Operation device and method for multi-degree-of-freedom arm of explosive ordnance disposal robot

Abstract

The invention relates to the technical field of manipulators, and discloses an operation device and method for a multi-degree-of-freedom arm of an explosive ordnance disposal robot, and the device comprises a first adjusting assembly, a second adjusting assembly, a third adjusting assembly and a grabbing assembly, the first adjusting assembly comprises a base, a first motor, a first rotating rod, transmission rods which are symmetrically and rotationally arranged, and a rotating frame and a mounting frame which are arranged at the end parts of the transmission rods; according to the operating device, a first motor can control a rotating frame to lift up, a second motor can control the rotating frame to incline forwards, a third motor can control a mounting frame to rotate, a telescopic air cylinder can control a clamping hand to clamp, the movement processes of all freedom degrees can be overlapped and do not affect one another, and the moving efficiency of the mechanical arm is improved; the angle of the clamping hand is adjusted through the first motor, the second motor and the third motor, the telescopic air cylinder controls opening and closing of the clamping hand to clamp an object, the process does not depend on a digital circuit and only depends on mechanical transmission, and the signal interference influence is reduced to the maximum extent.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to an operating device and method for a multi-degree-of-freedom arm of a bomb disposal robot. Background Art

[0002] Intelligent inspection robots are currently widely used. However, when used in underground substations, the machine room contains numerous valves, instrumentation switches, and buttons, which need to be opened and closed according to specific conditions. Currently, explosion-proof robots suitable for coal mine inspections mostly rely on onboard detection equipment, such as a pan / tilt table, thermal imager, temperature and humidity sensor, and smoke sensor. Existing inspection robots, however, rely on the pan / tilt table to capture and interpret images of various valves, switches, and buttons. They lack their own actuators, requiring manual access to capture images and determine if manual access is required. These robots then manually open or close valves and buttons based on the conditions, failing to automatically turn valves or press buttons. Manual inspection methods are labor-intensive and inefficient, and these locations are often dangerous and inaccessible to human access. While simple pressing operations can be accomplished with a dotting device, more complex situations also require gripping control. Therefore, a bomb disposal robot is needed that can achieve multi-degree-of-freedom movement of the robotic arm and coordinate grasping. Summary of the Invention

[0003] In view of the problems existing in the above-mentioned existing operating devices and methods for the multi-degree-of-freedom arms of bomb disposal robots, the present invention is proposed.

[0004] Therefore, the object of the present invention is to provide an operating device and method for a multi-degree-of-freedom arm of a bomb disposal robot, which realizes multi-degree-of-freedom movement of the robot arm.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: An operating device for a multi-degree-of-freedom arm of a bomb disposal robot, comprising: a first adjustment component, including a base, a first motor arranged on the base, a first rotating rod connected to the output shaft of the first motor, a transmission rod symmetrically arranged at both ends of the first rotating rod, a rotating frame arranged at the end of the transmission rod, and a mounting frame rotatably connected to the end of the rotating frame; a second adjustment component, including a second motor arranged on the base, a second rotating rod connected to the output shaft of the second motor, a tripod rotatably connected to the second rotating rod, and a second transmission rod rotatably connected to the end of the tripod; a third adjustment component, including a third motor arranged on the base, a gear connected to the output shaft of the third motor, a transmission gear meshing with the gear, and a third transmission rod rotatably connected to the transmission gear; a gripping component, arranged on the mounting frame, including an outer tube, a telescopic cylinder arranged on the outer tube, a half gear arranged in the outer tube, a telescopic rod arranged at an end of the outer tube away from the telescopic cylinder, a gripper arranged on the outer tube, and tooth grooves opened on the telescopic end of the telescopic cylinder and on the telescopic rod.

[0006] As a preferred solution of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot described in the present invention, wherein: the first rotating rod is symmetrically rotatably arranged on the base, the first motor output shaft is fixedly connected to one end of the first rotating rod, three transmission rods are provided and each transmission rod end is rotatably connected to the first rotating rod end connected thereto, the rotating frame is two planes at an angle, one plane of the rotating frame is rotatably connected to the end of the transmission rod away from the first rotating rod, and the first rotating rod, the transmission rod, and the rotating frame form a parallelogram mechanism.

[0007] As a preferred solution of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot described in the present invention, wherein: a support rod is also fixedly provided on the mounting frame; one end of the second rotating rod is fixedly connected to the output shaft of the second motor, and the other end is rotatably connected to the rotating frame at an angle; the second rotating rod and the three transmission rods respectively correspond to the four end points of the first rotating rod; the second rotating rod also has the same rotation axis as the first rotating rod on the same side, and the first rotating rod is rotatably sleeved on the second rotating rod; the tripod is symmetrically composed of two straight plates, and the center point of the tripod is rotatably connected to the end of the second rotating rod and the angle of the rotating frame.

[0008] As a preferred solution of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot described in the present invention, one end of the second transmission rod is rotatably connected to one end of the tripod close to the mounting frame, and the other end is rotatably connected to the support rod, and the support rod, the second transmission rod, and one side of the tripod form a parallelogram mechanism.

[0009] As a preferred solution of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot described in the present invention, wherein: the transmission gear is rotatably set on the base, and the transmission gear and the bottom end of the second rotating rod and the bottom end of the first rotating rod have the same rotating axis; a connecting rod is fixedly set on the transmission gear, one end of the third transmission rod is rotatably connected to the connecting rod, and the other end is rotatably connected to an end of the tripod away from the second transmission rod; the connecting rod, the third transmission rod, and one side of the tripod form a parallelogram mechanism.

[0010] As a preferred solution of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot described in the present invention, the outer tube is fixed on the mounting frame, the fixed end of the telescopic cylinder is fixed to the outer tube, and the telescopic end extends toward the inside of the outer tube; the tooth groove on the telescopic end of the telescopic cylinder is engaged with the half gear, and the half gear is rotatably arranged in the outer tube.

[0011] As a preferred solution of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot described in the present invention, the tooth groove is provided on one end of the telescopic rod, the tooth groove is engaged with the half gear, the telescopic rod is slidably connected to the outer tube, and the end of the telescopic rod away from the tooth groove is provided with multiple layers of grooves, and the grooves are annular grooves.

[0012] As a preferred solution of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot of the present invention, there are multiple grippers, each of which is further provided with a driving tooth groove, and the grippers are rotatably arranged on the outer cylinder.

[0013] As a preferred solution of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot of the present invention, the driving tooth groove is engaged with the groove.

[0014] A method for operating a multi-degree-of-freedom arm of a bomb disposal robot comprises integrating a first motor, a second motor, a third motor, and a telescopic cylinder control assembly into a controller, controlling the lifting of a rotating frame by the first motor, controlling the forward tilt of the rotating frame by the second motor, controlling the rotation of a mounting frame by the third motor, and controlling the gripping of a gripper by the telescopic cylinder.

[0015] Beneficial effects of the present invention:

[0016] The multi-degree-of-freedom arm operating device of the bomb disposal robot in the present invention can control the lifting of the rotating frame through the first motor, control the forward tilt of the rotating frame through the second motor, control the rotation of the mounting frame through the third motor, and control the gripper to clamp through the telescopic cylinder. The movement process of each degree of freedom can be superimposed on each other without affecting each other, thereby improving the movement efficiency of the robotic arm. The angle of the gripper is adjusted by the first motor, the second motor, and the third motor, and the opening and closing of the gripper is controlled by the telescopic cylinder to clamp the object. The process does not rely on digital circuits but only relies on mechanical transmission, thereby minimizing the impact of signal interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0018] Figure 1 This is a schematic diagram of the overall structure of the operating device of the multi-degree-of-freedom arm of the bomb disposal robot of the present invention.

[0019] Figure 2 This is a schematic structural diagram of the overall operation device of the multi-degree-of-freedom arm of the bomb disposal robot of the present invention without the grasping component.

[0020] Figure 3 It is a schematic diagram of the internal structure of the base of the present invention.

[0021] Figure 4 It is a side view of the internal structure of the base of the present invention.

[0022] Figure 5 It is a schematic diagram of the transmission rod structure of the present invention.

[0023] Figure 6 This is a schematic structural diagram of the first adjustment component of the present invention.

[0024] Figure 7 This is a schematic structural diagram of the second adjustment component of the present invention.

[0025] Figure 8 This is a schematic structural diagram of the third adjustment component of the present invention.

[0026] Figure 9 This is a side view of the third adjustment component structure of the present invention.

[0027] Figure 10 This is a schematic diagram of the structure of the grabbing component of the present invention.

[0028] Figure 11 It is a schematic diagram of the internal structure of the outer cylinder of the present invention.

[0029] Figure 12 It is a schematic diagram of the hand clamping structure of the present invention.

[0030] Figure numerals: 100, first adjustment component; 101, base; 102, first motor; 103, first rotating rod; 104, transmission rod; 105, rotating frame; 106, mounting frame; 106a, support rod; 200, second adjustment component; 201, second motor; 202, second rotating rod; 203, tripod; 204, second transmission rod; 300, third adjustment component; 301, third motor; 302, gear; 303, transmission gear; 303a, connecting rod; 304, third transmission rod; 400, grabbing component; 401, outer cylinder; 402, telescopic cylinder; 403, half gear; 404, telescopic rod; 405, gripper; 405a, driving tooth groove; 406, tooth groove; 406a, groove. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0034] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0035] Reference Figures 1 to 9, is an embodiment of the present invention, providing an operating device and method for a multi-degree-of-freedom arm of a bomb disposal robot, the device comprising a first adjustment component 100, a second adjustment component 200, a third adjustment component 300 and a grasping component 400, wherein the first adjustment component 100 comprises a base 101, a first motor 102 arranged on the base 101, a first rotating rod 103 connected to the output shaft of the first motor 102, a transmission rod 104 symmetrically arranged at both ends of the first rotating rod 103, a rotating frame 105 arranged at the end of the transmission rod 104, and a mounting frame 106 rotatably connected to the end of the rotating frame 105; the second adjustment component 200 comprises a second motor 201 arranged on the base 101, a second rotating rod 202 connected to the output shaft of the second motor 201, a first rotating rod 103 connected to the output shaft of the second rotating rod 103, a transmission rod 104 symmetrically arranged at both ends of the first rotating rod 103, a rotating frame 105 arranged at the end of the transmission rod 104, and a mounting frame 106 rotatably connected to the end of the rotating frame 105; The tripod 203 is rotatably connected to the rod 202, and the second transmission rod 204 is rotatably connected to the end of the tripod 203; the third adjustment component 300 includes a third motor 301 arranged on the base 101, a gear 302 connected to the output shaft of the third motor 301, a transmission gear 303 meshing with the gear 302, and a third transmission rod 304 rotatably connected to the transmission gear 303; the grasping component 400 is arranged on the mounting frame 106, including an outer tube 401, a telescopic cylinder 402 arranged on the outer tube 401, a half gear 403 arranged in the outer tube 401, a telescopic rod 404 arranged at one end of the outer tube 401 away from the telescopic cylinder 402, a clamping hand 405 arranged on the outer tube 401, and a tooth groove 406 opened on the telescopic end of the telescopic cylinder 402 and the telescopic rod 404.

[0036] Among them, the first rotating rod 103 is symmetrically rotatably arranged on the base 101, the output shaft of the first motor 102 is fixedly connected to one end of a first rotating rod 103, three transmission rods 104 are provided and the end of each transmission rod 104 is rotatably connected to the end of the first rotating rod 103 connected thereto, the rotating frame 105 is two planes at an angle, one plane of the rotating frame 105 is rotatably connected to the end of the transmission rod 104 away from the first rotating rod 103, and the first rotating rod 103, the transmission rod 104, and the rotating frame 105 form a parallelogram mechanism. A support rod 106a is also fixed to the mounting frame 106. One end of a second rotating rod 202 is fixedly connected to the output shaft of the second motor 201, and the other end is rotatably connected to the rotating frame 105 at an angle. The second rotating rod 202 and the three transmission rods 104 correspond to the four endpoints of the first rotating rod 103, respectively. The second rotating rod 202 also rotates on the same axis as the first rotating rod 103 on the same side, and the first rotating rod 103 is rotatably connected to the second rotating rod 202. The tripod 203 is composed of two symmetrical straight plates, with the center point of the tripod 203 rotatably connected to the end of the second rotating rod 202 and the rotating frame 105 at an angle. One end of the second transmission rod 204 is rotatably connected to the end of the tripod 203 closest to the mounting frame 106, and the other end is rotatably connected to the support rod 106a. The support rod 106a, the second transmission rod 204, and one side of the tripod 203 form a parallelogram structure. The transmission gear 303 is rotatably arranged on the base 101, and the transmission gear 303 and the bottom ends of the second rotating rod 202 and the bottom ends of the first rotating rod 103 have the same rotation axis; a connecting rod 303a is fixedly arranged on the transmission gear 303, one end of the third transmission rod 304 is rotatably connected to the connecting rod 303a, and the other end is rotatably connected to the end of the tripod 203 away from the second transmission rod 204; the connecting rod 303a, the third transmission rod 304, and the tripod 203 form a parallelogram mechanism.

[0037] refer to Figures 1 to 6 106a, the support rod 106a is fixed to the third end of the tripod 203.

[0038] refer to Figure 7 The working principle of the second adjustment component 200 is to start the second motor 201, and the output shaft of the second motor 201 drives the second rotating rod 202 to rotate. In the first adjustment component 100, the first motor 102 controls the rotation of the first rotating rod 103, which is the bottom side rotation of the parallelogram mechanism of the first rotating rod 103, the transmission rod 104 and the rotating frame 105. The second rotating rod 202 is one side of the parallelogram mechanism of the first rotating rod 103, the transmission rod 104 and the rotating frame 105 connected to the bottom side first rotating rod 103. Rotating this side can make the entire rotating frame 105 tilt forward, but does not change the angle of the rotating frame 105.

[0039] refer to Figure 8 、 Figure 9 The working principle of the third adjustment component 300 is as follows: the third motor 301 is started, the output shaft of the third motor 301 drives the gear 302 to rotate, the gear 302 is engaged with the transmission gear 303, the third motor 301 can drive the transmission gear 303 to rotate, and a connecting rod 303a is fixedly provided on the transmission gear 303, and the transmission gear 303 also drives the connecting rod 303a to rotate. At this time, the connecting rod 303a, the third transmission rod 304, and one side of the tripod 203 form a parallelogram mechanism, and the rotation of the connecting rod 303a can make One side of the tripod 203 rotates synchronously, and this process can eventually drive the tripod 203 to rotate around the angle of the rotating frame 105. At this time, since the other side of the tripod 203, the support rod 106a, and the second transmission rod 204 form a parallelogram mechanism, the rotation of the tripod 203 can drive the support rod 106a to rotate synchronously, so that the mounting frame 106 rotates on the rotating frame 105 and adjusts the direction of the grabbing assembly 400. The above three adjustment methods do not affect each other and can be adjusted separately or in combination to improve the movement efficiency of the robotic arm.

[0040] To control the gripping of gripper 405, outer cylinder 401 is fixed to mounting frame 106. The fixed end of telescopic cylinder 402 is fixed to outer cylinder 401, with the telescopic end extending into the interior of outer cylinder 401. A tooth groove 406 on the telescopic end of telescopic cylinder 402 meshes with half gear 403, which is rotatably mounted within outer cylinder 401. A tooth groove 406 is provided on one end of telescopic rod 404, which meshes with half gear 403. Telescopic rod 404 is slidably connected to outer cylinder 401. The end of telescopic rod 404, away from tooth groove 406, is provided with several layers of annular grooves 406a. Gripper 405 is provided with several drive tooth grooves 405a, which are rotatably mounted on outer cylinder 401. Drive tooth grooves 405a mesh with grooves 406a.

[0041] refer to Figures 10 to 12During use, the telescopic cylinder 402 is started, and the telescopic end of the telescopic cylinder 402 extends toward the inside of the outer tube 401. Since the end of the telescopic cylinder 402 is provided with a tooth groove 406, which meshes with the half gear 403, the telescopic cylinder 402 can rotate the half gear 403, and the telescopic rod 404 is also provided with a tooth groove 406 which meshes with the half gear 403. Therefore, the rotation of the half gear 403 can move the telescopic rod 404. A plurality of grooves 406a are provided at the end of the telescopic rod 404, and the driving tooth grooves 405a on the clamping hand 405 are embedded in the grooves 406a. The movement of the telescopic rod 404 will cause the grooves 406a to move, thereby driving the driving tooth grooves 405a to rotate. The rotation of the driving tooth grooves 405a also controls the clamping hands 405 to approach each other for clamping, or to separate and release from each other. The two processes are controlled by the extension or contraction of the telescopic cylinder 402.

[0042] A method for operating the multi-degree-of-freedom arm of a bomb disposal robot is also provided, in which the control assembly of the first motor 102, the second motor 201, the third motor 301 and the telescopic cylinder 402 are integrated into a controller, the first motor 102 is used to control the lifting of the rotating frame 105, the second motor 201 is used to control the forward tilt of the rotating frame 105, the third motor 301 is used to control the rotation of the mounting frame 106, and the telescopic cylinder 402 is used to control the gripper 405 to grip.

[0043] It is important to note that the construction and arrangement of the present application as shown in various exemplary embodiments are illustrative only. Those reviewing this disclosure will readily appreciate that numerous modifications are possible (e.g., variations in the size, dimensions, structure, shape, and proportions of various components, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without materially departing from the novel teachings and advantages of the subject matter described herein. For example, components shown as integrally formed may be constructed from multiple parts or components, the positions of components may be inverted or otherwise altered, and the nature, number, or position of discrete components may be modified or changed. All such modifications are therefore intended to be encompassed within the scope of this invention. The order or sequence of any process or method steps may be altered or resequenced according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover structures described herein that perform the stated function, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of this invention. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0044] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment may not be described (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention).

[0045] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will, for those of ordinary skill having the benefit of this disclosure, be a routine undertaking of design, fabrication, and production without undue experimentation.

[0046] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An operating device for a multi-degree-of-freedom arm of a bomb disposal robot, characterized in that: include: A first adjustment assembly (100) comprises a base (101), a first motor (102) disposed on the base (101), a first rotating rod (103) connected to an output shaft of the first motor (102), a transmission rod (104) symmetrically disposed at both ends of the first rotating rod (103), a rotating frame (105) disposed at the ends of the transmission rod (104), and a mounting frame (106) rotatably connected to the ends of the rotating frame (105); A second adjustment assembly (200) comprises a second motor (201) disposed on the base (101), a second rotating rod (202) connected to an output shaft of the second motor (201), a tripod (203) rotatably connected to the second rotating rod (202), and a second transmission rod (204) rotatably connected to an end of the tripod (203); A third adjustment assembly (300) comprises a third motor (301) disposed on the base (101), a gear (302) connected to an output shaft of the third motor (301), a transmission gear (303) meshing with the gear (302), and a third transmission rod (304) rotatably connected to the transmission gear (303); The grabbing assembly (400) is arranged on the mounting frame (106), and includes an outer tube (401), a telescopic cylinder (402) arranged on the outer tube (401), a half gear (403) arranged in the outer tube (401), a telescopic rod (404) arranged at one end of the outer tube (401) away from the telescopic cylinder (402), a gripper (405) arranged on the outer tube (401), and a tooth groove (406) provided on the telescopic end of the telescopic cylinder (402) and the telescopic rod (404).

2. The operating device for the multi-degree-of-freedom arm of a bomb disposal robot according to claim 1, characterized in that: The first rotating rod (103) is symmetrically rotatably arranged on the base (101); the output shaft of the first motor (102) is fixedly connected to one end of the first rotating rod (103); three transmission rods (104) are provided, and the end of each transmission rod (104) is rotatably connected to the end of the first rotating rod (103) connected thereto; the rotating frame (105) is two planes with an angle between them; one plane of the rotating frame (105) is rotatably connected to the end of the transmission rod (104) away from the first rotating rod (103); the first rotating rod (103), the transmission rod (104), and the rotating frame (105) form a parallelogram mechanism.

3. The operating device for the multi-degree-of-freedom arm of the bomb disposal robot according to claim 2, characterized in that: A support rod (106a) is also fixedly provided on the mounting frame (106); one end of the second rotating rod (202) is fixedly connected to the output shaft of the second motor (201), and the other end is rotatably connected to the rotating frame (105) at an angle; the second rotating rod (202) and the three transmission rods (104) respectively correspond to the four end points of the first rotating rod (103); the second rotating rod (202) also has the same rotation axis as the first rotating rod (103) on the same side, and the first rotating rod (103) is rotatably sleeved on the second rotating rod (202); the tripod (203) is composed of two symmetrical straight plates, and the center point of the tripod (203) is rotatably connected to the end of the second rotating rod (202) and the rotating frame (105) at an angle.

4. The operating device for the multi-degree-of-freedom arm of the bomb disposal robot according to claim 3, characterized in that: One end of the second transmission rod (204) is rotatably connected to one end of the tripod (203) close to the mounting frame (106), and the other end is rotatably connected to the support rod (106a). The support rod (106a), the second transmission rod (204), and one side of the tripod (203) form a parallelogram mechanism.

5. The operating device for the multi-degree-of-freedom arm of the bomb disposal robot according to claim 4, characterized in that: The transmission gear (303) is rotatably mounted on the base (101), and the transmission gear (303) and the bottom ends of the second rotating rod (202) and the first rotating rod (103) are coaxially rotated. A connecting rod (303a) is fixedly mounted on the transmission gear (303), and one end of the third transmission rod (304) is rotatably connected to the connecting rod (303a), while the other end is rotatably connected to an end of the tripod (203) away from the second transmission rod (204). The connecting rod (303a), the third transmission rod (304), and one side of the tripod (203) form a parallelogram mechanism.

6. The operating device for the multi-degree-of-freedom arm of the bomb disposal robot according to claim 5, characterized in that: The outer cylinder (401) is fixed on the mounting frame (106); the fixed end of the telescopic cylinder (402) is fixed to the outer cylinder (401), and the telescopic end extends into the interior of the outer cylinder (401); the tooth groove (406) on the telescopic end of the telescopic cylinder (402) is engaged with the half gear (403), and the half gear (403) is rotatably arranged in the outer cylinder (401).

7. The operating device for the multi-degree-of-freedom arm of a bomb disposal robot according to claim 6, characterized in that: The tooth groove (406) is provided on one end of the telescopic rod (404), and the tooth groove (406) is engaged with the half gear (403). The telescopic rod (404) is slidably connected to the outer cylinder (401). The end of the telescopic rod (404) away from the tooth groove (406) is provided with a multi-layer groove (406a), and the groove (406a) is an annular groove.

8. The operating device for the multi-degree-of-freedom arm of a bomb disposal robot according to claim 7, characterized in that: A plurality of the clamping hands (405) are provided, and a driving tooth groove (405a) is also provided on the clamping hands (405). The clamping hands (405) are rotatably provided on the outer cylinder (401).

9. The operating device for the multi-degree-of-freedom arm of a bomb disposal robot according to claim 8, characterized in that: The driving tooth groove (405a) is engaged with the groove (406a).

10. A method for operating a multi-degree-of-freedom arm of a bomb disposal robot, implemented based on the multi-degree-of-freedom arm operating device of a bomb disposal robot according to any one of claims 1 to 9, characterized in that: The control assembly of the first motor (102), the second motor (201), the third motor (301) and the telescopic cylinder (402) is integrated into a controller. The first motor (102) is used to control the rotating frame (105) to be lifted, the second motor (201) is used to control the rotating frame (105) to tilt forward, the third motor (301) is used to control the mounting frame (106) to rotate, and the telescopic cylinder (402) is used to control the gripper (405) to grip.

Images