Adjustable clamping fixture for rescue robots

Abstract

The adjustable clamping clamp for a rescue robot relates to the field of rescue robots and comprises a rescue robot body, a support part is fixedly installed on the front end face of the rescue robot body, rotary drive parts are symmetrically arranged on the upper surface of the support part, a connecting plate is installed at the output end of the lower bottom surface of the rotary drive part, a clamping mechanism is arranged on the outer surface of the connecting plate and is used for clamping articles, the clamping mechanism comprises a No.1 clamp, the No.1 clamp is fixedly connected to the outer surface of the connecting plate, a No.2 clamp is movably installed at one end of the outer surface of the No.1 clamp, and a fixed groove is formed in the one-end edge portion of the No.1 clamp. Through the angle adjusting structure formed by the cooperation of the telescopic drive part, the driving rack plate and the driven gear, the opening and closing angle between the No.1 clamp and the No.2 clamp can be flexibly adjusted, different sizes and different profiles of objects to be clamped can be adapted, and the problem of poor adaptability of the fixed structure clamp is solved. Compared with the prior art, the scene adaptation ability and clamping efficiency of the clamp are improved.

Description

Technical Field

[0001] This invention relates to rescue robot technology, and more specifically to an adjustable gripper for a rescue robot. Background Technology

[0002] Rescue robots are core equipment in emergency rescue skills simulation competitions. They are intelligent robotic devices specifically designed for simulating disaster rescue scenarios and can complete simulated rescue tasks through remote control or autonomous planning. They are widely used in various simulated rescue competitions such as the National College Student Emergency Rescue Robot Competition and the rescue events of vocational college skills competitions. These robots mainly operate in simulated disaster scenarios such as building collapses, being trapped in confined spaces, and being blocked by obstacles. Through their onboard grippers, they complete core simulated rescue operations such as transferring the target to be rescued, transporting rescue materials, supporting collapsed components, and clearing obstacles. The performance of their grippers directly determines the quality of the robot's task completion and its final score, making them the core execution component of the rescue robot.

[0003] However, existing grippers for rescue robots used in simulated competitions generally adopt a fixed-structure gripper arm design. The opening angle, gripping surface shape, and gripping dimension of the gripper arm are all fixed and unadjustable single structures, which can only be adapted to gripping standard objects with regular shapes and flat surfaces. However, the objects to be gripped in simulated rescue competitions cover a variety of types, including simulated trapped personnel models, irregularly shaped rescue supplies, irregularly collapsed components, and curved obstacle blocks. The shapes and structures of different objects vary significantly, and most of the objects have irregular curved surfaces, irregular contours, or concave and convex structures. The fixed-structure gripper arm cannot form an effective fit with the surfaces of different objects. During gripping, only local point contact or line contact can be formed, which easily leads to problems such as gripping slippage, object falling off, and gripping posture deviation. This not only directly results in insufficient gripping stability and poor gripping effect, but also causes the simulated rescue mission to be interrupted and the support operation to fail, seriously affecting the robot's simulated rescue effect and failing to meet the stable gripping requirements of various types and irregularly shaped objects in competition scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide an adjustable gripper for rescue robots, so as to solve the problems of fixed structure, non-adjustable opening and closing angle, inability to adapt to the gripping needs of irregular and irregular surface objects in the prior art, and easy occurrence of unstable gripping, slippage and fall-off.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an adjustable gripper for a rescue robot, comprising a rescue robot body, a support portion fixedly mounted on the front end face of the rescue robot body, a rotary drive portion symmetrically arranged on the upper surface of the support portion, a connecting plate mounted at the output end of the lower bottom surface of the rotary drive portion, and a gripping mechanism provided on the outer surface of the connecting plate for gripping items; The clamping mechanism includes a first clamp, which is fixed to the outer surface of the connecting plate. A second clamp is movably installed at one end of the outer surface of the first clamp. A fixing groove is provided at one end of the first clamp. A support shaft is connected between the first clamp and the second clamp through the fixing groove. An angle adjustment structure is also provided between the first clamp and the second clamp. The angle adjustment structure includes an inner groove, which is opened at one end of the second clamp. A driven gear is installed at the middle of one side of the outer surface of the support shaft. A placement groove is opened inside the first clamp. A telescopic drive unit is provided inside the placement groove. A fixed opening is opened through one end of the inner wall of the placement groove. An active rack plate is installed at the output end of the telescopic drive unit. The No. 1 and No. 2 clamps are also equipped with support mechanisms to provide stable support for the clamped objects.

[0006] Furthermore, the support mechanism includes a storage cavity, which is located inside the first clamp and the second clamp. The storage cavity is filled with several elastic limiting balls, and a number of fixing holes are provided through one end of the inner wall of the storage cavity. Limiting rods are movably installed inside the fixing holes.

[0007] Furthermore, one end of the limiting rod is a spherical structure, and the other end of the limiting rod is fixedly installed with a fixing baffle. The outer diameter of the fixing baffle is larger than the inner diameter of the fixing hole, and one end of the fixing baffle abuts against the outer surface of several elastic limiting balls.

[0008] Furthermore, the outer diameter of the limiting rod is smaller than the inner diameter of the fixing hole, one side of the outer surface of the limiting rod is located inside the fixing hole, and the fixing hole and the limiting rod are fitted together.

[0009] Furthermore, one side of the inner wall of the first fixture has an arc-shaped groove structure, and the second fixture has an overall strip structure.

[0010] Furthermore, one side of the outer surface of the active rack plate is located inside the fixed opening, and the fixed opening and the active rack plate are coupled to each other.

[0011] Furthermore, the tooth surface on one side of the driving rack plate is close to the outer surface of the driven gear, and the driven gear and the driving rack plate mesh with each other.

[0012] Furthermore, the driven gear is located inside the fixed groove and the inner groove, and both the fixed groove and the inner groove are coupled to the driven gear.

[0013] Compared with the prior art, the adjustable gripper for rescue robots provided by the present invention has the following beneficial effects: This invention utilizes an angle adjustment structure that combines a telescopic drive unit, an active rack plate, and a driven gear to flexibly adjust the opening angle between clamp number one and clamp number two, adapting to objects of different sizes and contours. This solves the problem of poor adaptability of fixed structure clamps and improves the scene adaptability and clamping efficiency of clamps compared with existing technologies.

[0014] This invention utilizes multiple sets of retractable limiting rods and elastic limiting balls in the support mechanism to adaptively adjust the extension length of each limiting rod according to the irregular contour of the object's surface. This allows the clamp to form multi-point surface contact with the object's surface, replacing the point / line contact of traditional clamps. This significantly improves the stability when clamping irregularly shaped objects, avoiding slippage and detachment. Compared with existing technologies, this invention enhances the clamping effect.

[0015] 3. The present invention uses a rotating drive unit symmetrically arranged on the support part to drive two sets of clamping mechanisms to rotate synchronously, adjust the clamping angle and clamping direction, adapt to the clamping needs of objects in narrow spaces and different placement postures, improve the flexibility of simulated rescue operations, and ensure the completion effect of rescue missions in complex scenarios. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention; Figure 2 This is a schematic diagram of the No. 1 clamp structure provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the elastic limiting ball structure provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the limiting rod structure provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the No. 2 clamp structure provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Rescue robot body; 2. Support unit; 3. Rotary drive unit; 4. Connecting plate; 5. No. 1 clamp; 6. No. 2 clamp; 7. Fixing groove; 8. Support shaft; 9. Inner groove; 10. Driven gear; 11. Placement groove; 12. Telescopic drive unit; 13. Fixing opening; 14. Active rack plate; 15. Storage cavity; 16. Elastic limit ball; 17. Fixing hole; 18. Limiting rod; 19. Fixing baffle. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] As attached Figure 1 To be continued Figure 5 As shown: Example

[0021] This invention provides an adjustable gripper for a rescue robot, including a rescue robot body 1. A support part 2 is fixedly installed on the front end face of the rescue robot body 1. A rotary drive part 3 is symmetrically arranged on the upper surface of the support part 2. The rotary drive part 3 is a drive motor. A connecting plate 4 is installed at the output end of the bottom surface of the rotary drive part 3. A gripping mechanism is provided on the outer surface of the connecting plate 4 for gripping items. The clamping mechanism includes a first clamp 5, which is fixed to the outer surface of the connecting plate 4. A second clamp 6 is movably installed at one end of the outer surface of the first clamp 5. One side of the inner wall of the first clamp 5 has an arc-shaped groove structure. The second clamp 6 has a strip-shaped structure. A fixing groove 7 is opened at one end of the first clamp 5. A support shaft 8 is connected between the first clamp 5 and the second clamp 6 through the fixing groove 7. An angle adjustment structure is also provided between the first clamp 5 and the second clamp 6. The angle adjustment structure includes an inner groove 9, which is opened at one end of the second clamp 6. A driven gear 10 is installed at the middle of one side of the outer surface of the support shaft 8. The driven gear 10 is located inside the fixed groove 7 and the inner groove 9. Both the fixed groove 7 and the inner groove 9 are coupled to the driven gear 10. A placement groove 11 is opened inside the first clamp 5. A telescopic drive unit 12 is set inside the placement groove 11. The telescopic drive unit 12 is an electric telescopic rod. A fixed opening 13 is opened through one end of the inner wall of the placement groove 11. An active rack plate 14 is installed at the output end of the telescopic drive unit 12. One side of the outer surface of the active rack plate 14 is located inside the fixed opening 13, and the fixed opening 13 and the active rack plate 14 are coupled to each other. The tooth surface on one side of the driving rack plate 14 is close to the outer surface of the driven gear 10, and the driven gear 10 and the driving rack plate 14 mesh with each other; The No. 1 clamp 5 and the No. 2 clamp 6 are also equipped with support mechanisms inside to provide stable support for the clamped objects.

[0022] Working principle: First, before the simulated rescue competition begins, the staff completes the assembly of the clamping fixture and the rescue robot body 1, fixes the support part 2 on the front end face of the rescue robot body 1, connects the control lines of the rotary drive part 3 and the telescopic drive part 12 to the main control system of the rescue robot, and adjusts the rotary drive part 3 to smoothly drive the connecting plate 4 and the clamping mechanism to rotate as a whole, and adjusts the telescopic drive part 12 to smoothly drive the active rack plate 14 to reciprocate along the fixed opening 13. Through the meshing of the active rack plate 14 and the driven gear 10, the second clamp 6 is driven to rotate around the support shaft 8, so as to realize the smooth adjustment of the opening angle of the first clamp 5 and the second clamp 6 without jamming or obstruction, thus completing the pre-competition debugging. Next, the staff controlled the rescue robot body 1 to move to the object to be clamped in the simulated rescue scenario via the remote control console. According to the shape and size of the object to be clamped, the staff controlled the telescopic drive unit 12 to adjust the opening and closing angle of the first clamp 5 and the second clamp 6 to the appropriate size. If the object to be clamped is located in a narrow space or at a special angle, the staff controlled the rotation drive unit 3 to rotate the connecting plate 4 and the clamping mechanism as a whole, and adjusted the clamping direction of the clamping mechanism so that the clamping surface of the clamp is facing the object. Without adjusting the overall position of the rescue robot body 1, it can adapt to the clamping needs of different scenarios and improve the operational flexibility. Then, the staff manipulates the rescue robot body 1 to move forward, so that the object to be clamped enters the clamping space between clamp 5 and clamp 6. Then, the staff manipulates the telescopic drive unit 12 to move in the opposite direction, so that the active rack plate 14 retracts along the fixed opening 13. Through the meshing driven gear 10, the second clamp 6 is driven to close towards the first clamp 5, so that the clamping surfaces of the first clamp 5 and the second clamp 6 are in contact with the surface of the object to be clamped, thus completing the clamping and fixing. During this process, the arc-shaped groove structure of the first clamp 5 can better fit the outer surface of circular and curved objects, improving the basic clamping stability. Subsequently, staff controlled the rescue robot body 1 to move, moving the clamped object to complete the simulated rescue task, including obstacle clearing, rescue material transportation, transfer of simulated trapped personnel models, and support of collapsed components. During the movement, if it is necessary to adjust the placement posture of the object, the rotation drive unit 3 can be controlled to rotate the clamping mechanism, and the posture of the object can be adjusted simultaneously. No secondary clamping is required, simplifying the operation process and improving the execution efficiency of the simulated rescue task. Finally, after completing the simulated rescue mission, the staff controlled the rescue robot body 1 to move to the target placement position, and controlled the telescopic drive unit 12 to extend, causing the second gripper 6 to rotate and open around the support shaft 8, releasing the clamped object and completing the entire clamping operation process; if it is necessary to clamp objects of different sizes and shapes in the future, the above steps of adjusting the opening angle and clamping direction can be repeated to adapt to the continuous clamping needs of multiple types of objects in the simulated competition. Example

[0023] This embodiment is basically the same as the previous embodiment, except that the support mechanism includes a storage cavity 15, which is opened inside the first clamp 5 and the second clamp 6. The storage cavity 15 is filled with a number of elastic limiting balls 16, and a number of fixing holes 17 are opened through one end of the inner wall of the storage cavity 15. A limiting rod 18 is movably installed inside the fixing holes 17. One end of the limiting rod 18 is a spherical structure, and a fixed baffle 19 is fixedly installed on the other end of the limiting rod 18. The outer diameter of the fixed baffle 19 is larger than the inner diameter of the fixed hole 17, and one end of the fixed baffle 19 abuts against the outer surface of a number of elastic limiting balls 16. The outer diameter of the limiting rod 18 is smaller than the inner diameter of the fixing hole 17, and one side of the outer surface of the limiting rod 18 is located inside the fixing hole 17. The fixing hole 17 and the limiting rod 18 are fitted together.

[0024] Working principle: First, after the staff completes the pre-competition debugging of the clamps, when operating the clamps to hold objects with irregular or irregular surfaces, they first adjust the opening angle of clamp 5 and clamp 6 to the appropriate range according to the maximum external dimensions of the object, and then operate the rescue robot body 1 to move so that the object to be clamped enters the clamping space between the two sets of clamps. Next, the operator manipulates the telescopic drive unit 12 to close the second clamp 6 towards the first clamp 5. The limiting rod 18 on the clamping surfaces of the first clamp 5 and the second clamp 6 first contacts the surface of the object to be clamped. As the clamps continue to close, the protruding parts on the object's surface will generate a reverse thrust on the contacting limiting rod 18, causing the limiting rod 18 to retract along the fixing hole 17 into the storage cavity 15. The fixing baffle 19 at the tail of the limiting rod 18 simultaneously squeezes the elastic limiting ball 16. The elastic limiting ball 16 undergoes elastic deformation under the force, providing clearance for the retracting limiting rod 18. Meanwhile, the limiting rod 18 corresponding to the concave part of the object's surface, under the rebound force of the elastic limiting ball 16, extends along the fixing hole 17 towards the clamping surface, so that the spherical end of the limiting rod 18 fits against the surface of the concave part. Then, after the clamp is fully closed, multiple sets of limiting rods 18 form a clamping surface that perfectly matches the shape of the object according to the irregular contour of the object's surface. This allows the clamp to form a multi-point surface contact with the object's surface, replacing the local point contact of traditional clamps and significantly improving the friction and stability when clamping irregularly shaped objects. At the same time, the elastic limiting ball 16 provides uniform elastic support force for each limiting rod 18, ensuring both clamping fit and avoiding excessive local clamping force that could damage the object's surface. This adapts to the clamping requirements of fragile and easily deformable objects in simulated rescue scenarios. Subsequently, the staff controlled the rescue robot body 1 to move, driving the clamped irregular object to complete the simulated rescue operation. During the movement, the adaptive clamping surface formed by multiple sets of limit rods 18 can effectively prevent the object from slipping, rotating, or falling off, ensuring the stability of the clamping posture and ensuring the continuous execution of the simulated rescue mission. If the clamping force needs to be adjusted during the clamping process, it is only necessary to operate the telescopic drive unit 12 to finely adjust the opening and closing angle of the clamp, and the support force of the limit rod 18 can be adjusted by the deformation of the elastic limit ball 16, which is convenient to operate. Finally, after completing the simulated rescue mission, the staff operated the clamp to open, and the limiting rod 18 lost the reverse thrust of the object. Under the rebound force of the elastic limiting ball 16, the limiting rod 18 was driven to return to its initial state through the fixed baffle 19, ready for the next clamping operation. Throughout the process, the support mechanism can automatically complete adaptive adjustments according to the surface contour of different objects without additional manual operation. Compared with existing technologies, it improves the clamping efficiency and stability of irregularly shaped objects and ensures the completion effect of the simulated rescue mission.

[0025] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An adjustable gripper for a rescue robot, comprising a rescue robot body (1), wherein a support portion (2) is fixedly mounted on the front end face of the rescue robot body (1), and a rotation drive portion (3) is symmetrically arranged on the upper surface of the support portion (2), characterized in that, A connecting plate (4) is installed at the output end of the bottom surface of the rotary drive unit (3), and a clamping mechanism is provided on the outer surface of the connecting plate (4) for clamping items; The clamping mechanism includes a first clamp (5), which is fixed to the outer surface of the connecting plate (4). A second clamp (6) is movably installed at one end of the outer surface of the first clamp (5). A fixing groove (7) is provided at one end of the first clamp (5). A support shaft (8) is connected between the first clamp (5) and the second clamp (6) through the fixing groove (7). An angle adjustment structure is also provided between the first clamp (5) and the second clamp (6). The angle adjustment structure includes an inner groove (9), which is located at one end of the second clamp (6). A driven gear (10) is installed at the middle of one side of the outer surface of the support shaft (8). A placement groove (11) is provided inside the first clamp (5). A telescopic drive unit (12) is provided inside the placement groove (11). A fixed opening (13) is provided through one end of the inner wall of the placement groove (11). An active rack plate (14) is installed at the output end of the telescopic drive unit (12). The No. 1 clamp (5) and the No. 2 clamp (6) are also equipped with support mechanisms for providing stable support for the clamped object.

2. The adjustable gripper for a rescue robot according to claim 1, characterized in that, The support mechanism includes a storage cavity (15), which is located inside the first clamp (5) and the second clamp (6). The storage cavity (15) is filled with several elastic limiting balls (16). Several fixing holes (17) are provided through one end of the inner wall of the storage cavity (15). Limiting rods (18) are movably installed inside the fixing holes (17).

3. The adjustable gripper for a rescue robot according to claim 2, characterized in that, One end of the limiting rod (18) is a spherical structure, and the other end of the limiting rod (18) is fixedly installed with a fixing baffle (19). The outer diameter of the fixing baffle (19) is larger than the inner diameter of the fixing hole (17), and one end of the fixing baffle (19) abuts against the outer surface of several elastic limiting balls (16).

4. The adjustable gripper for a rescue robot according to claim 2, characterized in that, The outer diameter of the limiting rod (18) is smaller than the inner diameter of the fixing hole (17), and one side of the outer surface of the limiting rod (18) is located inside the fixing hole (17). The fixing hole (17) and the limiting rod (18) are fitted together.

5. The adjustable gripper for a rescue robot according to claim 1, characterized in that, The inner wall of the first clamp (5) has an arc-shaped groove structure on one side, and the second clamp (6) has a strip-shaped structure as a whole.

6. The adjustable gripper for a rescue robot according to claim 1, characterized in that, One side of the outer surface of the active rack plate (14) is located inside the fixed opening (13), and the fixed opening (13) and the active rack plate (14) are coupled to each other.

7. The adjustable gripper for a rescue robot according to claim 1, characterized in that, The tooth surface on one side of the active rack plate (14) is close to the outer surface of the driven gear (10), and the driven gear (10) and the active rack plate (14) mesh with each other.

8. An adjustable gripper for a rescue robot according to claim 1, characterized in that, The driven gear (10) is located inside the fixed groove (7) and the inner groove (9), and both the fixed groove (7) and the inner groove (9) are coupled to the driven gear (10).

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