A grabbing operation type explosive disposal robot applying a hydraulic mechanical arm

Abstract

The application discloses a kind of application hydraulic mechanical arm's grabbing operation type explosive-handling robot, it is related to industrial robot technical field, including mobile car, controller, mechanical arm mechanism, camera and grabbing mechanism, controller fixed installation is in the top of mobile car, the grabbing mechanism rotation is installed in the one end of mechanical arm mechanism.The application is by being provided with explosion-proof mechanism, explosion-proof mechanism is combined by multiple explosion-proof components and disc, multiple explosion-proof components are deflected to mutually adhere after same direction, can form a closed space, simultaneously, explosion-proof component can reliably hold explosive in the process of car body advancing by inflating air bag, not only further improve the limiting effect to explosive, also can avoid to cause hard extrusion to explosive, effectively reduce the shaking and jumping degree of explosive in transfer process, in addition, inert gas can quickly replace oxygen in air, inhibit the explosion and combustion of explosive, improve the stability of explosive in transfer process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, in particular to a grabbing operation type explosive disposal robot applying a hydraulic mechanical arm. BACKGROUND

[0002] Explosive disposal work has become an important link to ensure public safety. Explosive disposal robots, as the "double" of explosive disposal personnel, can enter dangerous areas to perform explosive disposal tasks, effectively avoiding explosive disposal personnel directly facing life-threatening situations. At present, there are many types of explosive disposal robots on the market, some of which use mechanical arms for grabbing operations.

[0003] For example, Chinese patent CN117656097A discloses an explosive disposal robot, which includes a vehicle body and a mechanical hand arranged on the vehicle body. A bearing plate is arranged at the front of the vehicle body and is hinged to the vehicle body. The hinge axis of the bearing plate is parallel to the ground and perpendicular to the forward direction of the vehicle body. The bearing plate is a telescopic structure and is used to carry the explosive materials grabbed by the mechanical hand. A baffle is hingedly arranged on the bearing plate and is located on the side close to the vehicle body when the bearing plate is laid flat. The baffle is a telescopic structure and its hinge axis is parallel to the hinge axis of the bearing plate. A long strip-shaped gap is formed on the baffle for the mechanical hand to pass through.

[0004] The explosive disposal robot will inevitably sway during travel. The explosive materials are prone to contact with the vehicle body or other environmental factors due to shaking, which can cause the explosive materials to become unstable and explode. Although the above-mentioned patent places the explosive materials on a buffer plate, this method can only clamp and fix the explosive materials to reduce the possibility of falling. However, traditional explosive disposal robots can only clamp and limit the explosive materials during transportation in complex terrain, but lack explosion-proof measures. The explosive disposal robot still has room for improvement in safety and explosion-proof aspects and is difficult to fully respond to various emergency situations. The explosive materials still have the risk of instability. SUMMARY

[0005] The present application aims to provide a grabbing operation type explosive disposal robot applying a hydraulic mechanical arm to solve the problems raised in the background.

[0006] In order to achieve the above object, the present application provides the following technical scheme: a kind of application hydraulic mechanical arm's grabbing operation type explosive handling robot, including mobile car, controller, mechanical arm mechanism, camera and grabbing mechanism, controller is fixedly installed at the top of mobile car, the grabbing mechanism is rotatably installed at one end of mechanical arm mechanism, the mechanical arm mechanism is installed at the top of mobile car one end, and the other end of mobile car is fixedly installed with explosion-proof mechanism, the explosion-proof mechanism includes fixed box, disc, driving gear, storage tank, pump body, delivery pipe and stepper motor, storage tank, pump body, delivery pipe and stepper motor are all installed in fixed box interior, disc is fixedly installed at the top of fixed box, the one end of delivery pipe is connected with storage tank by pump body, the other end of delivery pipe is connected with the bottom of disc, the bottom of disc is fixedly installed with air pressure sensor and pressure relief valve respectively, the bottom of disc is rotatably installed with multiple driven gears in annular array close to center, and the top of driven gear extends to the top of disc and is fixedly installed with rotating arm, rotating arm is installed with explosion-proof assembly away from the one end of driven gear, the output end of stepper motor is fixedly connected with the one end of driving gear, and the outer edge of driving gear is engaged with the outer edge of multiple driven gears, the explosion-proof assembly includes explosion-proof blade, support frame, electric push rod and spring, the bottom of support frame is fixedly installed with the top of rotating arm, and the top of support frame is rotatably connected with the top wall of explosion-proof blade, inflatable air bag is fixedly connected to the outside of support frame.

[0007] Preferably, the explosion-proof blade includes an explosion-proof alloy plate filled with foamed aluminum inside, a wire mesh fixedly installed on the inner wall of the explosion-proof alloy plate, and a ceramic-metal composite coating coated on the outer wall of the explosion-proof alloy plate.

[0008] Preferably, the electric push rod is rotatably installed at the bottom end of the support frame, and the output end of the electric push rod is rotatably installed with the inner side of the explosion-proof blade.

[0009] Preferably, the inflatable air bag is rotatably installed with a clamping plate on both sides in symmetry, one end of the spring is connected with the clamping plate, and the other end of the spring is connected with the outer side of the support frame.

[0010] Preferably, the grabbing mechanism includes a fixed cylinder and a hydraulic push rod three installed inside the fixed cylinder, the output end of the hydraulic push rod three is fixedly connected with a gear rod, and the bottom of the fixed cylinder is rotatably installed with three grabbing claws in annular array.

[0011] Preferably, the top of the grabbing claw is fixedly installed with a gear disc, the outer wall of the gear rod is engaged with the outer wall of the gear disc, a buffer pad is fixedly connected to one side of the grabbing claw, and a pressure sensor is arranged in the interior of the grabbing claw.

[0012] Preferably, the mechanical arm mechanism includes a mounting seat, a rotary motor, a rotary seat, a large arm and a small arm hinged in sequence, the rotary seat and the large arm are driven to rotate through a hydraulic push rod one, and the large arm and the small arm are driven to rotate through a hydraulic push rod two.

[0013] Preferably, the mounting seat is fixed on the mobile vehicle, the rotating motor is fixedly installed in the mounting seat, the rotating seat is rotatably installed on the top of the mounting seat, and the output end of the rotating motor is fixedly connected with the bottom of the rotating seat.

[0014] Preferably, the inside of the small arm is provided with a gas cylinder, the output end of the gas cylinder is fixedly connected with a connecting seat, and one end of the connecting seat away from the gas cylinder is rotatably installed with one end of the grabbing mechanism.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] 1. In the present application, the bottom wall of the explosion-proof blade is controlled to be attached to the top of the disc through the electric push rod, the main gear is driven to rotate by the stepping motor, so that the plurality of rotating arms drive the explosion-proof assemblies to rotate in the same direction, the plurality of explosion-proof blades and the disc form a closed hemispherical body, the plurality of inflatable air bags and the clamping plates clamp and limit the explosive, the control system inflates the inflatable air bags to make them expand and attach to the surface of the explosive, thereby improving the clamping stability, avoiding hard extrusion of the inflatable air bags and the clamping plates on the explosive, and the pump body sends the inert gas in the storage tank to the closed hemispherical body formed by the plurality of explosion-proof blades and the disc through the conveying pipe; the explosion-proof mechanism combines the plurality of explosion-proof assemblies and the disc, and after the plurality of explosion-proof assemblies are deflected in the same direction and attached to each other, a closed space is formed, the explosion-proof assemblies can reliably clamp the explosive during the movement of the vehicle body through the inflatable air bags, the positioning effect on the explosive is further improved, hard extrusion of the explosive is avoided, the shaking and jumping degree of the explosive during the transfer process is effectively reduced, in addition, the inert gas can quickly replace the oxygen in the air, the explosion and combustion of the explosive are inhibited, and the stability of the explosive during the transfer process is improved.

[0017] 2. In the present application, the explosion-proof blade is composed of an explosion-proof alloy plate, the inside of the explosion-proof alloy plate is filled with foamed aluminum, the inner wall of the explosion-proof alloy plate is fixedly installed with a metal mesh, and the outer wall of the explosion-proof alloy plate is coated with a ceramic-metal composite coating, which can reduce the damage of the explosive to the mobile vehicle during explosion through the combination of the explosion-proof alloy plate, the foamed aluminum, the ceramic-metal composite coating and the metal mesh.

[0018] 3. In the present application, the mechanical arm mechanism and the grabbing mechanism adopt a hydraulic driving mode, so that the action of the mechanical arm is more flexible and accurate, the efficiency and accuracy of the explosive disposal operation are improved, the hydraulic system can provide greater power, so that the grabbing claw has strong clamping force, the safety of the explosive disposal operation is improved, the buffer pad can avoid damaging the explosive during the grabbing process, the pressure sensor detects the grabbing force of the grabbing claw on the explosive in real time, avoids excessive extrusion of the explosive due to too large grabbing force, or the explosive falling off due to too small grabbing force, and effectively improves the stability and safety of the explosive grabbing. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of a gripping bomb disposal robot using a hydraulic robotic arm according to the present invention;

[0020] Figure 2 This is a schematic diagram of the mechanical arm mechanism of a gripping explosive ordnance disposal robot using a hydraulic mechanical arm according to the present invention.

[0021] Figure 3 This is a side sectional view of the gripping mechanism of a gripping-type bomb disposal robot using a hydraulic robotic arm, according to the present invention.

[0022] Figure 4 This is a schematic diagram of the explosion-proof mechanism of a gripping explosive disposal robot using a hydraulic robotic arm, according to the present invention.

[0023] Figure 5 This is a schematic diagram of the assembly of the drive gear and multiple driven gears of a gripping bomb disposal robot using a hydraulic robotic arm according to the present invention.

[0024] Figure 6 This is a front sectional view of the explosion-proof mechanism of a gripping explosive ordnance disposal robot using a hydraulic robotic arm, according to the present invention.

[0025] Figure 7 This is a schematic diagram of the explosion-proof component of a gripping bomb disposal robot using a hydraulic robotic arm, according to the present invention.

[0026] Figure 8 This is a top sectional view of an explosion-proof component of a gripping bomb disposal robot using a hydraulic robotic arm, according to the present invention.

[0027] Figure 9 This invention relates to a gripping bomb disposal robot using a hydraulic robotic arm. Figure 8 A magnified view of the details at point A in the middle.

[0028] In the diagram: 1. Mobile vehicle; 2. Controller; 3. Robotic arm mechanism; 4. Camera; 5. Grasping mechanism; 6. Explosion-proof mechanism; 31. Mounting base; 32. Rotary motor; 33. Rotating seat; 34. Hydraulic push rod one; 35. Main arm; 36. Hydraulic push rod two; 37. Forearm; 38. Cylinder; 39. Connecting seat; 51. Fixed cylinder; 52. Grasping claw; 53. Hydraulic push rod three; 54. Gear rod; 55. Gear disk; 56. Pressure sensor; 57. Buffer pad; 61. Fixed box; 62. 63. Disc; 64. Rotating arm; 65. Explosion-proof component; 66. Drive gear; 67. Driven gear; 68. Storage tank; 69. Pump body; 60. Delivery pipe; 610. Pressure sensor; 611. Pressure relief valve; 612. Stepper motor; 641. Explosion-proof blade; 642. Support frame; 643. Electric push rod; 644. Inflatable airbag; 645. Clamping plate; 646. Spring; 647. Explosion-proof alloy plate; 648. Aluminum foam; 649. Ceramic-metal composite coating; 650. Metal wire mesh. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1: Refer to Figures 1-9As shown: A gripping bomb disposal robot using a hydraulic robotic arm includes a mobile vehicle 1, a controller 2, a robotic arm mechanism 3, a camera 4, and a gripping mechanism 5. The controller 2 is fixedly mounted on the top of the mobile vehicle 1. The gripping mechanism 5 is rotatably mounted on one end of the robotic arm mechanism 3, which is mounted on the top of the mobile vehicle 1. An explosion-proof mechanism 6 is fixedly mounted on the other end of the mobile vehicle 1. The explosion-proof mechanism 6 includes a fixed box 61, a disc 62, a drive gear 65, a storage tank 67, a pump body 68, a delivery pipe 69, and a stepper motor 612. The storage tank 67 and the pump body 68... 8. The delivery pipe 69 and the stepper motor 612 are both installed inside the fixed box 61. The disc 62 is fixedly installed on the top of the fixed box 61. One end of the delivery pipe 69 is connected to the storage tank 67 through the pump body 68, and the other end of the delivery pipe 69 is connected to the bottom of the disc 62. A pressure sensor 610 and a pressure relief valve 611 are fixedly installed on the bottom of the disc 62. A plurality of driven gears 66 are rotatably mounted in a ring array near the center of the bottom of the disc 62, and a rotating arm 63 is fixedly installed on the top of the driven gears 66 extending to the top of the disc 62. The rotating arm 63 is away from the driven gears 610 and 612. An explosion-proof component 64 is installed at one end of the 6. The output end of the stepper motor 612 is fixedly connected to one end of the drive gear 65, and the outer edge of the drive gear 65 meshes with the outer edges of multiple driven gears 66. The explosion-proof component 64 includes an explosion-proof blade 641, a support frame 642, an electric push rod 643, and a spring 646. The bottom of the support frame 642 is fixedly installed to the top of the rotating arm 63, and the top of the support frame 642 is rotatably connected to the top wall of the explosion-proof blade 641. An inflatable airbag 644 is fixedly connected to the outside of the support frame 642. The explosion-proof blade 641 includes an explosion-proof alloy plate. 647, the explosion-proof alloy plate 647 is filled with aluminum foam 648, the inner wall of the explosion-proof alloy plate 647 is fixedly installed with metal wire mesh 650, and the outer wall of the explosion-proof alloy plate 647 is coated with ceramic-metal composite coating 649. The electric push rod 643 is rotatably installed at the bottom of the support frame 642, and the output end of the electric push rod 643 is rotatably installed with the inner side of the explosion-proof blade 641. The two sides of the inflatable airbag 644 are symmetrically rotatably installed with clamping plates 645. One end of the spring 646 is connected to the clamping plate 645, and the other end of the spring 646 is connected to the outer side of the support frame 642.

[0031] In this embodiment, after the gripping mechanism 5 grips the explosive, the central controller 2 controls the robotic arm mechanism 3 to move the explosive to above the explosion-proof mechanism 6, such as... Figure 1As shown, multiple explosion-proof components 64 of the explosion-proof mechanism 6 are in the open state. The central controller 2 controls the robotic arm mechanism 3 and the gripping mechanism 5 to move. The robotic arm mechanism 3 moves the gripping mechanism 5 and the explosive slowly downward to the top of the disc 62. The gripping mechanism 5 slowly opens its gripping claw 52, ​​thereby slowly placing the explosive on the disc 62. After the explosive is placed, the control system controls the explosion-proof components 64 to move. The electric push rod 643 in the explosion-proof component 64 controls the explosion-proof blade 641 to rotate until the bottom wall of the explosion-proof blade 641 is in contact with the top of the disc 62 (e.g., ...). Figure 6 As shown), at this time, the stepper motor 612 in the explosion-proof mechanism 6 starts, the stepper motor 612 drives the drive gear 65 to rotate, and the drive gear 65 drives multiple driven gears 66 to rotate (as shown). Figure 5 As shown, the outer edges of the multiple driven gears 66 mesh with the driving gear 65, and adjacent driven gears 66 do not contact each other. Therefore, the multiple driven gears 66 can rotate in the same direction, thereby causing the multiple rotating arms 63 to drive the explosion-proof components 64 to rotate in the same direction. The multiple rotating arms 63 drive the multiple explosion-proof components 64 to rotate from... Figure 5 Rotate to the state shown Figure 8 In the state shown, adjacent explosion-proof blades 641 are in contact with each other, the bottom arms of multiple explosion-proof blades 641 are in contact with the top of the disk 62, and the multiple explosion-proof blades 641 and the disk 62 form a sealed hemisphere (as shown). Figure 6 As shown), the inflatable airbags 644 and clamping plates 645 inside the multiple explosion-proof components 64 can clamp and limit the explosive. During the clamping process, the clamping plates 645 can avoid excessive compression of the explosive under the action of the springs 646. The control system controls the air pressure control system inside the support frame 642 to inflate the inflatable airbags 644, so that the inflatable airbags 644 expand and fit against the surface of the explosive, further improving the clamping stability, while avoiding the inflatable airbags 644 and clamping plates 645 from causing hard compression of the explosive. At the same time, the controller 2 controls the pump body 68 to transport the inert gas (such as argon and carbon dioxide) in the storage tank 67 through the delivery pipe 69 to the sealed hemisphere composed of multiple explosion-proof blades 641 and the disc 62. The air pressure sensor 610 monitors the internal air pressure in real time and transmits the monitoring signal to the controller 2 in real time. When the air pressure value is greater than the preset value, the controller 2 controls the pressure relief valve 611 to release the pressure, ensuring the safety of the explosion-proof mechanism 6.

[0032] The explosion-proof mechanism 6 of the present invention combines multiple explosion-proof components 64 with a disc 62. After the multiple explosion-proof components 64 are deflected in the same direction and come into contact with each other, a sealed space can be formed. At the same time, the explosion-proof components 64 can reliably clamp the explosives during the vehicle's movement through the inflatable airbags 644. This not only further improves the limiting effect on the explosives, but also avoids hard compression of the explosives, effectively reducing the shaking and jumping of the explosives during the transfer process. In addition, the inert gas can quickly replace the oxygen in the air, suppressing the explosion and combustion of the explosives and improving the stability of the explosives during the transfer process.

[0033] Furthermore, the explosion-proof blade 641 is composed of an explosion-proof alloy plate 647, which is filled with aluminum foam 648. A metal wire mesh 650 is fixedly installed on the inner wall of the explosion-proof alloy plate 647, and the outer wall of the explosion-proof alloy plate 647 is coated with a ceramic-metal composite coating 649. This reduces the damage to the mobile vehicle 1 caused by the explosion. (The metal wire mesh 650 can be a stainless steel fiber mesh / copper mesh. Utilizing a "porous mesh structure," it blocks the explosion chain reaction. When the flame passes through the tiny pores of the metal wire mesh 650, it comes into full contact with the metal surface. The high thermal conductivity of the metal quickly absorbs and conducts away the heat from the flame.) Lowering the flame temperature can, to some extent, prevent the explosion from spreading. The ceramic-metal composite coating 649 is formed by thermal spraying ceramic particles and a metal binder onto the substrate surface, creating a dense coating. The ceramic phase has high hardness, which can withstand the impact of high-speed flying fragments during an explosion. Foamed aluminum 648 is a foamed metal with numerous three-dimensional interconnected pores. When an explosive material detonates, the shock wave passing through these pores collides multiple times with the pore walls, dissipating energy and causing the shock wave pressure to decay rapidly. Simultaneously, the high thermal conductivity of the pore walls rapidly cools the flame, preventing the chain reaction from continuing.

[0034] After the bomb disposal robot transports the explosive to a designated location (such as a bomb disposal tube), the control system controls the stepper motor 612 to move. The stepper motor 612 drives multiple driven gears 66 and rotating arm 63 to deflect, and multiple explosion-proof components 64 deflect outwards and open. The controller 2 controls the robotic arm mechanism 3 and the gripping mechanism 5 to start, remove the explosive from the disc 62 and put it into the bomb disposal tube, completing the transfer of the explosive. The bomb disposal robot then leaves the scene.

[0035] Example 2: Figure 1 - Figure 3As shown, the gripping mechanism 5 includes a fixed cylinder 51 and a hydraulic push rod 53 installed inside the fixed cylinder 51. A gear rod 54 is fixedly connected to the output end of the hydraulic push rod 53. Three gripping claws 52 are rotatably mounted in a circular array at the bottom of the fixed cylinder 51. A gear disk 55 is fixedly mounted on the top of the gripping claws 52. The outer wall of the gear rod 54 meshes with the outer wall of the gear disk 55. A buffer pad 57 is fixedly connected to one side of the gripping claw 52, ​​and a pressure sensor 56 is installed inside the gripping claw 52. The robotic arm mechanism 3 includes a mounting base 31, a rotary motor 32, a rotating base 33 hinged in sequence, and a large arm 3. The forearm 37 and the rotating seat 33 are driven to rotate by hydraulic push rod 34, and the forearm 35 and the main arm 35 are driven to rotate by hydraulic push rod 36. The mounting base 31 is fixed on the mobile vehicle 1. The rotary motor 32 is fixedly installed inside the mounting base 31. The rotating seat 33 is rotatably installed on the top of the mounting base 31. The output end of the rotary motor 32 is fixedly connected to the bottom of the rotating seat 33. The forearm 37 is equipped with a cylinder 38, and the output end of the cylinder 38 is fixedly connected to a connecting seat 39. The end of the connecting seat 39 away from the cylinder 38 is rotatably installed with one end of the gripping mechanism 5.

[0036] In this embodiment, when the bomb disposal robot is transferring explosives, the operator sends control commands from a safe area via the control panel on the remote operation terminal. The control commands are transmitted to the robot's central controller 2 via a wireless communication module. After receiving the control commands, the central controller 2 starts the hydraulic motor of the mobile vehicle 1, and the drive wheels drive the tracks to rotate, causing the robot to move towards the location of the explosives. The tracked structure has anti-slip patterns on the track surface, and the drive wheels are driven by hydraulic motors, which have large torque and can adapt to complex terrains such as mud and gravel, ensuring that the robot can quickly and smoothly reach the location of the explosives, thus enhancing the robot's environmental adaptability. During the movement, the distance sensor in the mobile vehicle 1 detects the distance between the robot and surrounding obstacles in real time. When the distance is less than the set safety value, the central controller 2 controls the robot to stop moving and sends an alarm signal to the remote operation terminal via the wireless communication module. The operator adjusts the robot's movement direction based on the environmental images fed back by the camera 4, avoids obstacles, and drives the bomb disposal robot to the vicinity of the explosives.

[0037] Once the robot reaches the vicinity of the explosive, the operator controls the movement of the robotic arm mechanism 3 via the control panel. The hydraulic pump in the robotic arm mechanism 3, driven by the motor, pressurizes the hydraulic oil in the hydraulic oil tank and delivers it to the hydraulic valve group. The central controller 2 controls the valve opening and on / off status of the hydraulic valve group according to the operation instructions, and adjusts the flow direction and flow rate of the hydraulic oil. The rotary motor 32 in the robotic arm mechanism 3 can drive the rotary seat 33 to achieve 360° omnidirectional rotation. The first hydraulic push rod 34 can realize the rotation of the upper arm 35, and the second hydraulic push rod 36 can realize the rotation of the lower arm 37, thereby controlling the rotation of the upper arm 35, the lower arm 37, and the angle adjustment between the upper arm 35 and the lower arm 37 of the robotic arm mechanism 3. At the same time, the cylinder 38 can drive the connecting seat 39 to extend outward or retract inward. The position sensor detects the position and angle of each joint of the robotic arm mechanism 3 in real time and feeds the detection data back to the central controller 2. The central controller 2 makes fine adjustments to the movement of the robotic arm mechanism 3 according to the feedback data to ensure the accuracy of the robotic arm movement, thereby adjusting the position and angle of the gripping mechanism 5 so that the gripper 52 is aligned with the explosive.

[0038] Next, when the gripper 52 approaches the explosive, the operator observes the position and shape of the explosive through the camera 4 and controls the hydraulic push rod 53 inside the fixed cylinder 51 to move. The hydraulic push rod 53 drives the gear rod 54 to move upward. The gear rod 54 meshes with multiple gear discs 55. When the gear rod 54 moves upward, it can drive multiple grippers 52 to move towards each other (slowly closing) to grip the explosive. During the gripping process, the buffer pad 57 can prevent damage to the explosive. The pressure sensor 56 detects the gripping force of the gripper 52 on the explosive in real time. When the gripping force is within the preset value range (keeping the gripping force within a suitable range), the pressure sensor 56 feeds back the signal to the central controller 2. The central controller 2 controls the hydraulic push rod 53 to close, stopping the closing of the gripper 52. The mechanism avoids excessive squeezing of explosives due to excessive gripping force or falling off due to insufficient gripping force, effectively improving the stability and safety of explosives handling. The robotic arm mechanism 3 and gripping mechanism 5 of this invention are hydraulically driven, and the hydraulic system can provide greater power, giving the gripper 52 a strong clamping force. It can stably grasp explosives of different weights and shapes, effectively solving the problem of insufficient gripping force of existing electric-driven robotic arms, and improving the safety of bomb disposal operations. Each joint of the robotic arm mechanism 3 is controlled by a high-precision hydraulic push rod. Combined with real-time feedback from position sensors, the movement angle and position of the robotic arm can be precisely controlled, making the movement of the robotic arm more flexible and precise. It can complete the fine gripping and handling of explosives, improving the efficiency and accuracy of bomb disposal operations.

[0039] The usage and working principle of this device: When the bomb disposal robot is transferring explosives, the operator sends control commands through the operation panel on the remote operation terminal. The control commands are transmitted to the robot's central controller 2 through the wireless communication module. After receiving the control commands, the central controller 2 controls the mobile vehicle 1 to start. The operator adjusts the robot's movement direction according to the environmental images fed back by the camera 4, avoids obstacles, and drives the bomb disposal robot to the vicinity of the explosives.

[0040] Once the robot reaches the vicinity of the explosive, the operator controls the movement of the robotic arm mechanism 3 via the control panel. The rotary motor 32 drives the rotating seat 33 to achieve 360° omnidirectional rotation. The hydraulic push rod 1 34 enables the rotation of the upper arm 35, the hydraulic push rod 2 36 enables the rotation of the lower arm 37, and the cylinder 38 enables the connecting seat 39 to extend outward or retract inward. The position sensor detects the position and angle of each joint of the robotic arm mechanism 3 in real time and feeds the detection data back to the central controller 2. The central controller 2 makes fine adjustments to the movement of the robotic arm mechanism 3 based on the feedback data, so that the gripper 52 is aligned with the explosive. When the gripper 52 approaches the explosive, the operator observes the position and shape of the explosive through the camera 4, drives the gear rod 54 to move upward through the hydraulic push rod 3 53, and drives multiple grippers 52 to move in the direction of mutual approach to grab the explosive. During the grabbing process, the pressure sensor 56 detects the gripping force of the gripper 52 on the explosive in real time. When the gripping force is within the preset value range, the central controller 2 controls the hydraulic push rod 3 53 to close, stopping the closing action of the gripper 52.

[0041] After the gripping mechanism 5 grasps the explosive, the central controller 2 controls the robotic arm mechanism 3 to move the explosive to the top of the explosion-proof mechanism 6. The central controller 2 controls the robotic arm mechanism 3 and the gripping mechanism 5 to move slowly downwards to the top of the disc 62. The gripping mechanism 5 slowly opens its gripping claw 52, ​​thus slowly placing the explosive on the disc 62. After the explosive is placed, the electric push rod 643 in the explosion-proof component 64 controls the explosion-proof blade 641 to rotate until the bottom wall of the explosion-proof blade 641 is in contact with the top of the disc 62. At this time, the stepper motor 612 drives the drive gear 65 to rotate, and the drive gear 65 drives multiple driven gears 66 to rotate, thereby causing multiple rotating arms 63 to drive the explosion-proof component 64 to rotate in the same direction. The multiple rotating arms 63 drive multiple explosion-proof components 64 to rotate from... Figure 5 Rotate to the state shown Figure 8 In the state shown, adjacent explosion-proof blades 641 are in contact with each other, the bottom arms of multiple explosion-proof blades 641 are in contact with the top of the disk 62, and the multiple explosion-proof blades 641 and the disk 62 form a sealed hemisphere (as shown). Figure 6As shown, the air pressure control system inflates the airbag 644, causing it to expand and adhere to the surface of the explosive. This prevents the airbag 644 and the clamping plate 645 from causing hard compression of the explosive. At the same time, the controller 2 controls the pump 68 to deliver the inert gas in the storage tank 67 to the sealed hemisphere through the delivery pipe 69. The air pressure sensor 610 monitors the internal air pressure in real time. When the air pressure value is greater than the preset value, the controller 2 controls the pressure relief valve 611 to release the pressure, ensuring the safety of the explosion-proof mechanism 6.

[0042] The explosion-proof blade 641 is composed of an explosion-proof alloy plate 647, which is filled with aluminum foam 648. A metal wire mesh 650 is fixedly installed on the inner wall of the explosion-proof alloy plate 647, and the outer wall of the explosion-proof alloy plate 647 is coated with a ceramic-metal composite coating 649, which can reduce the damage to the mobile vehicle 1 when the explosive explodes. After the bomb disposal robot transfers the explosive to the designated location (such as the bomb disposal tube), the control system controls multiple explosion-proof components 64 to deflect and open outward. The robotic arm mechanism 3 and the gripping mechanism 5 take the explosive from the disc 62 and put it into the bomb disposal tube, completing the transfer operation of the explosive. The bomb disposal robot then leaves the scene.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gripping bomb disposal robot using a hydraulic robotic arm, comprising a mobile vehicle (1), a controller (2), a robotic arm mechanism (3), a camera (4), and a gripping mechanism (5), wherein the controller (2) is fixedly mounted on the top of the mobile vehicle (1), characterized in that: The gripping mechanism (5) is rotatably mounted on one end of the robotic arm mechanism (3), which is mounted on the top end of the mobile vehicle (1). An explosion-proof mechanism (6) is fixedly mounted on the other end of the mobile vehicle (1). The explosion-proof mechanism (6) includes a fixed box (61), a disc (62), a drive gear (65), a storage tank (67), a pump body (68), a delivery pipe (69), and a stepper motor (612). The storage tank (67), pump body (68), delivery pipe (69), and stepper motor (612) are all... The disc (62) is fixedly installed inside the fixed box (61) and fixedly installed on the top of the fixed box (61). One end of the delivery pipe (69) is connected to the storage tank (67) through the pump body (68), and the other end of the delivery pipe (69) is connected to the bottom of the disc (62). A pressure sensor (610) and a pressure relief valve (611) are fixedly installed on the bottom of the disc (62). Near the center of the bottom of the disc (62), a plurality of driven gears (66) are rotatably mounted in a ring array, and the top of the driven gears (66) extends to the disc. (62) A rotating arm (63) is fixedly installed on the top. An explosion-proof component (64) is installed on the end of the rotating arm (63) away from the driven gear (66). The output end of the stepper motor (612) is fixedly connected to one end of the driving gear (65), and the outer edge of the driving gear (65) meshes with the outer edges of multiple driven gears (66). The explosion-proof component (64) includes an explosion-proof blade (641), a support frame (642), an electric push rod (643), and a spring (646). The bottom of the support frame (642) is connected to the rotating arm. The top of (63) is fixedly installed, and the top of the support frame (642) is rotatably connected to the top wall of the explosion-proof blade (641). An inflatable airbag (644) is fixedly connected to the outside of the support frame (642). The explosion-proof blade (641) includes an explosion-proof alloy plate (647). The explosion-proof alloy plate (647) is filled with aluminum foam (648). A metal wire mesh (650) is fixedly installed on the inner wall of the explosion-proof alloy plate (647). The outer wall of the explosion-proof alloy plate (647) is coated with a ceramic-metal composite coating (649).

2. The explosive ordnance disposal robot using a hydraulic robotic arm as described in claim 1, characterized in that: The electric push rod (643) is rotatably mounted on the bottom end of the support frame (642), and the output end of the electric push rod (643) is rotatably mounted on the inner side of the explosion-proof blade (641).

3. The explosive ordnance disposal robot using a hydraulic robotic arm as described in claim 1, characterized in that: The inflatable airbag (644) is symmetrically and rotatably mounted with clamping plates (645) on both sides. One end of the spring (646) is connected to the clamping plate (645), and the other end of the spring (646) is connected to the outside of the support frame (642).

4. The explosive ordnance disposal robot using a hydraulic robotic arm as described in claim 1, characterized in that: The gripping mechanism (5) includes a fixed cylinder (51) and a hydraulic push rod three (53) installed inside the fixed cylinder (51). The output end of the hydraulic push rod three (53) is fixedly connected to a gear rod (54). Three gripping claws (52) are rotatably mounted in a ring array at the bottom of the fixed cylinder (51).

5. The explosive ordnance disposal robot using a hydraulic robotic arm as described in claim 4, characterized in that: A gear disk (55) is fixedly installed on the top of the gripper (52), the outer wall of the gear rod (54) meshes with the outer wall of the gear disk (55), a buffer pad (57) is fixedly connected to one side of the gripper (52), and a pressure sensor (56) is provided inside the gripper (52).

6. The explosive ordnance disposal robot using a hydraulic robotic arm as described in claim 1, characterized in that: The robotic arm mechanism (3) includes a mounting base (31), a rotary motor (32), a rotating base (33), a large arm (35), and a small arm (37) that are hinged in sequence. The rotating base (33) and the large arm (35) are driven to rotate by a hydraulic push rod (34), and the large arm (35) and the small arm (37) are driven to rotate by a hydraulic push rod (36).

7. The explosive ordnance disposal robot using a hydraulic robotic arm as described in claim 6, characterized in that: The mounting base (31) is fixed on the mobile vehicle (1), the rotary motor (32) is fixedly installed inside the mounting base (31), the rotating seat (33) is rotatably installed on the top of the mounting base (31), and the output end of the rotary motor (32) is fixedly connected to the bottom of the rotating seat (33).

8. The explosive ordnance disposal robot using a hydraulic robotic arm according to claim 6, characterized in that: The forearm (37) is equipped with a cylinder (38), and the output end of the cylinder (38) is fixedly connected to a connecting seat (39). The end of the connecting seat (39) away from the cylinder (38) is rotatably installed with one end of the gripping mechanism (5).

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