Explosive ordnance disposal mechanical arm of tracked robot

Abstract

The invention relates to the technical field of mechanical arms, in particular to an explosive ordnance disposal mechanical arm of a tracked robot, which comprises a mechanical arm main body consisting of a base, a first arm body, a second arm body and a third arm body which are movably connected in sequence to form a mechanical arm structure capable of moving in an operation radius; the execution part is a clamping mechanical claw, a camera or an iron shovel; and the connecting part is used for connecting and fixing the execution part and the third arm body, and the connecting part comprises a connector base body fixed to the execution part and a connector base body installed on the third arm body. Through the arrangement of the connecting part, when the executing part is connected with the third arm body through the connecting part, connection can be completed only by inserting the connector base body into the connector base body and rotating the driving ring on the connector base body, operation is convenient and fast, the structure is exquisite, in this way, the connector base body is of a rotatable structure, and the connecting effect is good. And the execution part arranged on the interface base body can also rotate.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, in particular to an explosive-disposal mechanical arm of a crawler robot. Background Art

[0002] The bomb disposal robot is a special device used by bomb disposal personnel to dispose of or destroy suspected explosives to avoid unnecessary casualties. It can be used for bomb disposal in a variety of complex terrains, mainly used to replace bomb disposal personnel to carry and transfer suspected explosives and other harmful dangerous goods; to replace bomb disposal personnel to use explosives to destroy dangerous goods; to replace on-site security personnel to conduct on-site surveys and transmit on-site images; and can be equipped with detection equipment to inspect dangerous places and dangerous goods.

[0003] A Chinese patent application with announcement number CN108381517A discloses a mechanical arm mechanism of a bomb disposal robot, including a mechanical arm, one end of which is connected to a rotating pan-tilt platform through a mechanical arm support, the other end of the mechanical arm is connected to one end of a mechanical forearm, the other end of the mechanical forearm is connected to a mechanical claw support, a camera is arranged at the end of the mechanical claw support, a mechanical claw is arranged at the upper end of the mechanical claw support, and a mechanical claw opening and closing mechanism is installed on the mechanical claw; a first servo, a second servo, a third servo and a fourth servo that provide steering power are respectively arranged between the mechanical arm and the mechanical arm support, between the mechanical arm and the mechanical forearm, between the mechanical forearm and the mechanical claw support, and between the mechanical claw support and the mechanical claw; the camera transmits the received information to a controller, and the controller controls the operation of the rotating pan-tilt platform and the servo.

[0004] As in the above application, the existing bomb disposal robot arm has an actuator installed at the end of the robot arm. The actuator includes a clamping mechanical claw, a camera or a shovel, which are used in different bomb disposal scenarios. The existing installation method is mostly fixed with bolts. The screws install the actuator on the robot arm. When replacing the actuator, the screws need to be disassembled first, which is time-consuming and inefficient. Secondly, the fixing parts are scattered and easy to lose, and the fixing method is simple and can only be directly fixed. The fixing method cannot be changed according to the use requirements during work. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a bomb disposal robot arm of a tracked robot.

[0006] The present invention adopts the following technical solution, a bomb disposal mechanical arm of a crawler robot, comprising: The main body of the mechanical arm is composed of a base, a first arm body, a second arm body and a third arm body which are movably connected in sequence, forming a mechanical arm structure capable of moving within an operating radius; An execution unit, wherein the execution unit is a clamping mechanical claw, a camera or a shovel; A connecting part, which is used to connect and fix the actuator to the third arm body, and includes an interface matrix fixed on the actuator and a joint matrix installed on the third arm body; Wherein, a connecting assembly is arranged in the joint base, through which the interface base and the joint base can be rotatably connected, and secondly, a locking assembly is arranged on the interface base, through which the interface base and the joint base can be positioned, locked and fixed; The joint base is a cylindrical structure, and the outer diameter of the joint base is adapted to the inner diameter of the circular groove. An annular movable groove is provided in the joint base along the length direction, and an annular linkage groove is provided at one end of the outer wall of the joint base close to the interface base, and the annular linkage groove is connected to the annular movable groove, and a fan-shaped notch is provided at one end of the outer wall of the joint base away from the interface base, and the fan-shaped notch is connected to the annular movable groove, and there are three fan-shaped notches in total, and the three fan-shaped notches are distributed at equal angles in a ring.

[0007] As a further description of the above technical solution: the interface base is a cylindrical structure, the interface base is provided with a circular groove near the center of one end of the joint base, and the inner wall of the circular groove is provided with an annular positioning groove along its circumference.

[0008] As a further description of the above technical solution: the connecting assembly includes a driving ring, a transmission ring, a wedge-shaped locking block and a wedge-shaped driving block, the driving ring is threadedly connected to the outer wall of the joint base, the transmission ring is movably arranged in an annular movable groove, there are three wedge-shaped locking blocks in total, and the three wedge-shaped locking blocks are distributed in the annular linkage groove in an annular shape with equal intervals, and the wedge-shaped driving block is movably arranged in the fan-shaped notch.

[0009] As a further description of the above technical solution: a fixing groove is provided on the outer wall of one end of the transmission ring away from the interface base, and the fixing groove and the wedge-shaped driving block are offset from each other, a first spring is welded on the inner wall of the fixing groove, and the other end of the first spring is welded and fixed to the inner wall of the annular movable groove.

[0010] As a further description of the above technical solution: a strip groove is provided on the outer wall of one end of the joint base close to the interface base, and there are three strip grooves in total, and the three strip grooves are distributed at equal angles in a ring shape, and the strip grooves are connected to the annular linkage grooves. A slider is welded on the outer wall of the wedge-shaped locking block, and the slider is slidably connected to the strip groove, and a second spring is welded on the outer wall of the slider, and the other end of the second spring is welded and fixed to the inner wall of the strip groove.

[0011] As a further description of the above technical solution: a first beveled surface is provided at an inner wall port of one end of the drive ring close to the interface base, and a second beveled surface is provided at an outer wall port of one end of the wedge-shaped drive block close to the drive ring.

[0012] As a further description of the above technical solution: the wedge-shaped driving block is slidably connected to the inner wall of the fan-shaped notch, and there are three wedge-shaped driving blocks in total, and the three wedge-shaped driving blocks are distributed in the three fan-shaped notches in a circular shape at equal angles.

[0013] As a further description of the above technical solution: the locking assembly includes an annular limit groove and a locking ring, an annular limit groove is opened on the outer wall of the interface base along the length direction, a locking ring is slidably arranged in the annular limit groove, a positioning hole is opened on the outer wall of the annular limit groove, the positioning hole penetrates the interface base and extends into the annular positioning groove, a locking hole is opened on the outer wall of the wedge-shaped locking block, a positioning pin is threadedly connected on the outer wall of the locking ring, the positioning pin is rotated to extend through the positioning hole into the locking hole, and the interface base and the joint base are positioned, locked and fixed.

[0014] As a further description of the above technical solution: the transmission ring is provided with a third beveled surface at both ends of the outer wall along the length direction for use with the wedge-shaped locking block and the wedge-shaped driving block.

[0015] Beneficial effects: The bomb disposal robot arm of a crawler robot provided by the present invention has a connection part, so that when the execution part is connected to the third arm body through the connection part, it only needs to insert the joint base into the interface base, and rotate the driving ring on the joint base to complete the connection. The operation is convenient and fast, and the structure is exquisite. In this connection, the interface base is a rotatable structure, so that the execution part installed on the interface base can also be rotated. In this connection method, there is no need to set screws for fixing, and there are no scattered parts. The connection and disassembly are very convenient, labor-saving and fast. In addition, a locking assembly is provided, and the connection method can be adaptively selected as a fixed connection or a rotating connection according to the operation requirements of the execution part, thereby further improving its actual use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments: Figure 1 A schematic structural diagram of an explosive disposal robot arm of a tracked robot provided in an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a connecting portion provided by an embodiment of the present invention; Figure 3 A schematic diagram of the split structure of the connecting portion provided in an embodiment of the present invention; Figure 4A schematic cross-sectional view of a connecting portion provided by an embodiment of the present invention; Figure 5 A cross-sectional view of an interface substrate provided by an embodiment of the present invention; Figure 6 A cross-sectional view of a joint base provided by an embodiment of the present invention; Figure 7 A schematic diagram of the connection structure between the connection assembly and the joint base provided in an embodiment of the present invention; Figure 8 A schematic diagram of the structure of a wedge-shaped locking block provided in an embodiment of the present invention; Fig. 9 A schematic diagram of the structure of a transmission ring provided in an embodiment of the present invention; Fig.10 A schematic diagram of the structure of a transmission ring, a wedge-shaped locking block and a wedge-shaped driving block provided in an embodiment of the present invention; Fig.11 For the present invention Figure 4 Magnified view of area A in .

[0017] : 1. base; 2. first arm body; 3. second arm body; 4. third arm body; 5. connecting part; 6. joint base; 601. annular movable groove; 602. annular linkage groove; 603. fan-shaped notch; 604. strip groove; 61. drive ring; 62. transmission ring; 622. fixed groove; 623. first spring; 63. wedge-shaped locking block; 64. slider; 65. second spring; 66. locking hole; 67. wedge-shaped drive block; 671. first bevel; 672. second bevel; 673. third bevel; 7. interface base; 71. annular limit groove; 72. locking ring; 73. positioning pin; 74. positioning hole; 75. circular groove; 76. annular positioning groove; 8. executive part. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below with reference to specific diagrams. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0019] Example 1 See also Figure 1-Figure 11 The embodiment of the present invention provides a technical solution: a bomb disposal robot arm of a crawler robot, comprising: The main body of the mechanical arm is composed of a base 1, a first arm body 2, a second arm body 3 and a third arm body 4 which are movably connected in sequence, forming a mechanical arm structure capable of moving within an operating radius; The execution unit 8 is a clamping mechanical claw, a camera or a shovel.

[0020] The connecting part 5 is used to connect and fix the execution part 8 with the third arm body 4, and the connecting part 5 includes an interface base 7 fixed on the execution part 8 and a joint base 6 installed on the third arm body 4; Among them, a connecting component is arranged in the joint base 6, through which the interface base 7 and the joint base 6 can be rotatably connected, and secondly, a locking component is arranged on the interface base 7, through which the interface base 7 and the joint base 6 can be positioned, locked and fixed.

[0021] The interface base 7 is a cylindrical structure. A circular groove 75 is provided at the center of one end of the interface base 7 close to the joint base 6 . An annular positioning groove 76 is provided on the inner wall of the circular groove 75 along its circumference.

[0022] The joint base 6 is a cylindrical structure, and the outer diameter of the joint base 6 is matched with the inner diameter of the circular groove 75. An annular movable groove 601 is opened in the joint base 6 along the length direction, and an annular linkage groove 602 is opened at one end of the outer wall of the joint base 6 close to the interface base 7, and the annular linkage groove 602 is connected with the annular movable groove 601. A fan-shaped notch 603 is opened at one end of the outer wall of the joint base 6 away from the interface base 7, and the fan-shaped notch 603 is connected with the annular movable groove 601, and there are three fan-shaped notches 603 in total, and the three fan-shaped notches 603 are distributed at equal angles in a ring.

[0023] The connecting assembly includes a driving ring 61, a transmission ring 62, a wedge-shaped locking block 63 and a wedge-shaped driving block 67. The driving ring 61 is threadedly connected to the outer wall of the joint base 6. The transmission ring 62 is movably arranged in an annular movable groove 601. There are three wedge-shaped locking blocks 63 in total, and the three wedge-shaped locking blocks 63 are distributed in an annular linkage groove 602 at equal intervals in a ring shape. The wedge-shaped driving block 67 is movably arranged in the fan-shaped notch 603. The wedge-shaped driving block 67 can be slidably connected with the sliding groove opened on the inner wall of the fan-shaped notch 603 through a sliding seat, so that the wedge-shaped driving block 67 is movably arranged in the fan-shaped notch 603 and can move up and down in the fan-shaped notch 603.

[0024] A fixing groove 622 is provided on the outer wall of one end of the transmission ring 62 away from the interface base 7, and the fixing groove 622 and the wedge-shaped driving block 67 are offset from each other. A first spring 623 is welded on the inner wall of the fixing groove 622, and the other end of the first spring 623 is welded and fixed to the inner wall of the annular movable groove 601.

[0025] A strip groove 604 is provided on the outer wall of one end of the joint base 6 close to the interface base 7. There are three strip grooves 604 in total, and the three strip grooves 604 are distributed at equal angles in a ring shape. The strip groove 604 is connected to the annular linkage groove 602. A slider 64 is welded on the outer wall of the wedge-shaped locking block 63, and the slider 64 is slidably connected to the strip groove 604. A second spring 65 is welded on the outer wall of the slider 64, and the other end of the second spring 65 is welded and fixed to the inner wall of the strip groove 604.

[0026] It should be noted that the second spring 65 is a tension spring (tension spring). In the initial state, under the pulling force of the second spring 65, the slider 64 is driven to move to the end of the strip groove 604 close to the axial centerline of the joint base 6, so that the wedge-shaped locking block 63 is separated from the annular positioning groove 76. When the driving transmission ring 62 is driven to move in the direction of the interface base 7, the third beveled surface 673 of the transmission ring 62 close to the end of the wedge-shaped locking block 63 will squeeze the wedge-shaped locking block 63, and the wedge-shaped locking block 63 will expand toward the outside of the joint base 6, so that the outside of the wedge-shaped locking block 63 moves into the annular positioning groove 76, thereby realizing the connection between the joint base 6 and the interface base 7. Therefore, when the wedge-shaped locking block 63 is no longer squeezed, under the pulling force of the second spring 65, the slider 64 is driven to move to the end of the strip groove 604 close to the axial centerline of the joint base 6, so that the wedge-shaped locking block 63 is separated from the annular positioning groove 76, realizing automatic split connection.

[0027] A first beveled surface 671 is formed at an inner wall port of the driving ring 61 close to the interface base 7 , and a second beveled surface 672 is formed at an outer wall port of the wedge-shaped driving block 67 close to the end port of the driving ring 61 .

[0028] It should be noted that, in the initial state, under the elastic force of the first spring 623, the transmission ring 62 approaches the direction of the joint base 6, squeezing the wedge-shaped drive block 67 upward to extend from the fan-shaped notch 603, and the setting of the first bevel 671 and the second bevel 672 ensures that when the rotating drive ring 61 moves toward the direction of the interface base 7, the wedge-shaped drive block 67 will not block the movement of the drive ring 61.

[0029] The wedge-shaped driving block 67 is slidably connected to the inner wall of the fan-shaped notch 603 . There are three wedge-shaped driving blocks 67 in total, and the three wedge-shaped driving blocks 67 are distributed in the three fan-shaped notches 603 at equal angles in a ring shape.

[0030] The transmission ring 62 has third beveled surfaces 673 at both ends of the outer wall along the length direction, which are used to cooperate with the wedge-shaped locking block 63 and the wedge-shaped driving block 67 .

[0031] Specifically, the execution part 8 is connected to the third arm body 4 through the connecting part 5 as follows: first, the interface base 7 is installed on the execution part 8, and the joint base 6 is installed on the third arm body 4. When connecting, the joint base 6 is inserted into the circular groove 75 provided on the interface base 7. When the joint base 6 is fully inserted into the circular groove 75, the annular linkage groove 602 provided on the joint base 6 corresponds to the position of the annular positioning groove 76. Then, the driving ring 61 on the joint base 6 is rotated, and the driving ring 61 moves toward the direction of the interface base 7. Then, the wedge-shaped driving block 67 located in the fan-shaped notch 603 is squeezed, so that the three wedge-shaped driving blocks 67 move toward the axial center line direction of the joint base 6. The three wedge-shaped driving blocks 67 push the movable member arranged in The transmission ring 62 in the annular movable groove 601 moves toward the direction of the interface base 7, and the transmission ring 62 squeezes the wedge-shaped locking block 63 to expand toward the outside of the joint base 6, so that the outside of the wedge-shaped locking block 63 moves into the annular positioning groove 76, thereby realizing the connection between the joint base 6 and the interface base 7. In this connection method, the joint base 6 and the interface base 7 are rotated, that is, the interface base 7 is a rotatable structure, so that the actuator 8 installed on the interface base 7 can also be rotated, and this connection method does not require screws to fix, and there are no scattered parts. When fixing, the joint base 6 is inserted into the interface base 7, and the drive ring 61 on the joint base 6 is rotated to complete the connection. Both connection and disassembly are very convenient, labor-saving and fast.

[0032] In this embodiment, through the setting of the connecting part 5, when the executing part 8 is connected to the third arm body 4 through the connecting part 5, it is only necessary to insert the joint base 6 into the interface base 7 and rotate the driving ring 61 on the joint base 6 to complete the connection. The operation is convenient and fast, the structure is sophisticated, and a locking assembly is provided. According to the operating requirements of the executing part 8, the connection method can be adaptively selected as a fixed connection or a rotating connection, thereby further improving its actual use effect.

[0033] Example 2 See also Figure 1-Figure 5 , based on the above embodiments, this embodiment further discloses a locking assembly; The locking assembly includes an annular limit groove 71 and a locking ring 72. An annular limit groove 71 is provided on the outer wall of the interface base 7 along the length direction. A locking ring 72 is slidably arranged in the annular limit groove 71. A positioning hole 74 is provided on the outer wall of the annular limit groove 71. The positioning hole 74 penetrates the interface base 7 and extends into the annular positioning groove 76. A locking hole 66 is provided on the outer wall of the wedge-shaped locking block 63. A positioning pin 73 is threadedly connected to the outer wall of the locking ring 72. The positioning pin 73 is rotated to extend through the positioning hole 74 into the locking hole 66, so that the interface base 7 and the joint base 6 are positioned, locked and fixed.

[0034] In this embodiment, based on Embodiment 1, when the connector base 6 is inserted into the interface base 7, the connection can be completed by rotating the drive ring 61 on the connector base 6. At this time, the connection method is a rotational connection. When a fixed connection is required, the locking ring 72 is pushed to move in the annular limit groove 71 so that the position of the positioning pin 73 corresponds to the position of the positioning hole 74. Then, the positioning pin 73 is rotated so that it extends through the positioning hole 74 into the locking hole 66, so that the interface base 7 and the connector base 6 are positioned, locked and fixed.

[0035] That is, when the execution part 8 is connected and fixed with the third arm body 4 through the connecting part 5, the connection mode can be automatically selected as a fixed connection or a rotating connection according to the working requirements of the execution part 8. When the fixed connection is selected, the interface base 7 and the joint base 6 can be positioned, locked and fixed by the locking assembly.

[0036] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and the description in the specification are only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bomb disposal robot arm of a crawler robot, characterized in that: include: A mechanical arm body, which is composed of a base (1), a first arm body (2), a second arm body (3) and a third arm body (4) which are movably connected in sequence, forming a mechanical arm structure capable of moving within an operating radius; An execution unit (8), the execution unit (8) being a clamping mechanical claw, a camera or a shovel; A connecting portion (5), the connecting portion (5) being used to connect and fix the executing portion (8) to the third arm body (4), the connecting portion (5) comprising an interface base (7) fixed on the executing portion (8) and a joint base (6) mounted on the third arm body (4); The joint base (6) is provided with a connecting assembly, through which the interface base (7) and the joint base (6) can be rotatably connected, and the interface base (7) is provided with a locking assembly, through which the interface base (7) and the joint base (6) can be positioned, locked and fixed; The joint base (6) is a cylindrical structure, and the outer diameter of the joint base (6) is matched with the inner diameter of the circular groove (75); an annular movable groove (601) is provided in the joint base (6) along the length direction; an annular linkage groove (602) is provided at one end of the outer wall of the joint base (6) close to the interface base (7); and the annular linkage groove (602) and the annular movable groove (601) are interconnected; a fan-shaped notch (603) is provided at one end of the outer wall of the joint base (6) away from the interface base (7); the fan-shaped notch (603) and the annular movable groove (601) are interconnected; and a total of three fan-shaped notches (603) are provided, and the three fan-shaped notches (603) are distributed in a circular manner with equal angles.

2. The explosive ordnance disposal mechanical arm of a crawler robot according to claim 1, characterized in that: The interface base (7) is a cylindrical structure, and a circular groove (75) is provided at the center of one end of the interface base (7) close to the joint base (6), and an annular positioning groove (76) is provided on the inner wall of the circular groove (75) along its circumference.

3. The explosive ordnance disposal mechanical arm of a crawler robot according to claim 2, characterized in that: The connection assembly comprises a drive ring (61), a transmission ring (62), a wedge-shaped locking block (63) and a wedge-shaped drive block (67); the drive ring (61) is threadedly connected to the outer wall of the joint base (6); the transmission ring (62) is movably arranged in an annular movable groove (601); a total of three wedge-shaped locking blocks (63) are arranged, and the three wedge-shaped locking blocks (63) are distributed in an annular manner at equal intervals in the annular linkage groove (602); and the wedge-shaped drive block (67) is movably arranged in the fan-shaped notch (603).

4. The explosive ordnance disposal mechanical arm of a crawler robot according to claim 3, characterized in that: A fixing groove (622) is provided on the outer wall of one end of the transmission ring (62) away from the interface base (7), and the fixing groove (622) and the wedge-shaped driving block (67) are mutually offset. A first spring (623) is welded on the inner wall of the fixing groove (622), and the other end of the first spring (623) is welded and fixed to the inner wall of the annular movable groove (601).

5. The explosive ordnance disposal mechanical arm of a crawler robot according to claim 3, characterized in that: A strip groove (604) is provided on the outer wall of one end of the joint base (6) close to the interface base (7), and the strip grooves (604) are provided in total of three, and the three strip grooves (604) are distributed in an annular shape at equal angles, and the strip groove (604) and the annular linkage groove (602) are communicated with each other, a slider (64) is welded on the outer wall of the wedge-shaped locking block (63), and the slider (64) is slidably connected to the strip groove (604), and a second spring (65) is welded on the outer wall of the slider (64), and the other end of the second spring (65) is welded and fixed to the inner wall of the strip groove (604).

6. The explosive ordnance disposal mechanical arm of a crawler robot according to claim 3, characterized in that: A first beveled surface (671) is provided at an inner wall port at one end of the drive ring (61) close to the interface base (7), and a second beveled surface (672) is provided at an outer wall port at one end of the wedge-shaped drive block (67) close to the drive ring (61).

7. The explosive ordnance disposal mechanical arm of a crawler robot according to claim 3, characterized in that: The wedge-shaped driving block (67) is slidably connected to the inner wall of the fan-shaped notch (603), and a total of three wedge-shaped driving blocks (67) are provided, and the three wedge-shaped driving blocks (67) are distributed in the three fan-shaped notches (603) in a ring-shaped manner at equal angles.

8. The explosive ordnance disposal mechanical arm of a crawler robot according to claim 3, characterized in that: The locking assembly comprises an annular limiting groove (71) and a locking ring (72); an annular limiting groove (71) is provided on the outer wall of the interface base (7) along the length direction; a locking ring (72) is slidably arranged in the annular limiting groove (71); a positioning hole (74) is provided on the outer wall of the annular limiting groove (71); the positioning hole (74) penetrates the interface base (7) and extends into the annular positioning groove (76); a locking hole (66) is provided on the outer wall of the wedge-shaped locking block (63); a positioning pin (73) is threadedly connected on the outer wall of the locking ring (72); the positioning pin (73) is rotated to extend through the positioning hole (74) into the locking hole (66), so that the interface base (7) and the joint base (6) are positioned, locked and fixed.

9. The explosive ordnance disposal mechanical arm of a crawler robot according to claim 3, characterized in that: The transmission ring (62) is provided with third beveled surfaces (673) at both ends of the outer wall along the length direction, which are used to cooperate with the wedge-shaped locking block (63) and the wedge-shaped driving block (67).

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