear 12 is arranged between the mounting frame 6 and the multi-functional scissor-type end effector 1, and the rotation of the multi-functional scissor-type end effector 1 is driven by the fifth steering gear 12, thereby forming a five-degree-of-freedom mechanical arm, realizing the multi-directional and multi-angle movement of the multi-functional scissor-type end effector 1, so that it can complete the corresponding action.

[0045] The first arm 4 and the second arm 5 are both frame structures, which have strong structural strength and light weight. U-shaped frames are respectively provided at both ends of the frame structure, and the steering gear is installed or connected to the rotating shaft of the steering gear through the U-shaped frames.

[0046] like Figure 6 As shown, the multifunctional scissor-type end effector 1 is installed on the mounting frame 6 through a quick-installation mechanism 7. The quick-installation mechanism 7 includes a connecting tube 7-1 arranged on one side of the mounting frame 6. A plurality of card seams 7-2 are provided on the side wall of the connecting tube 7-1. The card seams 7-2 extend from the port of the connecting tube 7-1 to the other end along the busbar. Card slots 7-10 are provided on the same side of both ends of the card seams 7-2, and the card slots on all the card seams 7-2 are located on the same side. A plug-in tube 7-3 is installed on the multifunctional scissor-type end effector 1. The plug-in tube 7-3 is installed on the rear end face of the actuator frame 1-1 through a connecting plate 7-4 at the end. A card plate 7-11 is provided on the side of the connecting plate 7-4. The number and position of the card plates 7-11 correspond to the card seams 7-2. A plug-in column 7-6 is arranged in the plug-in cylinder 7-3, a clamping plate 7-8 is arranged at one end of the plug-in column 7-6, and a limiting plate 7-7 is arranged at the other end. The limiting plate 7-7 is located in the plug-in cylinder 7-3 and limits the plug-in column 7-6 from coming out of the plug-in cylinder 7-3. A plurality of clamping protrusions 7-9 are arranged on the side of the clamping plate 7-8, and the number and position of the clamping protrusions 7-9 correspond to the clamping seam 7-2. A spring 7-5 is connected to the outer shell of the plug-in cylinder 7-3, and the spring 7-5 is located between the clamping plate 7-8 and the connecting plate 7-4. When connecting, the clamping plate 7-8 is inserted into the connecting cylinder 7-1 to compress the spring 7-5. When the clamping plate 7-8 reaches the bottom of the connecting cylinder 7-1, the connecting cylinder 7-1 is rotated so that the clamping protrusion 7-9 and the clamping plate 7-11 are respectively clamped in the clamping groove 7-10 at the end of the clamping seam 7-2.

[0047] The spring 7-5 in the compressed state presses the clamping plate 7-8 and the connecting plate 7-4 toward both sides, so that the clamping protrusion 7-9 and the clamping piece 7-11 are stably clamped in the clamping groove, and a certain external force is required to make them come out.

[0048] The multifunctional scissor-type mechanical arm for reconnaissance and rescue missions of the present invention is a five-degree-of-freedom mechanical arm, which can flexibly and quickly complete the actions required for bomb disposal missions in conjunction with the multifunctional scissor-type end effector 1. The multifunctional scissor-type end effector 1 is connected to the mechanical arm through a quick-install mechanism 7, which can quickly install or replace the end effector, thereby increasing the use range of the mechanical arm and facilitating on-site replacement of a spare end effector.

Claims

1. A multifunctional scissor-type end effector for reconnaissance and rescue missions, characterized in that: It comprises an actuator frame, telescopic driving mechanisms are respectively arranged on both sides of the actuator frame, connecting rods are respectively hinged on both sides of the front end of the actuator frame, one end of the telescopic driving mechanism is hinged on the rear end of the actuator frame, and the other end is hinged to the connecting rod, a cutting head extending forward is arranged on the inner side of the connecting rod, the two telescopic driving mechanisms drive the two cutting heads to mate and open, and a screwing mechanism is arranged between the two cutting heads; The screwing mechanism comprises a rotation drive mechanism arranged on the actuator frame, a rotation shaft is arranged at the front end of the actuator frame, a screwdriver is detachably mounted at the end of the rotation shaft, and the rotation shaft is driven by the rotation drive mechanism; The connecting rod is an H-shaped frame, one end of the H-shaped frame is hinged to the front end of the actuator frame, and the other end is hinged to the front end of the telescopic rod of the telescopic driving mechanism. The shear head is connected to the middle of the H-shaped frame. The distance between the portion where the H-shaped frame is connected to the telescopic rod is greater than the outline size of the telescopic driving mechanism. The two shearing heads are in a herringbone shape after being matched, and the screwing mechanism is exposed after the two shearing heads are fully opened; A blade is provided on one of the shearing heads, an arc-shaped notch is provided on the other shearing head, a cutting groove is provided on the top surface of the arc-shaped notch, and the blade corresponds to the cutting groove; A semicircular groove is arranged at the center of the arc-shaped recess.

2. The multifunctional scissor-type end effector for reconnaissance and rescue missions according to claim 1 is characterized in that: A clamping block is arranged at the front end of the shearing head.

3. A multifunctional scissor-type mechanical arm for reconnaissance and rescue missions, characterized in that: It comprises a fixed base, a rotating disk is arranged on the fixed base, a first arm is arranged on the rotating disk, a second arm is arranged at the end of the first arm, a mounting frame is arranged at the end of the second arm, and a multifunctional scissor-type end effector is arranged on the mounting frame; the multifunctional scissor-type end effector comprises an actuator frame, telescopic driving mechanisms are respectively arranged on both sides of the actuator frame, connecting rods are respectively hinged on both sides of the front end of the actuator frame, one end of the telescopic driving mechanism is hinged to the rear end of the actuator frame, and the other end is hinged to the connecting rod, a shearing head extending forward is arranged on the inner side of the connecting rod, the two telescopic driving mechanisms drive the two shearing heads to match and open, and a screwing mechanism is arranged between the two shearing heads; The screwing mechanism comprises a rotation drive mechanism arranged on the actuator frame, a rotation shaft is arranged at the front end of the actuator frame, a screwdriver is detachably mounted at the end of the rotation shaft, and the rotation shaft is driven by the rotation drive mechanism; The connecting rod is an H-shaped frame, one end of the H-shaped frame is hinged to the front end of the actuator frame, and the other end is hinged to the front end of the telescopic rod of the telescopic driving mechanism. The shear head is connected to the middle of the H-shaped frame. The distance between the portion where the H-shaped frame is connected to the telescopic rod is greater than the outline size of the telescopic driving mechanism. The two shearing heads are in a herringbone shape after being matched, and the screwing mechanism is exposed after the two shearing heads are fully opened; A blade is provided on one of the shearing heads, an arc-shaped notch is provided on the other shearing head, a cutting groove is provided on the top surface of the arc-shaped notch, and the blade corresponds to the cutting groove; A semicircular groove is provided at the center of the arc-shaped recess; The multifunctional scissor-type end effector is installed on the mounting frame through a quick-installation mechanism, and the quick-installation mechanism includes a connecting tube arranged on one side of the mounting frame, a plurality of snap-in seams are opened on the side wall of the connecting tube, and snap-in grooves are opened on the same sides of both ends of the snap-in seams respectively, and the plug-in tube is installed on the multifunctional scissor-type end effector through a connecting disk at the end, and a snap-in piece is provided on the connecting disk, and a plug-in column is provided in the plug-in tube, a snap-in disk is provided at one end of the plug-in column, and a limit disk is provided at the other end, and a plurality of snap-in protrusions are provided on the side of the snap-in disk, and a spring is connected to the outer sleeve of the plug-in tube, and the spring is located between the snap-in disk and the connecting disk, and the snap-in disk is inserted into the connecting tube, and the snap-in protrusion and the snap-in piece are respectively snap-into the snap-in groove at the end of the snap-in seam.

4. The multifunctional scissor-type mechanical arm for reconnaissance and rescue missions according to claim 3 is characterized in that: A first steering gear is arranged between the rotating disk and the fixed base, a second steering gear is arranged between the rotating disk and the first arm, a third steering gear is arranged between the first arm and the second arm, a fourth steering gear is arranged between the second arm and the mounting frame, and a fifth steering gear is arranged between the mounting frame and the multifunctional scissor-type end effector.

5. The multifunctional scissor-type mechanical arm for reconnaissance and rescue missions according to claim 3 is characterized in that: The first supporting arm and the second supporting arm are both frame structures, and U-shaped frames are respectively arranged at both ends of the frame structures.

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