Tail end grabbing device for military industry mechanical arm

Abstract

The invention discloses a tail end grabbing device for a military industrial mechanical arm, and belongs to the field of military industrial mechanical arms. The tail end grabbing device for the military industry mechanical arm comprises a mechanical arm body, an output shaft of the mechanical arm body is rotationally connected with a tail end execution plate, and a clamping assembly is arranged at the bottom end of the tail end execution plate. Overload protection is achieved through the protection assembly, when the clamping pressure reaches a preset value, a pressure sensor enables an electromagnet to be powered on through a microcontroller, related parts are driven to act according to the homopolar repulsion principle, clamping plates are limited to continue to move, and damage and even danger caused by too large clamping force to precise objects or dangerous goods are avoided; one face of the replacement plate is the smooth face, the other face of the replacement plate is the anti-skid face with the anti-skid groove face, flexible switching can be achieved according to the characteristics of an object, the problem of slipping caused by insufficient friction force when a single smooth face is used for clamping a rough object is solved, and the situation that surface damage is caused when a single anti-skid face is used for clamping a smooth or brittle object is prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of military mechanical arms, and particularly relates to a terminal grabbing device for a military mechanical arm. BACKGROUND

[0002] In modern military operations and defense equipment maintenance, military mechanical arms, as core equipment for replacing manual execution of high-risk and high-precision tasks, have been widely used in battlefield equipment repair, ammunition loading, hazardous material disposal, wounded rescue, field reconnaissance and other scenes. Among them, the terminal grabbing device, as the execution component directly contacted with the target object by the mechanical arm, directly determines the success rate and safety of the task.

[0003] At present, when the mechanical arm is used to clamp an object, if the operator does not accurately control the mechanical arm when clamping a precision object or a hazardous material, the clamping strength may be too large, which may cause damage to the object, even an explosion risk. In addition, the surface shape of the current clamping plate is fixed. If it is only a smooth surface, it may slip when grabbing a rough or heavy object due to insufficient friction. If it is only an anti-skid surface, it is easy to cause surface damage when grabbing a smooth or brittle object. SUMMARY

[0004] The purpose of the present application is to solve the problem of avoiding excessive clamping force to damage the object and the problem of being unable to adjust the clamping method for different objects in the prior art, and a terminal grabbing device for a military mechanical arm is provided.

[0005] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0006] A terminal grabbing device for a military mechanical arm, comprising a mechanical arm body, an output shaft of the mechanical arm body is rotationally connected with a terminal execution plate, a bottom end of the terminal execution plate is provided with a clamping assembly, a surface of the clamping assembly is provided with a protection assembly, and a surface of the clamping assembly is provided with a replacement assembly.

[0007] The clamping assembly comprises a hydraulic rod fixedly connected inside the terminal execution plate, left and right sides of a surface of the hydraulic rod are slidably connected with sliding blocks, a bottom end of each sliding block is fixedly connected with a fixed vertical plate, one end of the fixed vertical plate close to the middle part of the terminal execution plate is fixedly connected with a guide column, a surface of the guide column is sleeved with a buffer spring, and a surface of the guide column is slidably connected with a clamping plate.

[0008] The protection assembly comprises a pressure sensor fixedly connected to the fixed vertical plate near one end of the clamping plate, a damping telescopic rod fixedly connected to the clamping plate near one end of the fixed vertical plate, a telescopic spring sleeved on the surface of the damping telescopic rod, a pressing plate fixedly connected to the other end of the damping telescopic rod away from the clamping plate, a fixed block fixedly connected to the top of the clamping plate on both sides, a rotating rod one rotatably connected to the inside of the two fixed blocks, a limiting groove formed in both ends of the rotating rod one, a gear fixedly connected to the surface of the rotating rod one, a supporting plate fixedly connected to the end of the fixed block away from the gear, an electromagnet fixedly connected to the inside of the supporting plate, a connecting spring fixedly connected to the other end of the electromagnet, a hollow block fixedly connected to the other end of the connecting spring, a magnet fixedly connected to the inside of the hollow block, and a rack fixedly connected to the bottom of the end execution plate.

[0009] Preferably, horizontal grooves are formed in the front and back of the end execution plate and adapted to sliding of the sliding block, so that the sliding block can stably slide on the surface of the end execution plate, the guide columns are circumferentially distributed on the surface of the fixed vertical plate, and the two ends of the buffer spring are fixedly connected to the fixed vertical plate and the clamping plate near the ends, respectively, so that the clamping plate can stably slide on the surface.

[0010] Preferably, the pressure sensor is electrically connected to the electromagnet through a microcontroller, the pressure sensor is adapted to contact with the pressing plate, and the two ends of the telescopic spring are fixedly connected to the clamping plate and the pressing plate near the ends, respectively, so that when the pressing plate presses the pressure sensor to a predetermined value, the pressure sensor will make the electromagnet energized through the microcontroller.

[0011] Preferably, the same poles of the electromagnet and the magnet are opposite to each other, the hollow block is adapted to be inserted into the limiting groove, and the gear is meshingly connected to the rack, so that when the electromagnet is energized, the magnet of the same pole is repelled, the magnet drives the hollow block to stretch the connecting spring away from the electromagnet until the hollow block is clamped in the inside of the rotating rod one, so that the rotating rod one cannot continue to rotate, and the clamping plate cannot continue to move, thereby avoiding that the pressure of clamping the object is too large, so as to protect the clamped object.

[0012] Preferably, the replacement assembly comprises a replacement plate provided on the surface of the clamping plate, the surface of the replacement plate is provided with an anti-skid groove, the upper and lower sides of the front and rear ends of the replacement plate are provided with hexagonal grooves, the inner sides of the upper and lower sides of the clamping plate are provided with inner grooves, the inner sides of the inner grooves are slidably connected with driven blocks, one end of the driven block close to the inner wall of the inner groove is fixedly connected with a return spring, the surface of the clamping plate is fixedly connected with an outer frame, the upper and lower sides of the front and rear ends of the clamping plate are fixedly connected with protection boxes, one end of the outer frame away from the clamping plate is fixedly connected with a guide block, the inner side of the guide block is connected with a hexagonal sliding block, one end of the driven block away from the clamping plate is fixedly connected with a connecting piece, the upper and lower sides of one end of the connecting piece away from the driven block are rotatably connected with rotating rods two, one end of the rotating rod two away from the connecting piece is rotatably connected with a push block, the inner wall of the protection box close to the clamping plate is provided with a cross-shaped sliding groove, the inner wall of the cross-shaped sliding groove is fixedly connected with a pressure spring, the inner side of the cross-shaped sliding groove is slidably connected with a sliding rod, one end of the sliding rod away from the cross-shaped sliding groove is fixedly connected with a limiting plate, the surface of the protection box is provided with a discharging groove.

[0013] Preferably, one end of the replacement plate away from the anti-skid groove is a smooth surface, the inner groove extends through the front and rear ends of the clamping plate and the end close to the replacement plate to the outside of the clamping plate, the driven block and the replacement plate are in contact, and the replacement plate can clamp different objects through the smooth surface and the anti-skid groove.

[0014] Preferably, the replacement plate is arranged in the inner side of the outer frame, and the front and rear ends of the driven block are located in the inner side of the protection box.

[0015] Preferably, the hexagonal sliding block is inserted in the inner side of the hexagonal groove in a matched manner, and the hexagonal sliding block is slidably connected in the inner side of the discharging groove in a matched manner.

[0016] Preferably, the connecting piece is slidably connected with the inner wall of the protection box, one end of the connecting piece away from the driven block is arranged as two straight rods, two rotating rods two are rotatably connected with the surfaces of the two straight rods respectively, the two straight rods do not affect the movement of the sliding rod, the inner wall of the push block is in contact with the two outer walls of the hexagonal sliding block away from the replacement plate and away from the outer frame in a matched manner, under the action of the elastic force of the pressure spring, the push block is always attached to the end face of the hexagonal sliding block away from the outer frame, and when the rotating rod two moves towards the inner side of the inner groove along with the connecting piece and the driven block, since the connection part of the rotating rod two and the connecting piece gradually approaches the end face of the hexagonal sliding block away from the hexagonal groove, at this time, the rotating rod two starts to rotate and pushes the hexagonal sliding block to have a tendency to move towards the inner side of the hexagonal groove, thereby ensuring that the hexagonal sliding block is stably inserted in the inner side of the hexagonal groove, and further ensuring that the replacement plate is stably limited on the surface of the clamping plate, thereby ensuring the stability when clamping objects subsequently.

[0017] Preferably, the inner wall of the limiting plate and the outer wall of the push block are in matched contact, and the push block and the limiting plate are both in L-shaped plan view.

[0018] Compared with the prior art, the application provides an end gripping device for a military mechanical arm, which has the following beneficial effects:

[0019] 1. The end gripping device for the military mechanical arm realizes overload protection through the protection assembly. When the clamping pressure reaches a predetermined value, the pressure sensor enables the electromagnet through the microcontroller, drives the related components to move by using the same-pole repulsion principle, limits the movement of the clamping plate, and avoids damaging the precision objects or dangerous goods due to excessive clamping force or even causing danger.

[0020] 2. The end gripping device for the military mechanical arm can be flexibly switched according to the characteristics of the objects through the smooth surface on one side of the replacement plate and the anti-skid surface with anti-skid grooves on the other side, which not only avoids the problem of insufficient friction force caused by the single smooth surface when clamping rough objects, but also prevents the surface damage caused by the single anti-skid surface when clamping smooth or brittle objects.

[0021] 3. The end gripping device for the military mechanical arm inserts the hexagonal sliding block into the hexagonal groove, and the push block is abutted against the surface of the hexagonal sliding block under the action of the second rotating rod and the limiting plate, so that the replacement plate is stably limited on the surface of the clamping plate, ensuring the stability during clamping and adapting to the diversified gripping task requirements in the military scene. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A structure diagram of an end gripping device for a military mechanical arm is provided.

[0023] Figure 2 An end structure diagram of an end gripping device for a military mechanical arm is provided.

[0024] Figure 3 A structure diagram of the surface of an end execution plate of an end gripping device for a military mechanical arm is provided.

[0025] Figure 4 A structure diagram of a clamping assembly of an end gripping device for a military mechanical arm is provided.

[0026] Figure 5 An end gripping device for a military mechanical arm is provided. Figure 4 An enlarged structure diagram of the end gripping device for the military mechanical arm is provided.

[0027] Figure 6 A structure diagram of a gear and rack meshing of an end gripping device for a military mechanical arm is provided.

[0028] Figure 7 A schematic structural view of a clamping plate surface of a terminal grabbing device for a military mechanical arm is provided in the present application.

[0029] Figure 8 A schematic structural view of a clamping plate top view of a terminal grabbing device for a military mechanical arm is provided in the present application.

[0030] Figure 9 A schematic structural view of a terminal grabbing device for a military mechanical arm is provided in the present application. Figure 8 A schematic structural view of a terminal grabbing device for a military mechanical arm is provided in the present application.

[0031] Figure 10 A schematic structural view of a terminal grabbing device for a military mechanical arm is provided in the present application.

[0032] In the figure: 1, mechanical arm body; 2, terminal execution plate; 3, clamping assembly; 31, hydraulic rod; 32, sliding block; 33, fixed vertical plate; 34, guide column; 35, buffer spring; 36, clamping plate; 4, protection assembly; 411, pressure sensor; 412, damping telescopic rod; 413, telescopic spring; 414, pressing plate; 42, fixed block; 431, rotating rod one; 432, limiting groove; 433, gear; 44, support plate; 45, electromagnet; 46, connecting spring; 47, hollow block; 48, magnet; 49, rack; 5, replacement assembly; 511, replacement plate; 512, anti-skid groove surface; 513, hexagonal groove; 521, inner groove; 522, driven block; 523, return spring; 53, outer frame; 54, protection box; 551, guide block; 552, hexagonal sliding block; 561, connecting piece; 562, rotating rod two; 563, push block; 571, cross sliding groove; 572, pressure spring; 573, sliding rod; 574, limiting plate; 58, discharge slot. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0034] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0035] Embodiment one:

[0036] Referring to Figures 1-7 The utility model provides an end gripping device for military mechanical arm, including an end gripping device for military mechanical arm, including mechanical arm body (1), the output shaft rotationally connected with end execution board (2) of mechanical arm body (1), the bottom of end execution board (2) is provided with clamping component (3), the surface of clamping component (3) is provided with protection component (4), the surface of clamping component (3) is provided with replacement component (5);

[0037] Clamping component (3) includes the hydraulic rod (31) fixedly connected in end execution board (2) inside, the left and right sides of the surface of hydraulic rod (31) are all slidably connected with sliding block (32), the bottom of sliding block (32) is fixedly connected with fixed vertical plate (33), the one end of fixed vertical plate (33) near end execution board (2) middle part is fixedly connected with guide column (34), the surface of guide column (34) is sleeved with buffer spring (35), the surface of guide column (34) is slidably connected with clamping plate (36), the front and rear sides of end execution board (2) are all set up with the horizontal groove of sliding with sliding block (32) adaptation, make sliding block (32) can stable sliding on the surface of end execution board (2), the circumferential distribution of guide column (34) is on the surface of fixed vertical plate (33), the both ends of buffer spring (35) are fixedly connected in fixed vertical plate (33) and the similar end of clamping plate (36) respectively, and multiple guide columns (34) can make clamping plate (36) stable on its surface sliding;

[0038] The protection assembly (4) includes a pressure sensor (411) fixedly connected to the fixed vertical plate (33) near one end of the clamping plate (36), a damping telescopic rod (412) is fixedly connected to one end of the fixed vertical plate (33) near the clamping plate (36), a telescopic spring (413) is sleeved on the surface of the damping telescopic rod (412), a pressing plate (414) is fixedly connected to one end of the damping telescopic rod (412) away from the clamping plate (36), fixed blocks (42) are fixedly connected to the front and back of the top end of the clamping plate (36), rotating rods (431) are rotatably connected in the two fixed blocks (42), limit grooves (432) are formed in the front and back of the rotating rods (431), gears (433) are fixedly connected to the surface of the rotating rods (431), support plates (44) are fixedly connected to one end of the fixed blocks (42) away from the gears (433), electromagnets (45) are fixedly connected in the support plates (44), the pressure sensor (411) is electrically connected with the electromagnets (45) through a microcontroller, the pressure sensor (411) is in contact with the pressing plate (414), the two ends of the telescopic spring (413) are fixedly connected to the clamping plate (36) and the pressing plate (414) near the ends, when the pressing plate (414) presses the pressure sensor (411) to a predetermined value, the pressure sensor (411) will make the electromagnets (45) be energized through the microcontroller, one end of the electromagnets (45) near the gears (433) is fixedly connected with a connecting spring (46), the other end of the connecting spring (46) is fixedly connected with a hollow block (47), the hollow block (47) is fixedly connected with a magnet (48) in the inside, a rack (49) is fixedly connected to the bottom end of the end execution plate (2), the same poles of the electromagnets (45) and the magnet (48) are close to each other, the hollow block (47) is inserted into the limit groove (432), the gears (433) and the rack (49) are in meshing connection, the electromagnets (45) repel the magnet (48) of the same pole after being energized, so that the magnet (48) drives the hollow block (47) to stretch the connecting spring (46) and move away from the electromagnets (45) until the magnet (48) is clamped in the rotating rod (431), so that the rotating rod (431) cannot continue to rotate, and the clamping plate (36) cannot continue to move, thereby avoiding that the pressure on the clamped object is too large.

[0039] The overload protection is realized through the protection assembly (4), when the clamping pressure reaches a predetermined value, the pressure sensor (411) makes the electromagnets (45) be energized through the microcontroller, the related components are driven to move by using the same pole repulsion principle, the clamping plate (36) is limited to continue to move, and damage to precision objects or dangerous goods caused by excessive clamping force is avoided.

[0040] Embodiment two

[0041] Refer toFigures 8-9 A terminal grabbing device for military mechanical arm,

[0042] The replacement assembly (5) comprises a replacement plate (511) arranged on the surface of the clamping plate (36), the surface of the replacement plate (511) is provided with an anti-skid groove surface (512), the upper and lower sides of the front and rear ends of the replacement plate (511) are provided with hexagonal grooves (513), the inner sides of the upper and lower sides of the clamping plate (36) are provided with inner grooves (521), the inner sides of the inner grooves (521) are slidably connected with driven blocks (522), one end of the driven block (522) close to the inner wall of the inner groove (521) is fixedly connected with a return spring (523), the surface of the clamping plate (36) is fixedly connected with an outer frame (53), one end of the replacement plate (511) away from the anti-skid groove surface (512) is a smooth surface, the inner grooves (521) extend to the outside of the clamping plate (36) through the front and rear ends of the clamping plate (36) and the end close to the replacement plate (511), the driven block (522) and the replacement plate (511) are in contact, and the replacement plate (511) can clamp different objects through the smooth surface and the anti-skid groove surface (512).

[0043] By the anti-skid surface of the replacement plate (511) being smooth on one side and provided with an anti-skid groove surface (512) on the other side, the object characteristics can be flexibly switched, the problem of insufficient friction force caused by slipping when rough objects are clamped by a single smooth surface is avoided, and the surface damage caused by clamping smooth or brittle objects by a single anti-skid surface is prevented.

[0044] Embodiment three:

[0045] With reference to Figures 8-10 A terminal grabbing device for military mechanical arm,

[0046] The upper and lower sides of the front and rear ends of the clamping plate (36) are fixedly connected with protection boxes (54), the replacement plate (511) is arranged in the inside of the outer frame (53), the front and rear ends of the driven block (522) are located in the inside of the protection box (54), one end of the outer frame (53) away from the clamping plate (36) is fixedly connected with a guide block (551), the inside of the guide block (551) is connected with a hexagonal sliding block (552), one end of the driven block (522) away from the clamping plate (36) on the front and rear sides is fixedly connected with a connecting piece (561), the upper and lower sides of one end of the connecting piece (561) away from the driven block (522) are rotatably connected with rotating rods two (562), one end of the rotating rod two (562) away from the connecting piece (561) is rotatably connected with a push block (563), a cross-shaped sliding groove (571) is arranged on the inner wall of the side of the protection box (54) close to the clamping plate (36), the inner wall of the cross-shaped sliding groove (571) is fixedly connected with a compression spring (572), the inside of the cross-shaped sliding groove (571) is slidably connected with a sliding rod (573), one end of the sliding rod (573) away from the cross-shaped sliding groove (571) is fixedly connected with a limiting plate (574), a discharging groove (58) is arranged on the surface of the protection box (54), the hexagonal sliding block (552) is inserted into the hexagonal groove (513) in a matched mode, the hexagonal sliding block (552) is slidably connected in the inside of the discharging groove (58), the connecting piece (561) is slidably connected to the inner wall of the protection box (54), one end of the connecting piece (561) away from the driven block (522) is provided as two straight rods in the upper and lower directions, the two rotating rods two (562) are rotatably connected to the surfaces of the two straight rods in the upper and lower directions respectively, and the two straight rods do not affect the movement of the sliding rod (573), the inner wall of the push block (563) is in contact with the two outer walls of the hexagonal sliding block (552) away from the replacement plate (511) and away from the outer frame (53) in a matched mode, under the action of the elasticity of the compression spring (572), the push block (563) is always attached to the end face of the hexagonal sliding block (552) away from the outer frame (53), and when the rotating rod two (562) moves towards the inside of the inner groove (521) along with the connecting piece (561) and the driven block (522), since the connecting position of the rotating rod two (562) and the connecting piece (561) gradually approaches the end face of the hexagonal sliding block (552) away from the hexagonal groove (513), at this time, the rotating rod two (562) starts to rotate and pushes the hexagonal sliding block (552) to have a tendency to move towards the inside of the hexagonal groove (513), thereby ensuring that the hexagonal sliding block (552) is stably inserted into the inside of the hexagonal groove (513), and further enabling the replacement plate (511) to be stably limited on the surface of the clamping plate (36), thereby ensuring the stability during subsequent clamping of an object, the inner wall of the limiting plate (574) is in contact with the outer wall of the push block (563) in a matched mode, and the push block (563) and the limiting plate (574) are both L-shaped in the top view.

[0047] The hexagonal slider (552) is inserted into the hexagonal groove (513), and the second rotating rod (562) and the limiting plate (574) make the push block (563) abut against the surface of the hexagonal slider (552), so that the replacement plate (511) is stably limited on the surface of the clamping plate (36), and the stability in the clamping process is guaranteed, and the diversified grabbing task requirements in the military scene are adapted.

[0048] In the present application, the operator can fix the bottom end of the mechanical arm body (1) on a vehicle or a mobile platform, and then control the mechanical arm body (1) to adjust on each axis.

[0049] The operator can drive the hydraulic rod (31) to drive the sliding block (32) to slide on the surface of the end execution plate (2), at this time, the two sliding blocks (32) are close to each other to drive the fixed vertical plate (33) to drive the clamping plate (36) to move, so as to prepare to clamp the object, and in the clamping process, the clamping plate (36) will compress the buffer spring (35) under the reaction of the object and move on the surface of the guide column (34) to the direction of the fixed vertical plate (33), at this time, the buffer spring (35) is compressed to buffer the initial clamping force; as the clamping force increases, the clamping plate (36) pushes the damping telescopic rod (412) to move to the pressure sensor (411), and the telescopic spring (413) is synchronously contracted until the pressing plate (414) contacts and continuously presses the pressure sensor (411); when the pressure sensor (411) detects that the pressure reaches a preset threshold, the electromagnet (45) is energized through the microcontroller, the electromagnet (45) and the magnet (48) repel each other due to the same magnetic pole, the magnet (48) drives the hollow block (47) to stretch the connecting spring (46) and insert into the limiting groove (432), and the rotation of the first rotating rod (431) is locked; after the first rotating rod (431) is locked, the gear (433) cannot continue to rotate at this time, and in the process of moving the clamping plate (36), since the gear (433) and the rack (49) are meshed and connected and rotate with the clamping plate (36), when the gear (433) is locked and cannot rotate, the position of the clamping plate (36) is limited by the mutual limitation of the gear (433) and the rack (49), so that the movement of the clamping plate (36) to the target object is limited, thereby avoiding damage to the object caused by excessive clamping force.

[0050] When different objects need to be clamped, since one end of the replacement plate (511) is a smooth surface and the other end is an anti-skid surface with an anti-skid groove (512), the surface can be selected according to the characteristics of the target object;

[0051] When clamping smooth or brittle objects, the smooth surface of the replacement plate (511) is selected, the pressure is uniformly dispersed through surface contact, and the surface of the object is prevented from being scratched or broken; when clamping rough or slippery objects, the surface with the anti-skid groove (512) is selected, and the anti-skid groove (512) is engaged with the concave-convex texture of the object surface to enhance the friction force and avoid slipping.

[0052] And in the switching process, by operating the hexagonal slider (552) along the guide block (551) and disengaging the hexagonal groove (513), and then removing the hexagonal slider (552) from the discharge groove (58), the replacement plate (511) can be turned over or replaced, and then the hexagonal slider (552) is reinserted into the new hexagonal groove (513) to complete the fixation.

[0053] When installing the replacement plate (511), first place the replacement plate (511) inside the outer frame (53), and initially insert the hexagonal slider (552) through the guide block (551) into the hexagonal groove (513). At this time, the replacement plate (511) is preliminarily limited by the friction between the replacement plate (511) and the outer frame (53); at this time, the replacement plate (511) will push the driven block (522) to move towards the inside of the inner groove (521), at this time, the driven block (522) will drive the connecting piece (561) to move, at this time, the connecting piece (561) will drive the second rotating rod (562) and the push block (563) to move, until the inner wall of the push block (563) contacts the hexagonal slider (552), at this time, as the connecting piece (561) continues to move, the connection between the second rotating rod (562) and the connecting piece (561) gradually approaches the end face of the hexagonal slider (552) away from the hexagonal groove (513), so the push block (563) is blocked by the hexagonal slider (552) and cannot move towards the outer frame (53), therefore, at this time, the second rotating rod (562) will rotate and push the push block (563) to move towards the replacement plate (511), and at the same time, the push block (563) always maintains horizontal under the action of the horizontally placed limiting plate (574), so that the push block (563) itself does not swing, that is, the push block (563) can always contact the side wall of the hexagonal slider (552); the second rotating rod (562) will push the hexagonal slider (552) to be inserted into the hexagonal groove (513) through the push block (563), and if the object is clamped, the replacement plate (511) will move to adhere to the surface of the clamping plate (36) so that the driven block (522) reaches the maximum movement distance in the inner groove (521), therefore, the movement distance of the connecting piece (561) reaches the maximum, at this time, the pushing force of the push block (563) to move the hexagonal slider (552) towards the inside of the hexagonal groove (513) reaches the maximum, at this time, the limiting force of the hexagonal slider (552) to the replacement plate (511) reaches the maximum, so that the replacement plate (511) is stably limited on the surface of the clamping plate (36) to stably clamp the object.

[0054] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change within the technical range disclosed by the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A terminal gripping device for a military engineering manipulator, comprising a manipulator body (1), the output shaft of which is rotatably connected to a terminal execution plate (2), characterized in that, The bottom end of the end execution plate (2) is provided with a clamping assembly (3), the surface of the clamping assembly (3) is provided with a protection assembly (4), and the surface of the clamping assembly (3) is provided with a replacement assembly (5); The clamping assembly (3) comprises a hydraulic rod (31) fixedly connected inside the end execution plate (2), both sides of the surface of the hydraulic rod (31) are slidably connected with sliding blocks (32), the bottom end of the sliding block (32) is fixedly connected with a fixed vertical plate (33), one end of the fixed vertical plate (33) close to the middle of the end execution plate (2) is fixedly connected with a guide column (34), the surface of the guide column (34) is sleeved with a buffer spring (35), and the surface of the guide column (34) is slidably connected with a clamping plate (36). The protection assembly (4) comprises a pressure sensor (411) fixedly connected at one end of the fixed vertical plate (33) close to the clamping plate (36), the clamping plate (36) is fixedly connected with a damping telescopic rod (412) at one end close to the fixed vertical plate (33), the surface of the damping telescopic rod (412) is sleeved with a telescopic spring (413), the damping telescopic rod (412) is fixedly connected with a pressing plate (414) at one end away from the clamping plate (36), the front and rear sides of the top end of the clamping plate (36) are fixedly connected with fixed blocks (42), the interiors of the two fixed blocks (42) are rotatably connected with rotating rods I (431), the front and rear ends of the rotating rod I (431) are provided with limiting grooves (432), the middle part of the surface of the rotating rod I (431) is fixedly connected with a gear (433), one end of the fixed block (42) away from the gear (433) is fixedly connected with a supporting plate (44), the interior of the supporting plate (44) is fixedly connected with an electromagnet (45), one end of the electromagnet (45) close to the gear (433) is fixedly connected with a connecting spring (46), the other end of the connecting spring (46) is fixedly connected with a hollow block (47), the interior of the hollow block (47) is fixedly connected with a magnet (48), and the bottom end of the end execution plate (2) is fixedly connected with a rack (49).

2. The end gripping device for military mechanical arm according to claim 1, characterized in that, The front and rear sides of the end execution plate (2) are provided with horizontal grooves matched with the sliding blocks (32) to slide, the guide columns (34) are circumferentially distributed on the surface of the fixed vertical plate (33), and the two ends of the buffer spring (35) are fixedly connected at the proximal ends of the fixed vertical plate (33) and the clamping plate (36) respectively.

3. The end gripping device for military mechanical arm according to claim 1, characterized in that, The pressure sensor (411) is electrically connected with the electromagnet (45) through a microcontroller, the pressure sensor (411) and the pressing plate (414) are matched in contact, and the two ends of the telescopic spring (413) are fixedly connected at the proximal ends of the clamping plate (36) and the pressing plate (414) respectively.

4. The end gripping device for military mechanical arm according to claim 1, characterized in that, The proximal ends of the electromagnet (45) and the magnet (48) are the same kind of magnetic poles, the hollow block (47) is matched and inserted into the interior of the limiting groove (432), and the gear (433) is meshedly connected with the rack (49).

5. The end gripping device for military mechanical arm according to claim 1, characterized in that, The replacement assembly (5) includes a replacement plate (511) arranged on the surface of the clamping plate (36), the surface of the replacement plate (511) is provided with an anti-skid groove (512), the upper and lower sides of the front and rear ends of the replacement plate (511) are provided with hexagonal grooves (513), the inner sides of the upper and lower sides of the clamping plate (36) are provided with inner grooves (521), the inner sides of the inner grooves (521) are slidably connected with driven blocks (522), one end of the driven block (522) close to the inner wall of the inner groove (521) is fixedly connected with a return spring (523), the surface of the clamping plate (36) is fixedly connected with an outer frame (53), the upper and lower sides of the front and rear ends of the clamping plate (36) are fixedly connected with protection boxes (54), one end of the outer frame (53) away from the clamping plate (36) is fixedly connected with a guide block (551), the inner side of the guide block (551) is connected with a hexagonal sliding block (552), one end of the driven block (522) away from the clamping plate (36) is fixedly connected with a connecting piece (561), the upper and lower sides of one end of the connecting piece (561) away from the driven block (522) are rotatably connected with rotating rods II (562), one end of the rotating rod II (562) away from the connecting piece (561) is rotatably connected with a push block (563), the inner wall of the protection box (54) close to the clamping plate (36) is provided with a cross-shaped sliding groove (571), the inner wall of the cross-shaped sliding groove (571) is fixedly connected with a pressure spring (572), the inner side of the cross-shaped sliding groove (571) is slidably connected with a sliding rod (573), one end of the sliding rod (573) away from the cross-shaped sliding groove (571) is fixedly connected with a limiting plate (574), and the surface of the protection box (54) is provided with a discharging groove (58).

6. A terminal gripping device for a military robot arm according to claim 5, characterized in that The end of the replacement plate (511) away from the anti-skid groove (512) is a smooth surface, the inner groove (521) extends through the front and rear ends of the clamping plate (36) and the end close to the replacement plate (511) and extends to the outside of the clamping plate (36), and the driven block (522) and the replacement plate (511) are in contact.

7. The end gripping device for military mechanical arm according to claim 5, characterized in that, The replacement plate (511) is arranged in the inner side of the outer frame (53), and the front and rear ends of the driven block (522) are located in the inner side of the protection box (54).

8. The end gripping device for military mechanical arm according to claim 5, characterized in that, The hexagonal sliding block (552) is inserted into the hexagonal groove (513), and the hexagonal sliding block (552) is slidably connected in the discharging groove (58).

9. The end gripping device for military mechanical arm according to claim 5, characterized in that, The connecting piece (561) is slidably connected to the inner wall of the protection box (54), one end of the connecting piece (561) away from the driven block (522) is provided with two straight rods, the two rotating rods II (562) are rotatably connected to the surfaces of the two straight rods, respectively, and the inner wall of the push block (563) is in contact with the two outer walls of the hexagonal sliding block (552) away from the replacement plate (511) and away from the outer frame (53), respectively.

10. The end gripping device for military mechanical arm according to claim 5, characterized in that, The inner wall of the limiting plate (574) is in contact with the outer wall of the push block (563), and the push block (563) and the limiting plate (574) are both L-shaped in top view.

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