A bomb disposal robotic arm of a quadruped bomb disposal robot

Abstract

The present invention proposes a bomb disposal robot arm for a quadruped bomb disposal robot, comprising a robot housing, a top cover mounted on the top of which a large mechanical arm is mounted, a small mechanical arm disposed on the large mechanical arm, a support foot mounted on the bottom of the robot housing, an opening disposed on the bottom of the robot housing, a mode switching assembly embedded in the opening, and an electrical control box embedded in the opening disposed on the bottom surface of the robot housing. The present invention forms a multi-point stable configuration with the four legs when the robot arm supports the ground, thereby resisting overturning moments caused by carrying heavy objects or terrain disturbances. Furthermore, the design of the mode switching assembly and the extension assembly enhances the center of gravity anti-overturning capability of the quadruped bomb disposal robot when carrying heavy loads. At the same time, sensors and intelligent algorithms are used to satisfy the static equilibrium equation, thereby improving the robot's ability to pass through complex terrain and significantly enhancing firefighting and rescue operations.

Description

Technical Field

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

[0002] In high-risk scenarios like firefighting, military and police bomb disposal, and industrial inspections, four-legged bomb disposal robot dogs, thanks to their adaptability, have become essential equipment. Currently, the mainstream solution uses a six-axis backpack-mounted robotic arm structure to detect and transport explosives.

[0003] However, when carrying heavy objects, backpack-mounted robotic arms experience a high center of gravity offset, making them prone to tipping over on slopes or uneven surfaces. Conventional gait algorithms compensate for center of gravity solely through adjustments made by the four legs, without incorporating the robotic arm into the supporting structure, limiting their balance capabilities. These deficiencies render existing quadruped EOD robotic arms unreliable for heavy load handling, operating in complex terrain, and performing prolonged operations in high-risk environments. Technological breakthroughs are urgently needed to address these issues. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the prior art. The present invention proposes a bomb disposal robot arm of a quadruped bomb disposal robot.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a bomb disposal robot arm of a four-legged bomb disposal robot, including a robot shell, a top cover is installed on the top of the robot shell, a mechanical arm is installed on the top of the top cover, a mechanical small arm is provided on the mechanical arm, a support foot is installed on the bottom end of the robot shell, an opening is provided at the bottom end of the robot shell, a mode switching component is embedded in the opening, the mode switching component includes an electric control box, the electric control box is embedded in the opening provided on the bottom surface of the robot shell, the bottom end of the electric control box is connected to a support seat, the support seat and the bottom surface of the robot shell are kept flush, the upper surface of the support seat is provided with an extension box, the The extension box and the support seat are slidingly connected, the bottom end of the mechanical arm is fixedly connected to the driving spindle, the end of the driving spindle is embedded in the interior of the robot shell, the top surface of the support seat is fixedly connected with a mounting socket, and the driving spindle is embedded in the interior of the mounting socket. The two are longitudinally slidingly connected, and the driving spindle is driven by a motor to drive the mechanical arm to rotate, and the rotation of the driving spindle drives the mounting socket to rotate synchronously, and the deflection angle of the mechanical arm is synchronized with the deflection of the mounting socket; during the descending movement of the support seat, the support foot controls the height of the robot shell to start to descend, and when the support seat descends and fits into the working surface, the support foot controls the robot shell to stop descending.

[0006] Furthermore, the upper surface of the support seat is fixedly connected to the extension component, and the extension component includes a drive motor, and the drive motor is used to drive the extension box to move horizontally.

[0007] Furthermore, the output end of the driving motor is connected to a driving gear, a driving rack is engaged on one side of the driving gear, the driving rack is fixedly connected to the extension box, and two extension boxes and a driving rack are provided on the upper surface of the support seat. The two extension boxes are connected to each other by embedding the driving rack, and a movable hole is opened inside the extension box.

[0008] Furthermore, the first driving rack is embedded in the interior of the second extension box, the first driving rack and the second extension box are slidingly connected, the driving rack is inserted into the interior of the limit block, and the limit block is installed on both sides of the mounting socket.

[0009] Furthermore, a hollow chamber is provided inside the extension box, and the hollow chamber is filled with liquid.

[0010] Furthermore, a processor is installed inside the robot shell, and the electric control box wraps the processor inside, and the electric control box is used to protect the processor.

[0011] Furthermore, the processor includes:

[0012] Sensor module, intelligent control algorithm module, human-computer interaction module, and execution module.

[0013] Furthermore, the sensor module is arranged on the processor and the robot housing, and the sensor module is used to monitor the surrounding environment.

[0014] Furthermore, the sensor module is used to monitor the surrounding environment and upload the data to the intelligent control algorithm module. After being sorted by the intelligent control algorithm module, the data is copied to the human-computer interaction module. The human-computer interaction module automatically triggers mode switching according to the target weight threshold. The modes are divided into support mode and walking mode.

[0015] Furthermore, in the support mode, the distribution of the support force between the robotic arms is solved in real time based on the whole-body control algorithm to satisfy the static equilibrium equation: ,in For this robot The contact force vector generated when the leg contacts the ground, is the support force vector of the robotic arm on the ground, is the total transport mass, is the velocity due to gravity, is the total moment vector sum.

[0016] Compared with the existing technology, the beneficial effect of the present invention is that when the robotic arm supports the ground, it forms a multi-point stable configuration with the four legs, which can resist the overturning moment caused by carrying heavy objects or terrain disturbances. In addition, through the design of mode switching components and extension components, the center of gravity anti-overturning ability of the four-legged bomb disposal robot during heavy-load transportation is improved. At the same time, through sensors and intelligent algorithms, the static equilibrium equation is satisfied, so that the robot's passability in complex terrain is improved, and the stability, safety and operating efficiency of heavy-load transportation in scenarios such as fire rescue, military and police bomb disposal are significantly improved. It effectively solves the contradiction between stability, load and flexibility of traditional four-legged robotic arm systems, and provides an innovative solution for heavy-duty transportation and dexterous operation in dangerous environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The disclosure of the present invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the accompanying drawings, the same reference numerals are used to refer to the same components. Among them: Figure 1 A schematic diagram of the three-dimensional structure of a bomb disposal robot arm of a quadruped bomb disposal robot proposed according to one embodiment of the present invention is shown; Figure 2 Schematically shows a bottom three-dimensional structural diagram of a bomb disposal robot arm of a quadruped bomb disposal robot proposed according to one embodiment of the present invention; Figure 3 A schematic diagram showing the structure of an electric control box of an ordnance disposal robot arm of a quadruped ordnance disposal robot in an extended state according to one embodiment of the present invention is shown; Figure 4 A schematic diagram of the internal structure of a robot shell of a bomb disposal robot arm of a quadruped bomb disposal robot according to one embodiment of the present invention is shown; Figure 5 Schematically shows a schematic structural diagram of an electric control box and a support base of an ordnance disposal robot arm of a quadruped ordnance disposal robot according to one embodiment of the present invention; Figure 6 Schematically shows a structural diagram of a driving spindle and a mounting socket of a bomb disposal robot arm of a quadruped bomb disposal robot proposed in accordance with one embodiment of the present invention; Figure 7 Schematically shows a schematic structural diagram of a driving gear and a limit block of a bomb disposal robot arm of a quadruped bomb disposal robot proposed in accordance with one embodiment of the present invention; Figure 8 A schematic diagram showing the structure of a drive gear and a drive rack of a bomb disposal robot arm of a quadruped bomb disposal robot according to one embodiment of the present invention is shown; Figure 9 A schematic diagram showing the structure of a quadruped bomb disposal robot in an expanded state of an extension box of the bomb disposal arm according to one embodiment of the present invention is shown; Figure 10 The figure schematically shows the structure of a quadruped bomb disposal robot in a bomb disposal manipulator arm support mode according to one embodiment of the present invention.

[0018] In the figure: 11. Robot shell; 12. Upper cover; 13. Robot arm; 14. Robot arm; 15. Support foot; 16. Processor; 2. Mode switching component; 21. Electric control box; 22. Extension box; 23. Support seat; 24. Drive spindle; 25. Mounting socket; 3. Extension component; 31. Drive motor; 32. Drive gear; 33. Drive rack; 34. Movable hole; 35. Limit block. DETAILED DESCRIPTION

[0019] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention and should not be regarded as the entire invention or as a limitation or restriction of the technical solution of the present invention.

[0020] According to one embodiment of the present invention, Figures 1-10A bomb disposal robot arm of a four-legged bomb disposal robot includes a robot shell 11, an upper cover 12 is installed on the top of the robot shell 11, a mechanical arm 13 is installed on the top of the upper cover 12, a mechanical arm 14 is provided on the mechanical arm 13, and a supporting foot 15 is installed on the bottom of the robot shell 11. A processor 16 is also installed inside the robot shell 11, and an electric control box 21 wraps the processor 16 inside it. The electric control box 21 is used to protect the processor 16. When the four groups of bomb disposal robots are working, they can be used for firefighting and rescue. In firefighting and rescue, in firefighting and rescue scenarios, bomb disposal is a key link to ensure the safety and efficiency of rescue operations. Its core demand comes from the potential explosion risk and derivative disaster threats at the fire scene. The four groups of robots can provide higher safety for firefighting and rescue. In bomb disposal, the mechanical arm 14 can be used to carry and disassemble items. However, in order to meet the convenience of use, the traditional four groups of bomb disposal robots are limited in quality, resulting in some problems in carrying. When carrying items of larger mass, there will be problems such as being unable to carry them or carrying them unsteadily. In order to solve this problem, the design of the mode switching component 2 and the extension component 3 can provide two modes for the four-row robot. By establishing a walking mode and a support mode, different environments can be coped with. The specific operations are as follows: In the walking mode, the support foot 15 is driven by a motor to swing, thereby achieving walking. In addition, the top of the robot shell 11 is equipped with a mechanical arm 13 and a mechanical arm 14. The movement of the mechanical arm 13 and the mechanical arm 14 replaces the operation of the human hand. However, the design of these traditional manipulators has a relatively large mass due to the built-in electronic control and power supply components. Because it is a back-bearing design, there will be a problem of unstable center of gravity when carrying items in the home. However, there is still no problem when carrying some lighter objects. The present application also utilizes the mechanical arm 13 and the mechanical arm 14 to achieve the transportation of items, and at the same time cooperates with the robot shell 11 to make the operation more flexible.

[0021] However, when carrying heavier objects, the robot is switched to the support mode to carry out the work, so as to meet the requirements of carrying heavier objects. The specific operation is as follows: an opening is provided at the bottom end of the robot shell 11, and a mode switching component 2 is embedded in the opening. The mode switching component 2 includes an electric control box 21, and the electric control box 21 is embedded in the opening provided on the bottom surface of the robot shell 11. The bottom end of the electric control box 21 is connected to a support seat 23, and the support seat 23 and the bottom surface of the robot shell 11 are kept flush. An extension box 22 is provided on the upper surface of the support seat 23, and a hollow chamber is provided inside the extension box 22. The hollow chamber is filled with liquid, which can be a coolant or a liquid used for bomb disposal. One of the bodies, the extension box 22 and the support seat 23 are slidingly connected, the bottom end of the mechanical arm 13 is fixedly connected to the driving spindle 24, the end of the driving spindle 24 is embedded in the interior of the robot shell 11, and the top surface of the support seat 23 is fixedly connected with the mounting socket 25, the driving spindle 24 is embedded in the interior of the mounting socket 25, and the two are longitudinally slidingly connected. The driving spindle 24 is driven by the motor to drive the mechanical arm 13 to rotate, and the rotation of the driving spindle 24 drives the mounting socket 25 to rotate synchronously. The deflection angle of the mechanical arm 13 is synchronized with the deflection of the mounting socket 25, and the driving rack 33 is inserted into the interior of the limit block 35, and the limit block 35 is installed on both sides of the mounting socket 25.

[0022] During the descending movement of the support base 23, the support foot 15 controls the height of the robot housing 11 to start descending. When the support base 23 descends and fits into the working surface, the support foot 15 controls the robot housing 11 to stop descending.

[0023] When carrying heavier items, the height between the robot shell 11 and the ground is continuously lowered by bending the joint of the support foot 15, so that the center of gravity is lowered. At the same time, the electric control box 21 begins to descend. When the electric control box 21 begins to descend, the drive spindle 24 continues to extend from the inside of the mounting socket 25. As the mounting socket 25 moves downward, the electric control box 21 is driven to descend. When the electric control box 21 descends, it drives the support base 23 to descend until the support base 23 is completely placed on the ground. At this time, the processor 16 wrapped inside the electric control box 21 is detached from the inside of the robot shell 11, wrapping the power stored in the electric control box 21. By transferring these heavier components and sinking To the ground, so that the center of gravity fits into the ground, so that there will be no top-heavy problem. After the center of gravity is lowered, the stability of the robot shell 11 is also stronger. In addition, a multi-point support structure is formed by the support of the support seat 23 and the four support feet 15. The multi-point support structure forms a stable system with balanced load-bearing at four corners and dynamic leveling at the center through the coordinated layout of four peripheral support points and the central support point, which significantly improves the stability and load capacity of the robot arm during heavy load transportation. In addition, the central support point is located at the geometric center of the four corner support points, so that the projection of the center of gravity of the whole machine always falls within the support polygon, effectively suppressing the front, back, left and right tilting during transportation, so that it can still maintain balance even on slopes or uneven roads.

[0024] In addition, in order to improve the stability of the support, the "autonomous counterweight" method is adopted to improve the strength of the support. The specific operation is as follows: the upper surface of the support seat 23 is fixedly connected to the extension component 3, and the extension component 3 includes a drive motor 31. The drive motor 31 is used to drive the extension box 22 to move horizontally. The output end of the drive motor 31 is connected to the drive gear 32, and one side of the drive gear 32 is engaged with a drive rack 33. The drive rack 33 is fixedly connected to the extension box 22. There are two extension boxes 22 and drive racks 33 on the upper surface of the support seat 23. The two extension boxes 22 are connected to each other by embedding the drive rack 33. The first drive rack 33 is embedded in the inside of the second extension box 22. The first drive rack 33 and the second extension box 22 are slidably connected, and a movable hole 34 is opened inside the extension box 22.

[0025] When the electric control box 21 sinks, the center of gravity is lowered, which improves the stability. At the same time, the support seat 23 plays a supporting role. In addition, in order to improve stability when carrying heavier objects, the mechanical structure realizes precise alignment and balanced counterweight through linkage adjustment. The specific action process is as follows: First, the mechanical arm 13 is rotated to align its end with the grabbing position of the object to be carried. The rotation of the mechanical arm 13 drives the component drive spindle 24 to rotate synchronously, and the drive spindle 24 further drives the component installation socket 25 to rotate, and finally the associated electric control box 21 and support seat 23 components rotate in the same direction, ensuring that the orientation of the central support component support seat 23 is always consistent with the main arm mechanical arm 13, forming The robot arm 14 moves downward to complete the grabbing or lifting of the target object, and drives the motor 31 to rotate, driving the gear 32 and then the expandable support arm drives the rack 33 to expand in the direction of the target object, forming an extended support angle that matches the position of the object, and enhancing the stability during grabbing. When the robot arm 14 lifts the object and generates a vertical force, it automatically triggers the expansion of the single-sided extension box 22 according to the load torque. The expanded extension box 22 maintains the same horizontal plane as the line of action of the gravity of the object, and offsets the tilting trend during transportation through the symmetrically distributed reverse torque, avoiding the body from tilting due to excessive load on one side, and ensuring that the whole machine remains horizontal and stable under heavy load.

[0026] The processor 16 includes: a sensor module, an intelligent control algorithm module, a human-computer interaction module, and an execution module. The sensor module is set on the processor 16 and the robot shell 11. The sensor module is used to monitor the surrounding environment. The sensor module uploads data to the intelligent control algorithm module. After being sorted by the intelligent control algorithm module, the data is copied to the human-computer interaction module. The human-computer interaction module automatically triggers mode switching according to the target weight threshold. The mode is divided into support mode and walking mode. In the support mode, the distribution of the supporting force between the mechanical arm 14 and the mechanical arm 14 is solved in real time based on the whole-body control algorithm to meet the static equilibrium equation: ,in For this robot The contact force vector generated when the leg contacts the ground, is the support force vector of the robotic arm 14 on the ground, is the total transport mass, is the velocity due to gravity, is the total moment vector sum.

[0027] The sensor module integrates a six-dimensional force sensor and is deployed on the robot shell 11 at the end of the manipulator and the robotic arm 14 at the bottom of the quadruped. It has an accuracy of ±0.5N and an IMU inertial measurement unit, which collects three-dimensional terrain data in real time, such as step height, slope angle, and manipulator load weight directly measured by the end force sensor and the body posture parameters. The sensors synchronously upload data at a high frequency of 20Hz to the intelligent control algorithm module. After noise removal through a Kalman filter, a multidimensional state vector is generated, which includes an environmental map, load status, and body posture. The intelligent control algorithm module has a built-in dual-mode decision engine. First, a support vector machine is used to classify the load weight. When the force sensor at the end of the manipulator arm detects a load ≤10kg, it is determined to be a light load scenario and "walking mode" is activated. The zero-torque point dynamic stabilization algorithm controls movement, while the manipulator arm 14 maintains its back folded to reduce wind resistance. When the load exceeds 10kg or the IMU detects a body tilt angle greater than 15 degrees, the human-machine interaction module triggers "support mode" for effective support. Once in support mode, the intelligent control algorithm module uses a quadratic programming solver to optimize the distribution of contact force between the manipulator arm 14 and the ground, and between the support base 23 and the ground. By using sensors to sense load weight in real time and automatically switching modes, the robot's rapid maneuverability is enhanced when carrying light loads. When carrying heavy loads, the support legs assist in doubling the maximum load capacity, meeting the handling needs of various high-risk scenarios.

[0028] The technical scope of the present invention is not limited to the contents of the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A bomb disposal robot arm of a quadruped bomb disposal robot, characterized in that: The robot shell comprises a robot shell, the top of which is provided with an upper cover, the top of which is provided with a mechanical arm, the mechanical arm is provided with a mechanical small arm, the bottom end of the robot shell is provided with a support foot, the bottom end of the robot shell is provided with an opening, a mode switching component is embedded in the opening, the mode switching component comprises an electric control box, the electric control box is embedded in the opening provided in the bottom surface of the robot shell, the bottom end of the electric control box is connected with a support seat, the support seat and the bottom surface of the robot shell are kept flush, an extension box is respectively provided at both ends of the upper surface of the support seat, the extension box and the support seat are slidably connected, the bottom end of the mechanical arm is fixedly connected to the drive spindle, the end of the drive spindle is embedded in the interior of the robot shell, and the top surface of the support seat is fixed It is connected to a mounting socket, and the driving spindle is embedded in the interior of the mounting socket, and the two are vertically slidably connected. The driving spindle is driven by a motor to drive the mechanical arm to rotate, and the rotation of the driving spindle drives the mounting socket to rotate synchronously, so that the deflection angle of the mechanical arm is synchronized with the deflection of the support seat; the upper surface of the support seat is fixedly connected to the extension component, and the extension component includes two groups of driving motors, and each group of the driving motors corresponds to an extension box for driving the extension box to move longitudinally; a hollow chamber is provided inside the extension box, and the hollow chamber is filled with liquid; during the descending movement of the support seat, the support foot controls the height of the robot shell to start to descend, and when the support seat descends and fits into the working surface, the support foot controls the robot shell to stop descending.

2. The bomb disposal robot arm of the quadruped bomb disposal robot according to claim 1, characterized in that: The output end of each group of the driving motors is connected to a driving gear, and a driving rack is engaged on one side of the driving gear. One of the driving racks is fixedly connected to one of the extension boxes and inserted into the movable hole opened inside the other extension box, and is slidingly connected to the other extension box. Another driving rack is fixedly connected to the other extension box and inserted into the movable hole opened inside the one of the extension boxes, and is slidingly connected to one of the extension boxes.

3. The bomb disposal robot arm of the quadruped bomb disposal robot according to claim 2, characterized in that: The driving rack is inserted into the interior of the limiting block, and the limiting block is installed on both sides of the mounting socket.

4. The bomb disposal robot arm of the quadruped bomb disposal robot according to claim 1, characterized in that: A processor is also installed inside the robot shell, and the electric control box wraps the processor inside, and the electric control box is used to protect the processor.

5. The bomb disposal robot arm of the quadruped bomb disposal robot according to claim 4, characterized in that: The processor includes: a sensor module, an intelligent control algorithm module, a human-computer interaction module, and an execution module.

6. The bomb disposal robot arm of the quadruped bomb disposal robot according to claim 5, characterized in that: The sensor module is arranged on the processor and the robot shell, and is used to monitor the surrounding environment.

7. The bomb disposal robot arm of the quadruped bomb disposal robot according to claim 6, characterized in that: The sensor module uploads data to the intelligent control algorithm module. After being sorted by the intelligent control algorithm module, the data is copied to the human-computer interaction module. The human-computer interaction module automatically triggers mode switching according to the target weight threshold. The modes are divided into support mode and walking mode.

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