Lightweight explosive disposal robot for small space fine disposal

Abstract

The present application relates to the technical field of robot manipulator, and discloses a light EOD robot for fine disposal in small space, which comprises a tracked vehicle, a folding arm and an equipment box, the folding arm is connected with the equipment box through a rotating motor at the end, and mechanical clamping arms and tool barrels are arranged at the two ends of the equipment box respectively; an annular disc driven by a first electric push rod is arranged in the tool barrel, wedge blocks with guide grooves are arranged circumferentially below the annular disc, a hanging plate is slidably arranged in the guide grooves, the hanging plate is connected with mounting seats through snap rings, and each mounting seat is connected with an electric scissors, a miniature electric saw and a wrench barrel respectively; a selected mounting seat is moved to a common working axis by a second electric push rod, the electric scissors and the miniature electric saw are driven by a tracked vehicle control circuit, the wrench barrel obtains rotary power by being inserted with a transmission rod part through a top clamping groove of the mounting seat, and unselected tools are kept in storage, so that the functions of clamping, shearing, sawing and fastener disassembly are switched, manual replacement and repeated approach to the target are reduced, and the continuity of EOD disposal in a narrow space is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic manipulator technology, and in particular to a lightweight bomb disposal robot for precision handling in small spaces. Background Technology

[0002] Bomb disposal robots are remotely controlled devices used for observing, handling, and assisting in the on-site disposal of suspicious objects. Existing bomb disposal robots typically feature a tracked chassis, a lifting or extending robotic arm, an end-effector camera, and a gripping device. Operators observe the camera feed from a safe distance, control the chassis to enter the site, and then adjust the position of the robotic arm and the orientation of the end-effector to complete the observation and mechanical manipulation of the target object.

[0003] The aforementioned and existing related technologies have the following drawbacks: Most existing bomb disposal robots use a single mechanical gripper as their end effector, relying mainly on the opening and closing of the gripper to grasp and move objects, resulting in relatively limited functionality. When handling suspicious objects in confined spaces, a single mechanical gripper is insufficient to meet the continuous operational needs of different stages of the process. Often, the robot needs to be removed from the work area to replace the end effector or coordinate with other equipment, increasing the number of times it needs to repeatedly approach the target and reposition itself. This affects bomb disposal efficiency and also increases the risk of unnecessary contact with suspicious objects and their surrounding structures. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the existing bomb disposal robots have the disadvantage of limited end-effector functions and inconvenient switching between different disposal functions. To address this, we propose a lightweight bomb disposal robot for precision disposal in small spaces.

[0005] To achieve the above objectives, this application adopts the following technical solution: a lightweight bomb disposal robot for small-space precision disposal, comprising a tracked vehicle and a folding arm fixedly connected to the top of the tracked vehicle, a rotary motor fixedly connected to the end of the folding arm, an equipment box fixedly connected to the end of the rotary motor drive shaft, a main camera fixedly connected to the upper and lower outer walls of the equipment box, a mechanical gripper fixedly connected to one side wall of the equipment box, an isolation cylinder fixedly connected to the other side wall of the equipment box, and a tool cylinder fixedly connected to the end of the isolation cylinder;

[0006] The tool cylinder includes a cylinder body fixedly connected to the end of an isolation cylinder. A first electric push rod is fixedly connected to the lower end of the top plate of the cylinder body. An annular disk is fixedly connected to the bottom of the first electric push rod. Wedge blocks are fixedly connected at even intervals along the bottom edge of the annular disk. A guide groove is provided on the inclined side wall of the wedge block. A hanging plate is movably engaged in the guide groove. A retaining ring is fixedly connected to the end of the hanging plate. A mounting seat is movably embedded in the retaining ring. An electric scissor, a miniature electric saw, and a wrench cylinder are sequentially fixedly connected to the bottom of the spaced mounting seats. A sliding sleeve is movably sleeved on the outer wall of the hanging plate. A second electric push rod is fixedly connected to the top of the sliding sleeve. The second electric push rod is fixedly connected to the bottom of the annular disk. A slot is provided at the top of the mounting seat for inserting a transmission rod component inside the equipment box.

[0007] Preferably, the transmission rod component includes a hollow rotating rod. Two sets of micro motors are installed inside the equipment box. The output end of one set of micro motors is connected to the hollow rotating rod. A moving rod is movably sleeved at the end of the hollow rotating rod. The other end of the hollow rotating rod extends into the isolation cylinder. A limit rod is fixedly connected to the bottom of the moving rod. The other end of the limit rod extends into the cylinder. The moving rod and the limit rod pass through the middle hole of the annular disc.

[0008] Preferably, a protrusion is provided on the inner wall of the hollow rotating rod end, a matching groove is provided on the outer wall of one side of the moving rod, a positioning ring is movably embedded on the outer wall of the moving rod, a third electric push rod is fixedly connected to the outer wall of one side of the positioning ring, and the other end of the third electric push rod is fixedly connected to the inner wall of the isolation cylinder.

[0009] Preferably, when the second electric push rod is at its maximum extension length, the hanging plate is located at the lower end of the guide groove. At this time, the mounting base and the middle hole of the annular disc are coaxially arranged, and the slot is located directly below the moving rod.

[0010] Preferably, both the electric shears and the miniature electric saw are electrically connected to the chip circuit board of the tracked vehicle via cables. The electric shears and the miniature electric saw are respectively fixedly connected to the mounting holes at the bottom of the two mounting bases. The cables are arranged along the isolation cylinder and the folding arm, and a follow-up length is reserved within the movement range of the annular disc and the mounting base.

[0011] Preferably, the wrench cylinder includes an outer cylinder and a rod fixedly connected to the top of the outer cylinder. The top end of the rod is fixedly connected to a mounting hole at the bottom of a mounting base. A hexagonal groove is provided inside the outer cylinder. A buffer baffle is fixedly connected to the inner wall of the hexagonal groove. Several air cylinders are fixedly connected at even intervals at the upper end of the buffer baffle. A piston rod is movably connected to the bottom of each air cylinder. The other end of the piston rod extends through to the bottom of the buffer baffle, and a movable hexagonal sleeve is fixedly connected to the bottom of the piston rod.

[0012] The preferred movable hexagonal sleeves are coaxially fitted inside and outside, and the piston rods at the top of each movable hexagonal sleeve are arranged in a hexagonal pattern. When the air cylinder and the piston rod maintain the maximum elongation, the bottom of the movable hexagonal sleeve is flush with the hexagonal groove port inside the outer cylinder.

[0013] Preferably, a lighting lamp is installed on the front side wall of the tracked vehicle, and remote control antennas are installed on both sides of the rear of the tracked vehicle. The remote control antennas are remotely connected to the remote control of the tracked vehicle through a built-in wireless module.

[0014] Preferably, the mechanical clamping arm includes a fixed cylinder fixedly connected to the end side wall of the equipment box and a mounting head fixedly connected to the end of the fixed cylinder. The mounting head has vertically penetrating positioning holes on both sides. A worm gear is movably fitted into the positioning hole. A worm is meshed between the worm gears. A rotating shaft is fixedly connected to the end of the worm. The other end of the rotating shaft passes through the fixed cylinder and extends into the equipment box. The end of the rotating shaft is connected to the output end of another set of micro motors in the equipment box. The upper and lower ends of the worm gear extend to the outside of the positioning hole port and are respectively fixedly connected to drive bars. A clamping plate is movably connected between the inner walls of the end of the drive bar. An inner groove is provided at the connection between the clamping plate and the drive bar. A movable connecting rod is rotatably connected between the inner walls of the inner groove away from the drive bar. A mounting groove is provided on the end side wall of the mounting head. The other end of the movable connecting rod is movably connected between the upper and lower inner walls of the mounting groove.

[0015] Preferably, an auxiliary camera is fixedly connected to the outer wall of the fixing cylinder adjacent to the mounting head, and the auxiliary camera is positioned facing the clamping plate.

[0016] The technical effects and advantages of this invention are as follows:

[0017] In this invention, by connecting the mechanical gripper arm and the tool cylinder to both ends of the equipment housing, and adjusting the working orientation via a folding arm and a rotary motor, the bomb disposal robot can switch between gripping, shearing, sawing, and fastener-assisted assembly / disassembly functions on the same end mechanism. This adapts to different handling requirements of the external mechanical structure of suspected objects, reducing the number of interruptions to bomb disposal operations due to a single end function. The electric shears and miniature electric saw are independently electrically driven and electrically connected to the chip circuit board of the tracked vehicle. The wrench cylinder obtains rotational torque through a transmission rod component, allowing the three tools to share the same tool cylinder's positioning and extension structure. There is no need to set up a mechanical transmission engagement structure for the shearing and sawing tools, which is beneficial for controlling the size and weight of the end mechanism and facilitates the development of a lightweight bomb disposal robot. Entering a confined working space; the second electric actuator moves the selected tool along the guide groove toward the common working axis, while unselected tools remain circumferentially stored. The first electric actuator extends the working end of the selected tool. Only when the wrench is selected is the third electric actuator complete the transmission engagement, thereby reducing the external space occupied during tool switching and contact with the surrounding structure of the suspected object, facilitating continuous and precise operations at the bomb disposal site. The wrench adapts to the fasteners corresponding to the hexagonal openings of each layer through an inner and outer movable hexagonal sleeve. The compressed sleeve axially retracts and resets under the action of the air cylinder, reducing the operation of changing sleeves between existing compatible specifications. At the same time, it mitigates the impact when the tool comes into contact with the external structure of the target, improving the operational stability of the bomb disposal auxiliary disassembly and assembly process. Attached Figure Description

[0018] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0019] Figure 1 This is a schematic diagram of the overall structure of a lightweight bomb disposal robot for precision disposal in small spaces according to the present invention; Figure 2 This is a schematic cross-sectional view of the tool cylinder of a lightweight bomb disposal robot for precision disposal in small spaces according to the present invention. Figure 3 This is a cross-sectional structural diagram of the tool cylinder of a lightweight bomb disposal robot for precision disposal in small spaces according to the present invention, in its working state. Figure 4 This is a schematic diagram of the hollow rotating rod cross-section of a lightweight bomb disposal robot for precision disposal in small spaces according to the present invention; Figure 5 This is a schematic diagram of the wrench cylinder structure of a lightweight bomb disposal robot for precision disposal in small spaces according to the present invention; Figure 6 This is a cross-sectional view of the inner and outer cylinders of a wrench-type explosive ordnance disposal robot for precision disposal in small spaces according to the present invention. Figure 7 This is an exploded view of the mechanical gripper arm of a lightweight bomb disposal robot for precision disposal in small spaces, according to the present invention.

[0020] In the diagram: 1. Tracked vehicle; 11. Remote control antenna; 2. Folding arm; 21. Rotary motor; 3. Equipment box; 31. Isolation cylinder; 32. Transmission rod assembly; 321. Hollow rotating rod; 322. Moving rod; 323. Limiting rod; 324. Positioning ring; 325. Third electric push rod; 4. Main camera; 5. Mechanical clamping arm; 51. Fixed cylinder; 511. Auxiliary camera; 52. Mounting head; 521. Positioning hole; 522. Mounting slot; 53. Worm gear; 54. Worm; 541. Rotating shaft; 55. Drive bar; 56. Clamping plate; 561, inner groove; 57, movable connecting rod; 6, tool cylinder; 61, cylinder body; 62, first electric push rod; 63, annular disc; 64, wedge block; 641, guide groove; 642, hanging plate; 643, retaining ring; 644, sliding sleeve; 645, second electric push rod; 65, mounting base; 651, slot; 66, electric shears; 67, miniature electric saw; 68, wrench cylinder; 681, outer cylinder; 682, hanging rod; 683, buffer baffle; 684, air pump; 685, piston rod; 686, movable hexagonal sleeve. Detailed Implementation

[0021] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0022] Reference Figures 1-7 As shown, this invention provides a technical solution: a lightweight bomb disposal robot for delicate disposal in small spaces, comprising a tracked vehicle 1. The tracked vehicle 1 includes a frame, tracked walking components respectively disposed on both sides of the frame, and walking motors respectively connected to the tracked walking components on both sides. The walking motors are fixed on the frame, and their output ends are connected to the corresponding track drive wheels via a reduction mechanism. When the tracks on both sides rotate in the same direction, they drive the tracked vehicle 1 forward or backward. Steering is achieved by changing the rotation speed and direction of the tracks on both sides. A battery, controller, wireless module, and motor driver are fixedly installed inside the frame. The battery supplies power to the walking motors, folding arms 2, rotary motors 21, cameras, and various electric push rods via a power distribution circuit. The front lights of the tracked vehicle 1 are connected to the power distribution circuit via wires, and the remote control antennas 11 on both sides of the rear are connected to the wireless module. The wireless module communicates with the controller. The action commands sent by the remote controller are transmitted to the controller via the wireless module. The camera images and execution status are returned to the display end of the remote controller via the wireless module. Based on this, the bomb disposal personnel can remotely control the robot to approach the suspicious object and perform mechanical disposal, reducing the need to enter the confined space where the target is located for close-range operation.

[0023] The base of the folding arm 2 is bolted to the frame on top of the tracked vehicle 1. The folding arm 2 adopts a multi-segment hinged structure, with adjacent arm segments rotatably connected by joint shafts and bearings. Each joint is driven by a joint motor with a reduction gear. The housing of the joint motor is fixed to the front arm segment, and the output end is connected to the rear arm segment. Each joint determines its rotation position through position feedback and maintains a stopped posture through a braking mechanism. When the folding arm 2 is retracted, each arm segment folds back towards the top of the frame to reduce its outline in the passage mode; when extended, the combined rotation of each joint delivers the end to the working area. The joint power supply and control wires are fixed along the arm segments, with bending allowance left at the hinge points to prevent the connection terminals from being pulled when the arm segments rotate.

[0024] The housing of the rotary motor 21 is fixed to the end of the folding arm 2 via a mounting bracket, and the drive shaft is fixedly connected to the equipment box 3 via a connecting flange. The connecting flange is rotatably supported by bearings in the support seat at the end of the folding arm 2, and the weight of the equipment box 3 and the end working reaction force are transmitted to the folding arm 2 through this support seat. The rotary motor 21 is a motor with a reduction and braking mechanism, and the braking mechanism maintains the position of the equipment box 3 after the attitude adjustment is completed. The mechanical clamping arm 5 and the isolation cylinder 31 are located on opposite sides of the equipment box 3, and their extension directions are arranged laterally with the drive shaft of the rotary motor 21. When the equipment box 3 rotates, the orientation of the mechanical clamping arm 5 and the tool cylinder 6 can be changed. The rotation range of the equipment box 3 is limited by the position limit, and the connecting wire retains bending allowance within the allowable rotation range. Before switching the working end, the end is first moved away from surrounding obstacles using the folding arm 2 to leave a gap for the rotation of the equipment box 3. The mechanical clamping arm 5 and the tool cylinder 6 change orientation with the same equipment box 3, so that the bomb disposal personnel can select the appropriate working end according to the on-site handling task without having to disassemble the entire end mechanism for each function switch.

[0025] The main cameras 4 on the upper and lower outer walls of the equipment box 3 are connected by fixed brackets, and the lens field of view covers the area in front of and adjacent to the corresponding working end. The mechanical clamping arm 5 and the isolation cylinder 31 are fixed to the equipment box 3 by flanges with positioning stops and bolts, respectively. The cylinder body 61 is fixed to the end of the isolation cylinder 31 away from the equipment box 3 in the same way. The positioning stops define the relative center position of the connecting parts, and the bolts provide the fixing function. The isolation cylinder 31 houses the telescopic section of the transmission rod component 32 and the third electric push rod 325, which isolates these moving parts from the external working area. The two sets of micro motors in the equipment box 3 are fixed on independent motor bases. One set provides rotation drive to the wrench cylinder 68 through the transmission rod component 32, and the other set drives the mechanical clamping arm 5. The two drivers receive commands from the controller. The electric shears 66 and the micro electric saw 67 are not connected to the transmission rod component 32, but are electrically connected to the chip circuit board of the tracked vehicle 1 through cables, and are controlled by the chip circuit board to start and stop. When the tool cylinder 6 is working, the mechanical clamping arm 5 maintains its current open / closed position; when the electric shears 66 or the miniature electric saw 67 is selected, the rotation drive of the wrench cylinder 68 remains stopped; when the wrench cylinder 68 is selected, the electric shears 66 and the miniature electric saw 67 remain de-energized and stopped, to avoid disturbing the surrounding objects at the bomb disposal site by the simultaneous operation of two working ends or multiple tools.

[0026] Reference Figure 2 and Figure 3The top plate of the cylinder 61 has a through hole at its center for the transmission rod component 32 to pass through. The end face away from the isolation cylinder 31 has a tool output opening coaxial with this through hole. The size of the output opening is larger than the outer dimensions of the largest passage portion among the electric scissors 66, the miniature electric saw 67, and the wrench cylinder 68, and allows for movement clearance. An annular disk 63 is disposed inside the cylinder 61, with its central hole coaxial with the tool output opening. In this embodiment, two first electric push rods 62 are symmetrically arranged on both sides of the central hole of the annular disk 63. The fixed end of the first electric push rod 62 is connected to the inner side of the top plate of the cylinder 61 via a fixed bracket, and the telescopic end is fixed to the upper surface of the annular disk 63 by bolts. Both first electric push rods 62 adopt a structure where the telescopic end does not rotate with the internal lead screw, and maintains synchronous and unidirectional movement based on position feedback. A clearance is left between the outer edge of the annular disk 63 and the inner wall of the cylinder 61 for axial movement. The supports on both sides maintain the posture of the annular disk 63 during movement, preventing the tool from tilting due to unilateral thrust.

[0027] Three wedge-shaped blocks 64 are evenly arranged circumferentially around the bottom of the annular disk 63 with the axis of the cylinder 61 as the center. The upper end of each wedge-shaped block 64 is fixed to the annular disk 63, and the side with the guide groove 641 faces the center of the cylinder 61. The guide groove 641 extends from top to bottom and gradually approaches the axis of the cylinder 61. In this embodiment, the guide groove 641 has a cross-section with an inner wider opening and an outer narrower opening. The outer end of the lifting plate 642 is provided with a guide end that matches the cross-section of the guide groove 641. The guide end is inserted from the end of the guide groove 641 and is restricted from sliding out by an end stop. A sliding gap is maintained between the guide end and the guide groove 641, allowing the lifting plate 642 to move along an oblique path while restricting its disengagement from the wedge-shaped blocks 64 and its rotation around its own length.

[0028] The lifting plate 642 extends radially along the cylinder 61, with a retaining ring 643 fixedly connected to its inner end, and a sliding sleeve 644 fitted around its outer periphery. The sliding sleeve 644 has a rectangular through hole that matches the cross-section of the lifting plate 642, allowing the lifting plate 642 to slide along its length within this through hole. The fixed end of the second electric push rod 645 is mounted on the bottom of the annular disc 63, and its extension and retraction direction is parallel to the axis of the cylinder 61. Its extension and retraction end is fixedly connected to the sliding sleeve 644. When the second electric push rod 645 extends, the sliding sleeve 644 applies a downward thrust to the lifting plate 642, and the outer end of the lifting plate 642 simultaneously slides downward and inward along the guide groove 641; the radial displacement generated in this process is compensated by the sliding of the lifting plate 642 relative to the sliding sleeve 644. Therefore, the second electric push rod 645 can move the retaining ring 643 and the tool it carries towards the common working axis without lateral swinging. When the second electric push rod 645 retracts, it pulls the hanging plate 642 upward through the sliding sleeve 644 fixed to its telescopic end. The outer end of the hanging plate 642 returns upward and outward along the guide groove 641, and the retaining ring 643 and the mounting base 65 retract to the circumferential storage position. The sleeve length of the sliding sleeve 644 matches the effective plate length of the hanging plate 642, ensuring that the hanging plate 642 remains inserted in the sliding sleeve 644 throughout its entire radial movement stroke, preventing it from disengaging from the traction connection during retraction.

[0029] The annular disk 63 has a retractable position and a working extended position. When the selected tool is in the retractable position, it moves towards the center, with its end still within the output opening of the cylinder 61. Subsequently, the first electric actuator 62 moves the annular disk 63 and its lower components towards the output opening, extending the working end of the selected tool. The working stroke of the first electric actuator 62 is less than the minimum axial distance from the end of the unselected tool to the output end face. The selected tool extends due to the additional downward movement caused by the second electric actuator 645. The working positions of the first electric actuator 62 are set according to the actual lengths of the three tools, ensuring that after the selected tool extends, the remaining tools remain inside the cylinder 61. The internal axial space of the cylinder 61 simultaneously accommodates the entire movement stroke of the wedge block 64 and the tools, and the end faces around the tool output opening do not enter the movement paths of the lifting plate 642 and the retaining ring 643. Using this extended and retractable position relationship, when the robot operates in a narrow gap around a suspicious object, the cylinder 61 covers the tools not involved in the operation, reducing unnecessary contact between these tools and the target shell or adjacent components.

[0030] Reference Figure 4The hollow rotating rod 321, near the end of the equipment housing 3, is connected to a corresponding micro motor via a coupling. The hollow rotating rod 321 is rotatably supported by bearing seats fixed within the equipment housing 3 and the isolation cylinder 31, and its axial position is limited by a shoulder and a retaining ring. The end of the hollow rotating rod 321 facing the tool cylinder 6 forms an axial inner hole for the insertion of the moving rod 322. A protrusion on the inner wall of the hollow rotating rod 321 engages with an axial groove on the outer wall of the moving rod 322. The two sides of the protrusion and the two sides of the groove transmit circumferential force, and the protrusion can slide relative to the groove along its length. The moving rod 322 retains a guide length within the hollow rotating rod 321 throughout its entire working stroke. The effective length of the axial groove covers this stroke, and a stroke limit prevents the protrusion from disengaging from the groove. Therefore, when the third electric push rod 325 changes the insertion position of the moving rod 322, the protrusion and the axial groove allow it to move axially; when the corresponding micro motor drives the hollow rotating rod 321 to rotate, the protrusion applies force to the side wall of the groove, so that the moving rod 322 and the hollow rotating rod 321 rotate synchronously, and the same set of transmission rod components 32 is used to complete the transmission engagement and rotation drive of the wrench cylinder 68.

[0031] A positioning ring 324 is located in the section of the moving rod 322 where the hollow rotating rod 321 is exposed. The moving rod 322 has an annular positioning part in this section, and the positioning ring 324 is mounted on the annular positioning part via a rolling support capable of withstanding bidirectional axial loads. The inner side of the rolling support rotates with the moving rod 322, while the outer side is fixed to the positioning ring 324. A shoulder and a retaining ring limit their relative axial displacement. The fixed end of the third electric push rod 325 is fixed to the inner wall of the isolation cylinder 31 via a bracket. Its extension and retraction direction is parallel to the axis of the moving rod 322, and its extension and retraction end is fixedly connected to the outer wall of the positioning ring 324 via a connecting lug. When the third electric push rod 325 pushes the positioning ring 324, the moving rod 322 and the positioning ring 324 move axially synchronously. When the moving rod 322 is rotated by the hollow rotating rod 321, the positioning ring 324 and the third electric push rod 325 do not rotate accordingly, preventing the rotational motion from being transmitted to the push rod connection.

[0032] The limiting rod 323 is coaxially fixed to the lower end of the moving rod 322. In this embodiment, the insertion section of the limiting rod 323 is made into a square cross-section, and the slot 651 on the top of the mounting base 65 above the wrench cylinder 68 is made into a square groove that mates with the insertion section. Both the end of the limiting rod 323 and the entrance of the slot 651 are provided with guide chamfers, and the sidewall of the square mating surface bears the torque transmission. When the limiting rod 323 is fully retracted, its lower end is located above the area traversed by the three mounting bases 65 during the repositioning process, without interfering with the positioning movement of the electric scissors 66, the miniature electric saw 67, and the wrench cylinder 68; after the limiting rod 323 is inserted into the slot 651 of the mounting base 65 above the wrench cylinder 68, its effective insertion length meets the sidewall bearing requirements and maintains an axial clearance with the bottom of the slot 651. The diameter of the central hole of the annular disk 63 is larger than the maximum outer contour of the moving rod 322 and the limiting rod 323 passing through it, to prevent the annular disk 63 from contacting the rotating parts.

[0033] Once the wrench cylinder 68 is selected and delivered to the working position by the annular disc 63, the transmission engagement is performed. The third electric push rod 325 first pushes the limit rod 323 at a low speed close to the slot 651 of the mounting base 65 above the wrench cylinder 68; when the angular position of the square insertion section is inconsistent with the slot 651, the axial advancement is stopped and the rod is retracted to the position where the insertion end is separated from the slot, so that the wrench cylinder drives the micro motor to jog at a low speed and small angle, then stops jogging and continues to try to insert, completing the angular alignment by alternating jogging and axial advancement. After the third electric push rod 325 reaches the preset engagement position, the controller confirms the insertion depth and then allows the wrench cylinder to drive the micro motor to enter the working speed; the wrench cylinder rotation is prohibited if the engagement position is not reached. When the push rod current limit value is reached or the engagement timeout is exceeded, the advancement is stopped and the limit rod 323 is retracted to avoid continued compression when the slot is misaligned. After engagement, the first electric push rod 62, the second electric push rod 645, and the third electric push rod 325 all remain in their current positions. The axial approach and retraction of the wrench cylinder 68 are completed by a slight adjustment of the folding arm 2, and the annular disc 63 moves independently without being engaged in the transmission state. When the electric shears 66 or the miniature electric saw 67 is selected, the third electric push rod 325 remains retracted, the limit rod 323 does not engage with the mounting base 65, and after the first electric push rod 62 completes the extension of its working end, the corresponding electric tool is directly controlled by the chip circuit board of the tracked vehicle 1 via cable to start and stop. This separates the mechanical transmission engagement of the wrench cylinder 68 from the electrical connection drive of the electric shears 66 and the miniature electric saw 67, reducing the movement of unrelated transmission components and additional disturbances during tool switching.

[0034] The working end of the electric shears 66 forms a relatively open and close shearing section, while the working end of the miniature electric saw 67 forms a sawing section driven by a built-in electric drive component. Both are electrically connected to the chip circuit board of the tracked vehicle 1 via flexible cables. When the electric shears 66 are selected, the second electric push rod 645 moves its corresponding mounting base 65 to a common working axis, and the first electric push rod 62 drives the annular disk 63 to move to the working position, causing the shearing section to extend out of the cylinder 61. The bomb disposal personnel observe the relative position of the working end and the target external component through the main camera 4. After alignment is completed by the folding arm 2 and the rotary motor 21, the chip circuit board controls the start and stop of the electric shears 66. The same selection and extension process is used when the miniature electric saw 67 is selected, and after the sawing section extends, its start and stop are controlled by the chip circuit board. Electric shears 66 are used to cut thin or flexible external connecting components that are suitable for clamping and shearing, and miniature electric saw 67 is used to saw external connecting components that are not suitable for clamping and shearing. During the operation of both tools, the transmission rod component 32 of the wrench cylinder 68 remains stationary, and the unselected tools are kept in storage to reduce the interference caused by the simultaneous operation of multiple tools to the delicate bomb disposal process.

[0035] Reference Figure 5 and Figure 6The lifting rod 682 of the wrench cylinder 68 is fixedly connected to the top center of the outer cylinder 681, and the outer cylinder 681 and the lifting rod 682 are coaxially arranged. The axis of the hexagonal groove inside the outer cylinder 681 is consistent with the axis of the mounting base 65. The buffer baffle 683 is fixed near the top of the hexagonal groove, separating the installation area of ​​the air cylinder 684 above it from the moving area of ​​the movable hexagonal sleeve 686 below it. The perforation on the buffer baffle 683 corresponds to the position of the piston rod 685, and a guide bushing is provided in the perforation, allowing the piston rod 685 to slide along the axis of the perforation. The cylinder body of the air cylinder 684 is fixed to the upper surface of the buffer baffle 683, and the lower end of the piston rod 685 is fixed to the top of the corresponding movable hexagonal sleeve 686 by a connecting block. The connecting block is located within the wall thickness range of the corresponding sleeve and does not extend into the effective internal hexagonal opening of the sleeve.

[0036] The movable hexagonal sleeve 686 has a hexagonal outer circumferential surface and an inner hexagonal hole. Multiple movable hexagonal sleeves 686 are nested sequentially according to their lateral dimensions from largest to smallest. The outermost movable hexagonal sleeve 686 has a hexagonal outer circumferential surface that slides into the hexagonal groove of the outer cylinder 681. Adjacent layers are connected by the inner hexagonal hole of the outer layer and the outer hexagonal outer circumferential surface of the inner layer. Each mating surface has an axial sliding clearance, and its hexagonal shape restricts relative rotation. When the sleeves are in different axial positions, the overlap length of the hexagonal mating surfaces is maintained, allowing torque to be transmitted layer by layer from the outer cylinder 681 to the layer that mates with the fastener. The piston rod 685 is used to support and reset the movable hexagonal sleeve 686. The turning torque is mainly transmitted through the hexagonal mating surfaces to reduce the torsional load on the piston rod 685.

[0037] In this embodiment, each movable hexagonal sleeve 686 is equipped with six sets of air cylinders 684 and piston rods 685. The six piston rods 685 correspond to the middle positions of the six sides of the sleeve and are distributed in a hexagonal pattern around the sleeve axis. The air cylinders 684 and piston rods 685 of different layers are located in the annular wall thickness area of ​​the corresponding layer and do not share piston rods 685. Each air cylinder 684 adopts a pre-inflated reset structure. A piston is fixed to one end of the piston rod 685 inside the air cylinder 684. Seals are provided between the piston and the cylinder wall and between the piston rod 685 and the cylinder end. The side of the piston away from the protruding end forms a pre-inflated closed air chamber, and the other side communicates with the outside through a vent hole on the cylinder wall of the air cylinder 684. When the piston rod 685 moves into the air cylinder 684, it compresses the gas in the closed air chamber; after the external thrust is released, the compressed gas pushes the piston and piston rod 685 outward, causing the corresponding sleeve to reset. This reset method does not rely on the weight of the sleeve itself. After the tool cylinder 6 changes its orientation, it can still return the pressure sleeve to its original position, adapting to the working posture of the bomb disposal robot when approaching the external connection part of the suspected object from different directions.

[0038] The internal stop of the air cylinder 684 limits the maximum extension of the piston rod 685. When each piston rod 685 reaches its maximum extension position, the bottom end of each movable hexagonal sleeve 686 is on the same plane as the port of the hexagonal groove of the outer cylinder 681. The effective compression stroke of the air cylinder 684 covers the depth required for the fastener to enter the matching hexagonal opening. The maximum retraction position simultaneously retains the hexagonal guide overlap section of adjacent sleeves, preventing the sleeves from completely exiting the guide area. A space corresponding to the retraction stroke is left between each layer of sleeves and the buffer baffle 683. The total restoring force generated by pre-inflation should be greater than the frictional force and the gravitational component under unfavorable posture during the movement of the corresponding sleeve, and lower than the allowable axial contact force. The six sets of air cylinders 684 on the same sleeve adopt the same pre-inflation conditions and effective stroke, so that the sleeves maintain smooth sliding when compressed. After being compressed, the movable hexagonal sleeve 686 first undergoes axial retraction. The air chamber pressure increases with the compression stroke, providing the sleeve with a gradually increasing back thrust, mitigating the impact transmitted to the external structure of the suspected object during end-face contact.

[0039] When using the wrench sleeve 68, first align the axis of the outer sleeve 681 with the axis of the external hexagonal fastener, and align the hexagonal opening with the hexagonal profile of the fastener. As the end face gradually approaches the fastener, the inner moving hexagonal sleeve 686, whose inner hexagonal hole size is smaller than the opposite side size of the fastener, is pressed against the end face of the fastener and retracts towards the buffer baffle 683, and its corresponding piston rod 685 retracts into the air cylinder 684; the layer whose inner hexagonal hole matches the fastener continues to be fitted along the outside of the fastener, forming a lateral transmission contact. For fasteners that match the hexagonal groove of the outer sleeve 681, the outer sleeve 681 directly fits after each inner sleeve retracts. The adaptability of this structure is determined by the actual hexagonal opening specifications of the outer sleeve 681 and each moving hexagonal sleeve 686. During tightening, the mounting base 65 drives the outer cylinder 681 to rotate via the lifting rod 682. The torque is transmitted to the sleeve layer of the actual fastener through the overlapping hexagonal mating surfaces. Each pressure-relieved layer rotates with this transmission relationship and maintains its axially relieved position. After the fastener is removed, the pressure-relieved layer returns to its initial end face under the action of the air cylinder 684, ready for the next alignment. Explosive ordnance disposal personnel can thus continuously operate external connectors of different sizes within the configured opening specifications, reducing the number of times the sleeve needs to be manually replaced after the robot leaves the disposal position.

[0040] Reference Figure 7The fixed cylinder 51 is fixed at one end near the equipment box 3 via a flange, and the other end is fixedly connected to the mounting head 52. The rotating shaft 541 extends inside the fixed cylinder 51, with one end near the equipment box 3 connected to a clamping drive micro motor via a coupling, and the other end coaxially fixed to the worm 54. A rotating shaft support bearing is installed inside the fixed cylinder 51, and the mounting head 52 provides support portions at both ends of the worm 54. The bearings and axial stop components together restrict the radial wobble and axial movement of the rotating shaft 541 and the worm 54. Two positioning holes 521 are located on both sides of the worm 54, with parallel axes, and the axis of the worm wheel 53 is perpendicular to the axis of the worm 54. A meshing window is provided on the side of the positioning hole 521 adjacent to the worm 54, allowing the teeth of the worm wheel 53 to contact the worm 54. The journals at both ends of the worm wheel 53 are supported by bearings at the upper and lower ends of the positioning hole 521, maintaining a rotational clearance in the tooth area.

[0041] Two worm gears 53 mesh on both sides of the worm 54, with their tooth profiles and assembly directions matching the corresponding meshing sides. When the worm 54 rotates, the two worm gears 53 rotate in opposite directions. The journals at the upper and lower ends of each worm gear 53 extend out of the positioning holes 521 and are fixedly connected to the corresponding drive bar 55 via positioning planes and fasteners. The upper and lower drive bars 55 on the same side are arranged parallel to each other and maintain the same angular position. The end away from the worm gear 53 is clamped by the same pin to the connecting part of the connecting plate 56, allowing the plate 56 to rotate relative to the drive bar 55 around the pin. When the two drive bars 55 swing towards each other with the two worm gears 53, they drive the two plates 56 closer together; when they swing in opposite directions, they drive the two plates 56 apart.

[0042] Each clamping plate 56 has an inner groove 561 facing its connecting part. The pin connecting the drive bar 55 and the clamping plate 56 is located at the end of the inner groove 561 near the drive bar 55. One end of the movable connecting rod 57 is connected to the other end of the inner groove 561 via another pin, and the other end of the movable connecting rod 57 is connected to the mounting groove 522 of the mounting head 52. All the above pins are parallel to the axis of the worm gear 53 and have retaining rings at their ends to prevent them from coming off. In this embodiment, the distance between the two rotation centers of the drive bar 55 on the same side is set to be consistent with the distance between the two rotation centers of the movable connecting rod 57, and the distance between the two fixed rotation centers on the mounting head 52 is set to be consistent with the distance between the two movable rotation centers on the clamping plate 56. A non-crossing assembly method is used to form a parallelogram linkage mechanism. When the drive bar 55 swings around the axis of the worm gear 53, its free end pushes the clamping plate 56 to move. The movable connecting rod 57 rotates simultaneously around the fixed pin in the mounting groove 522 and the movable pin in the inner groove 561, respectively. The position and orientation of the clamping plate 56 are defined by the four parallel rotating pairs. The two clamping plates 56 thus keep the clamping surfaces relatively parallel during the opening and closing process, so that the bomb disposal robot has a more stable contact surface when clamping the external accessories of the suspected object or the component to be removed, reducing the local squeezing caused by contact only by the edge of the plate.

[0043] The inner surfaces of the clamping plates 56 are provided with anti-slip textures, and the inner groove 561 provides space for the swing of the drive bar 55 and the movable connecting rod 57. The maximum swing angle of the drive bar 55 is limited by both the mechanical stop and the motor position limit, ensuring that the movable connecting rod 57 does not cross the collinear position of the linkage mechanism within the opening and closing stroke, and preventing the connecting parts on both sides from colliding with each other. The clamping drive micro motor is equipped with a holding brake. During the closing process, the controller monitors the working current of the clamping drive micro motor. After the clamping plates 56 contact the target, the movement resistance increases, and the working current rises with the load. When the set upper limit of the clamping current is reached, the closing stops, and then the brake holds the position of the rotating shaft 541. When releasing, the brake is released first, and then the rotating shaft 541 and the worm gear 54 are driven in reverse to separate the clamping plates 56 on both sides. The position limit is responsible for preventing overtravel during no-load closing, the current limit is responsible for limiting the clamping load, and the brake is responsible for maintaining the opening and closing position after stopping, so that the contact, holding, and release of the target during bomb disposal and retrieval have a clear execution process.

[0044] The auxiliary camera 511 is fixed to the outer wall of the fixed cylinder 51 near the mounting head 52 by a bracket. The lens faces between the two clamping plates 56, and its installation position avoids the swing range of the drive bar 55 and the movable connecting rod 57. The lens's field of view covers the leading edge of the clamping plate 56 and its contact area. The auxiliary camera 511 and the main camera 4 are respectively connected to the video acquisition channel. Bomb disposal personnel can switch between viewing the overall approach view and the clamping close-up view on the remote control display to confirm the relative position and contact status of the clamping plate 56 and the target's external components. Then, combined with the opening of the clamping plate 56, the personnel can control the release and take off, reducing the situation of blindly pushing the mechanical clamping arm 5 when the observation is obstructed. When clamping a target that is far off-center, the folding arm 2 is first adjusted to align the clamping plates 56 on both sides with the target before closing, avoiding the need to rely on pushing the target with one side of the clamping plate 56 to achieve centering.

[0045] Each electric actuator in this embodiment is equipped with position feedback and end limit, and its driver feeds back the position and operating current to the controller. During initial assembly, the retracted position, center alignment position, and working extension position of the electric scissors 66, miniature electric saw 67, and wrench cylinder 68 are confirmed one by one without contact with any external target. The transmission engagement position of the wrench cylinder 68 is also confirmed, and the corresponding feedback values ​​are written to the controller. The controller executes sequential control according to the position arrival signal: the second electric actuator 645 is allowed to change the tool position only after the limit rod 323 is fully retracted and the annular disk 63 returns to the retracted position; the first electric actuator 62 is allowed to move to the working position only after the selected tool reaches the center and the other tools are in the retracted position; when the electric scissors 66 or miniature electric saw 67 is selected, the third electric actuator 325 remains retracted and only the selected electric tool is allowed to be energized; when the wrench cylinder 68 is selected and the annular disk 63 stops, the third electric actuator 325 is allowed to perform transmission engagement, and after engagement, the wrench cylinder is allowed to drive the miniature motor to rotate. If the feedback from any location does not meet the conditions, subsequent actions remain prohibited to avoid using the duration of power-on as a substitute for actual location confirmation.

[0046] Before changing tools, first remove the current tool from the target work area and stop the corresponding drive. If the current tool is a wrench 68, first retract the third electric actuator 325 so that the limit rod 323 is completely disengaged from the slot 651. If the current tool is an electric scissors 66 or a mini electric saw 67, first confirm that the corresponding tool is powered off and stopped, and keep the third electric actuator 325 retracted. Then retract the first electric actuator 62 so that the annular disc 63 returns to the storage position. Finally, retract the second electric actuator 645 corresponding to the current tool so that the tool returns to the circumferential storage area along the guide groove 641. After the controller confirms the above return position, it will accept the extension command of the next tool. The first electric push rod 62, the second electric push rod 645 and the third electric push rod 325 are all screw-driven electric push rods that can maintain the position. In case of abnormal stop, they do not rely on continuous movement to maintain the tool position. When wireless communication is interrupted, the push rod is stalled or the position feedback is abnormal, the controller stops the movement being executed and maintains the current mechanical position. At the same time, it stops the drive output of the electric scissors 66, the mini electric saw 67 and the wrench cylinder 68, restores communication and reconfirms the status before continuing the operation.

[0047] Bomb disposal personnel use a remote control to move the folding arm 2 and end mechanism of the tracked vehicle 1 to the area where the suspected object is located. They adjust the posture of the folding arm 2 and equipment box 3 based on the camera feed. When performing clamping and handling tasks, the mechanical clamping arm 5 drives the opening and closing of the side clamping plates 56 via the worm gear 54, worm wheel 53, and linkage mechanism. When performing delicate handling tasks on external mechanical structures, the tool cylinder 6 first completes tool selection, center alignment, and work extension. When the electric shears 66 or miniature electric saw 67 is selected, the chip circuit board of the tracked vehicle 1 directly controls the corresponding tool to perform cutting or sawing via cable. When the wrench cylinder 68 is selected, the third electric push rod 325 completes the transmission engagement, and the transmission rod component 32 drives the wrench cylinder 68 to rotate. Unselected tools remain retracted. After a single operation is completed, the target is exited and the corresponding drive is stopped. The wrench cylinder 68 must also disengage the transmission engagement, then the annular disc 63 and the current tool are retracted sequentially. The operating function is then switched or the folding arm 2 is retracted for withdrawal, thus completing continuous remote bomb disposal auxiliary operations in confined spaces.

[0048] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A lightweight bomb disposal robot for delicate handling in small spaces, characterized in that, The system includes a tracked vehicle and a folding arm fixedly connected to the top of the tracked vehicle. A rotary motor is fixedly connected to the end of the folding arm, and an equipment housing is fixedly connected to the end of the rotary motor's drive shaft. Main cameras are fixedly connected to the upper and lower outer walls of the equipment housing, respectively. A mechanical gripper is fixedly connected to one side wall of the equipment housing, and an isolation cylinder is fixedly connected to the other side wall. A tool cylinder is fixedly connected to the end of the isolation cylinder. The tool cylinder includes a cylindrical body fixedly connected to the end of the isolation cylinder. A first electric push rod is fixedly connected to the lower end of the top plate of the cylindrical body, and an annular disk is fixedly connected to the bottom of the first electric push rod. Wedge-shaped blocks are evenly spaced and fixedly connected at the bottom edge. Guide grooves are provided on the inclined sidewalls of the wedge blocks. A hanging plate is movably engaged in the guide grooves. A retaining ring is fixedly connected to the end of the hanging plate. A mounting seat is movably embedded in the retaining ring. An electric scissor, a miniature electric saw, and a wrench cylinder are sequentially fixedly connected to the bottom of the spaced mounting seats. A sliding sleeve is movably fitted on the outer wall of the hanging plate. A second electric push rod is fixedly connected to the top of the sliding sleeve. The second electric push rod is fixedly connected to the bottom of the annular disc. A slot is provided at the top of the mounting seat above the wrench cylinder. The slot is used to insert a transmission rod component inside the equipment box.

2. The lightweight bomb disposal robot for delicate handling in small spaces according to claim 1, characterized in that: The transmission rod component includes a hollow rotating rod. Two sets of micro motors are installed inside the equipment box. The output end of one set of micro motors is connected to the hollow rotating rod. A moving rod is movably sleeved at the end of the hollow rotating rod. The other end of the hollow rotating rod extends into the isolation cylinder. A limit rod is fixedly connected to the bottom of the moving rod. The other end of the limit rod extends into the cylinder. The moving rod and the limit rod pass through the middle hole of the annular disk.

3. The lightweight bomb disposal robot for delicate disposal in small spaces according to claim 2, characterized in that: A protrusion is provided on the inner wall of the hollow rotating rod port, and a matching groove is provided on the outer wall of one side of the moving rod. A positioning ring is movably embedded on the outer wall of the moving rod, and a third electric push rod is fixedly connected to the outer wall of one side of the positioning ring. The other end of the third electric push rod is fixedly connected to the inner wall of the isolation cylinder.

4. The lightweight bomb disposal robot for delicate handling in small spaces according to claim 2, characterized in that: When the second electric push rod maintains its maximum extension length, the hanging plate is located at the lower end of the guide groove. At this time, the mounting base and the middle hole of the annular disk are coaxially arranged, and the slot is located directly below the moving rod.

5. The lightweight bomb disposal robot for delicate disposal in small spaces according to claim 1, characterized in that: Both the electric shears and the miniature electric saw are electrically connected to the chip circuit board of the tracked vehicle via cables.

6. The lightweight bomb disposal robot for delicate disposal in small spaces according to claim 1, characterized in that: The wrench cylinder includes an outer cylinder and a lifting rod fixedly connected to the top of the outer cylinder. The top end of the lifting rod is fixedly connected to a mounting hole at the bottom of the mounting base. A hexagonal groove is provided inside the outer cylinder, and a buffer baffle is fixedly connected to the inner wall of the hexagonal groove. Several air cylinders are fixedly connected at even intervals at the upper end of the buffer baffle. A piston rod is movably connected to the bottom of each air cylinder. The other end of the piston rod extends through to the bottom of the buffer baffle, and a movable hexagonal sleeve is fixedly connected to the bottom of the piston rod.

7. A lightweight bomb disposal robot for precision disposal in small spaces according to claim 6, characterized in that: The movable hexagonal sleeves are coaxially fitted inside and outside, and the piston rods at the top of each movable hexagonal sleeve are arranged in a hexagonal pattern. When the air cylinder and the piston rod maintain the maximum elongation, the bottom of the movable hexagonal sleeve is flush with the hexagonal groove port inside the outer cylinder.

8. The lightweight bomb disposal robot for delicate handling in small spaces according to claim 1, characterized in that: The tracked vehicle is equipped with a lighting lamp on the front side wall and remote control antennas on both sides of the rear of the tracked vehicle. The remote control antennas are remotely connected to the remote control of the tracked vehicle through a built-in wireless module.

9. A lightweight bomb disposal robot for precision disposal in small spaces according to claim 2, characterized in that: The mechanical clamping arm includes a fixed cylinder fixedly connected to the side wall of the equipment box end and a mounting head fixedly connected to the end of the fixed cylinder. The mounting head has vertically penetrating positioning holes on both sides. A worm gear is movably fitted into each positioning hole, and a worm is meshed between the worm gears. A rotating shaft is fixedly connected to the end of the worm. The other end of the rotating shaft passes through the fixed cylinder and extends into the equipment box. The end of the rotating shaft is connected to the output end of another set of micro motors inside the equipment box. Drive bars are fixedly connected to the upper and lower ends of the worm gear after extending to the outside of the positioning hole ports. A clamping plate is movably connected between the inner walls of the ends of the drive bars. An inner groove is provided at the connection between the clamping plate and the drive bar. A movable connecting rod is rotatably connected between the inner walls of the inner groove at the end away from the drive bar. A mounting groove is provided on the side wall of the mounting head end, and the other end of the movable connecting rod is movably connected between the upper and lower inner walls of the mounting groove.

10. A lightweight bomb disposal robot for delicate handling in small spaces according to claim 9, characterized in that: An auxiliary camera is fixedly connected to the outer wall of the fixing cylinder adjacent to the mounting head, and the auxiliary camera is positioned facing the clamping plate.

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