Explosive ordnance disposal manipulator

Abstract

The utility model relates to an explosive ordnance disposal manipulator. The explosive ordnance disposal manipulator comprises a connecting base, a clamping assembly arranged on the connecting base, a camera shooting assembly connected with the clamping assembly and a spraying structure. The camera shooting assembly and the spraying structure are arranged around the clamping assembly; the clamping assembly comprises a driving motor, a plurality of clamping arms and an opening and closing control ring; a first rotating structure and a second rotating structure which are spaced are arranged at the rotating end of the clamping arm; the clamping arm is rotationally connected with the driving motor based on the first rotating structure, and the clamping arm is rotationally connected with the opening and closing control ring based on the second rotating structure; a rotating shaft of the driving motor is rotationally connected with a middle connecting part of the opening and closing control ring, and a transmission thread is arranged between the rotating shaft and the middle connecting part; the driving motor drives the opening and closing control ring to do reciprocating motion in the axial direction based on rotation of the rotating shaft so as to control synchronous opening and closing motion of the multiple clamping arms.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to an explosive disposal manipulator. Background Art

[0002] Unexploded bombs on training grounds or test grounds are very dangerous. With the development of the times, various types of explosive bombs are being trained and tested in full swing, and there are more and more unexploded bombs. The common bomb disposal robot manipulator method has the following shortcomings:

[0003] 1) The metal clamp is smooth and unstable and can easily fall off.

[0004] 2) It is difficult to see the details and it is easy to lose control.

[0005] 3) Unexploded bombs are often hot and can explode easily, destroying equipment.

[0006] 4) Unexploded bombs are prone to explosion due to shaking during the movement process after being picked up.

[0007] Therefore, there is an urgent need for a highly safe and operational bomb disposal robot to perform corresponding bomb disposal operations. Utility Model Content

[0008] The utility model aims to provide a bomb disposal manipulator.

[0009] In order to achieve the above-mentioned utility model object, the utility model provides a bomb disposal manipulator, comprising: a connection base, a clamping assembly arranged on the connection base, a camera assembly connected to the clamping assembly, and a spraying structure;

[0010] The camera assembly and the spray structure are arranged around the clamping assembly;

[0011] The clamping assembly comprises: a driving motor, a plurality of clamping arms and an opening and closing control ring;

[0012] The rotating end of the clamping arm is provided with two first rotating structures and a second rotating structure with a gap therebetween;

[0013] The clamping arm is rotationally connected to the driving motor based on the first rotating structure, and the clamping arm is rotationally connected to the opening and closing control ring based on the second rotating structure;

[0014] The rotating shaft of the driving motor is rotatably connected to the middle connecting portion of the opening and closing control ring, and a transmission thread is provided between the rotating shaft and the middle connecting portion;

[0015] The driving motor drives the opening and closing control ring to reciprocate along the axial direction based on the rotation of the rotating shaft, so as to control the synchronous opening and closing movement of the plurality of clamping arms.

[0016] According to one aspect of the utility model, the clamping assembly further comprises: a rotating support;

[0017] The rotary support comprises: a support plate and a rotary drive;

[0018] The driving motor is supported on the supporting plate;

[0019] The support plate is supported on the rotating shaft of the rotary drive;

[0020] The rotary drive is embedded in the connection base.

[0021] According to one aspect of the utility model, a first support portion is provided on one side of the rotation support;

[0022] The camera assembly is supported on the first supporting portion.

[0023] According to one aspect of the utility model, the opening and closing control ring further comprises: an outer ring connecting portion and a connecting arm;

[0024] The outer ring connecting portion is coaxially arranged with the middle connecting portion, and the radial dimension of the outer ring connecting portion is larger than the radial dimension of the middle connecting portion;

[0025] The two opposite ends of the connecting arm are respectively connected to the outer ring connecting portion and the middle connecting portion;

[0026] Along the circumference of the middle connecting portion, a plurality of connecting arms are arranged at equal angles.

[0027] According to one aspect of the utility model, along the axial direction of the opening and closing control ring, the position of the outer ring connecting portion is higher than the middle connecting portion;

[0028] An elastic buffer is provided at one end of the connecting arm connected to the outer ring connecting portion.

[0029] According to one aspect of the utility model, the connecting arm comprises: a first connecting portion, a second connecting portion and an end connecting piece;

[0030] The first connecting portion and the second connecting portion are coaxially arranged;

[0031] The radial dimension of the second connecting portion is smaller than the radial dimension of the first connecting portion;

[0032] The end connector and the second connecting part are detachably arranged at an end away from the first connecting part;

[0033] The outer ring connecting portion is provided with a hollow channel for connecting with the second connecting portion;

[0034] The hollow channel passes through two opposite radial sides of the outer ring connecting portion, and an annular supporting protrusion extending radially inward is provided at one end of the hollow channel located on the inner side of the outer ring connecting portion;

[0035] The elastic buffer is sleeved on the second connecting portion, and its two opposite ends are respectively against the end connecting piece and the annular supporting protrusion.

[0036] According to one aspect of the utility model, the end connector includes: a threaded connection portion and a limiting protrusion connected to the threaded connection portion;

[0037] The radial dimension of the limiting protrusion is smaller than the radial dimension of the hollow channel.

[0038] According to one aspect of the utility model, a guide surface is provided on one side of the annular support protrusion facing the connecting arm;

[0039] The radial dimension of the guide surface is gradually increased along the direction approaching the connecting arm.

[0040] According to one aspect of the utility model, the first connecting part includes: a first rod, a second rod, a connecting shaft and a torsion spring;

[0041] The first rod and the second rod are coaxially arranged and rotationally connected based on the connecting shaft;

[0042] The second connecting portion is coaxially arranged with an end of the first rod away from the second rod;

[0043] One end of the second rod member away from the first rod member is fixedly connected to the middle connecting portion;

[0044] The torsion spring is sleeved on the connecting shaft, and two torsion arms of the torsion spring are respectively against the first rod and the second rod.

[0045] According to one aspect of the utility model, the injection structure is connected to one side of the connection base or the support plate;

[0046] The spray structure comprises: a nozzle, a connecting pipe connected to the nozzle, and a switch valve;

[0047] The connecting pipe is connected to the switch valve, and the switch valve is used to be connected to a cold source, wherein the connecting pipe is one of a stainless steel bamboo tube and a stainless steel bamboo corrugated tube.

[0048] According to one solution of the utility model, the utility model uses an opening and closing control ring to control the synchronous opening and closing of multiple clamping arms, so that the movements of multiple clamping arms are more unified, which effectively improves the clamping stability of the utility model. In addition, by using the opening and closing control ring to control the clamping arms, the number of clamping arms can be flexibly adjusted, further increasing the flexibility of use of the utility model.

[0049] According to one solution of the utility model, the utility model can make the clamping assembly rotate flexibly by adopting a rotating support method, so that the clamping angle of the target object can be adjusted more accurately, effectively improving the clamping accuracy of the utility model. In addition, by embedding the rotating driver in the connecting base, the overall volume of the utility model can be effectively reduced, which is beneficial to improve its use in a smaller space and make it more applicable.

[0050] According to a solution of the utility model, the structure of the opening and closing control ring of the utility model is simpler and lighter, which is beneficial to reducing the mass of the entire bomb disposal manipulator, thereby increasing the effective clamping mass of the utility model.

[0051] According to a scheme of the utility model, the utility model adopts an outer ring connecting part and an intermediate connecting part that are staggered, which can make the connecting arm present an inclined state and the intermediate connecting part closer to the driving motor, so that the clamping arm can clamp the target object by controlling the rotation of the driving motor shaft to stretch the connecting arm with the intermediate connecting part, and can further generate an elastic buffering effect between the connecting arm and the outer ring connecting part through an elastic buffer member to achieve control of the clamping force between the clamping arm and the target object. In addition, the elastic buffer member provided can also effectively increase the elastic buffering performance between the clamping arm 22 and the target object, which is more beneficial to improving the seismic performance of the utility model, and thus is beneficial to improving the clamping stability and reliability of the target object.

[0052] According to one solution of the utility model, the spray structure can be connected to a cold source to spray out a corresponding refrigerant to freeze the target object and the surrounding area of ​​the target object, thereby improving the safety during the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is a three-dimensional diagram schematically showing a bomb disposal manipulator according to an embodiment of the utility model;

[0054] Figure 2 is a side view schematically showing a bomb disposal manipulator according to an embodiment of the utility model;

[0055] Figure 3 is a structural diagram schematically showing a clamping arm according to an embodiment of the utility model;

[0056] Figure 4 is a structural diagram schematically showing an opening and closing control loop according to an embodiment of the utility model;

[0057] Figure 5 is a schematic diagram showing a connection structure of a connecting arm and an outer ring connecting portion according to an embodiment of the utility model;

[0058] Figure 6 is a structural diagram schematically showing a connecting arm according to an embodiment of the utility model;

[0059] Figure 7 is a structural diagram schematically showing a first rod according to an embodiment of the utility model;

[0060] Figure 8 Schematically shows the structure of a second rod according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the drawings required for the implementation are briefly introduced below. Obviously, the drawings described below are only some implementations of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0062] When describing the embodiments of the present invention, the orientation or positional relationship expressed by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or positional relationship shown in the relevant drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms cannot be understood as limiting the present invention.

[0063] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. The implementation methods cannot be described one by one here, but the implementation methods of the present invention are not therefore limited to the following implementation methods.

[0064] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, according to one embodiment of the utility model, a bomb disposal manipulator of the utility model includes: a connection base 1, a clamping assembly 2 arranged on the connection base 1, a camera assembly 3 connected to the clamping assembly 2, and a spray structure 4. In this embodiment, the connection base 1 is a supporting connection structure of the entire bomb disposal manipulator, which is used to support the remaining components and connect with the corresponding mechanical arm to achieve the clamping of the target object by the entire bomb disposal manipulator. In this embodiment, the camera assembly 3 and the spray structure 4 are arranged around the clamping assembly 2; wherein the camera assembly 3 is used to achieve the shooting of the target object, thereby facilitating the acquisition of the position of the target object, and the spray structure 4 can be connected to the cold source to spray the corresponding refrigerant to achieve freezing of the target object and the surrounding area of ​​the target object, thereby improving the safety during the clamping process.

[0065] In this embodiment, the clamping assembly 2 is the main actuating structure for the entire bomb disposal manipulator to realize the clamping action, which includes: a drive motor 21, a plurality of clamping arms 22 and an opening and closing control ring 23. In this embodiment, the rotating end of the clamping arm 22 is provided with two first rotating structures 221 and a second rotating structure 222 with intervals; wherein the first rotating structure 221 and the second rotating structure 222 are both hole structures, which are used to connect the rotating shaft to realize the opening and closing control of the clamping arm 22; specifically, the clamping arm 22 is rotatably connected with the drive motor 21 based on the first rotating structure 221, and the clamping arm 22 is rotatably connected with the opening and closing control ring 23 based on the second rotating structure 222; wherein, by driving the change of the position of the second rotating structure 222 through the opening and closing control ring 23, the clamping arm 22 can realize the opening and closing action based on the first rotating structure 221 as the rotating fulcrum. In this embodiment, the number of clamping arms 22 can be two, and the two clamping arms 22 are arranged opposite to each other. If the number of clamping arms 22 is other than three (for example, three), the plurality of clamping arms 22 are arranged at equal intervals along the circumference of the opening and closing control ring 23 .

[0066] In this embodiment, the rotating shaft 211 of the driving motor 21 is rotatably connected to the middle connecting part 231 of the opening and closing control ring 23, and a transmission thread is arranged between the rotating shaft 211 and the middle connecting part 231; wherein, the driving motor 21 drives the opening and closing control ring 23 to reciprocate axially based on the rotation of the rotating shaft 211, so as to control the synchronous opening and closing movement of multiple clamping arms 22.

[0067] In this embodiment, a motor connecting arm 21a for installing the clamping arm 22 is provided on the side of the driving motor 21, wherein the motor connecting arm 21a is arranged to be inclined away from the driving motor 21 so that the end of the motor connecting arm 21a away from the driving motor 21 can have a certain spacing distance from the driving motor 21, thereby making the position where the first rotating structure 221 of the clamping arm 22 is rotationally connected to the end of the motor connecting arm 21a away from the driving motor 21 have a certain spacing distance from the driving motor 21, which can facilitate the opening and closing control of the clamping arm 22.

[0068] Through the above arrangement, the utility model uses the opening and closing control ring 23 to control the synchronous opening and closing of the multiple clamping arms 22, so that the movements of the multiple clamping arms 22 are more uniform, which effectively improves the clamping stability of the utility model. In addition, by using the opening and closing control ring 23 to control the clamping arms 22, the number of clamping arms 22 can be flexibly adjusted, further increasing the flexibility of use of the utility model.

[0069] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to an embodiment of the utility model, the clamping assembly 2 further includes: a rotating support 24; in this embodiment, the rotating support 24 includes: a supporting plate 241 and a rotating driver; wherein the driving motor 21 is supported on the supporting plate 241; the supporting plate 241 is supported on the rotating shaft of the rotating driver. In this embodiment, the rotating driver is embedded in the connecting base 1.

[0070] Through the above arrangement, the present invention can make the clamping assembly 2 rotate flexibly by adopting the rotating support 24, so that the clamping angle of the target object can be adjusted more accurately, effectively improving the clamping accuracy of the present invention. In addition, by embedding the rotating driver in the connecting base 1, the overall volume of the present invention can be effectively reduced, which is beneficial to improve its use in a smaller space and make it more applicable.

[0071] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, according to an embodiment of the utility model, the support plate 241 is a disk structure as a whole, and a first support portion 2411 is provided on one side thereof; wherein the first support portion 2411 can be set as a rectangular plate, and the camera assembly 3 is supported on the first support portion 2411. In this embodiment, a support seat for mounting the camera assembly 3 is provided on the first support portion 2411, wherein the support seat and the drive motor 21 are located on the same side of the first support portion 2411. In this embodiment, the support seat is provided with two support arms with a gap, and the camera assembly 3 is arranged between the two support arms and the camera assembly 3 is rotatably connected to the two support arms to achieve the shooting of the target to be clamped, and then to achieve the positioning detection of the target. Among them, the positioning detection method based on the image is a common technology in this field, which will not be repeated here. In this embodiment, a positioning locking member can be further provided at the connection position of the camera assembly 3 and the support arm to achieve the position of the camera assembly 3 fixed after the shooting direction of the camera assembly 3 is adjusted.

[0072] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to an embodiment of the utility model, the opening and closing control ring 23 also includes: an outer ring connection portion 232 and a connecting arm 233; wherein, the outer ring connection portion 232 is coaxially arranged with the intermediate connection portion 231, and the radial dimension of the outer ring connection portion 232 is larger than the radial dimension of the intermediate connection portion 231; in this embodiment, the opposite ends of the connecting arm 233 are respectively connected to the outer ring connection portion 232 and the intermediate connection portion 231; wherein, along the circumference of the intermediate connection portion 231, a plurality of connecting arms 233 are arranged at equal intervals.

[0073] Through the above arrangement, the structure of the opening and closing control ring 23 of the utility model is simpler and lighter, which is beneficial to reducing the mass of the entire bomb disposal manipulator, thereby increasing the effective clamping mass of the utility model.

[0074] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, according to an embodiment of the present invention, along the axial direction of the opening and closing control ring 23, the position of the outer ring connecting portion 232 is higher than the middle connecting portion 231. In this embodiment, an elastic buffer 233a is provided at one end of the connecting arm 233 connected to the outer ring connecting portion 232.

[0075] Through the above-mentioned arrangement, the utility model adopts the staggered outer ring connecting part 232 and the middle connecting part 231, which can make the connecting arm 233 present an inclined state and the middle connecting part 231 closer to the driving motor 21, so that in the process of the clamping arm 22 clamping the target object, by controlling the rotation of the rotating shaft of the driving motor 21 to stretch the connecting arm 233 with the middle connecting part 231, an elastic buffering effect can be further generated between the connecting arm 233 and the outer ring connecting part 232 through the elastic buffer 233a, so as to realize the control of the clamping force between the clamping arm 22 and the target object. In addition, the elastic buffer 233a set can also effectively increase the elastic buffering performance between the clamping arm 22 and the target object, which is more beneficial to improving the seismic performance of the utility model, and thus is beneficial to improving the clamping stability and reliability of the target object.

[0076] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to an embodiment of the utility model, the connecting arm 233 includes: a first connecting portion 2331, a second connecting portion 2332 and an end connecting piece 2333; wherein the first connecting portion 2331 and the second connecting portion 2332 are coaxially arranged; in this embodiment, the radial dimension of the second connecting portion 2332 is smaller than the radial dimension of the first connecting portion 2331; wherein the end connecting piece 2333 is detachably arranged from the end of the second connecting portion 2332 away from the first connecting portion 2331, and specifically, the end connecting piece 2333 can be connected to the second connecting portion 2332 by threaded connection. In this embodiment, a hollow channel 232a for connecting with the second connecting portion 2332 is provided on the outer ring connecting portion 232; wherein the hollow channel 232a runs through the radially opposite sides of the outer ring connecting portion 232, and an annular supporting protrusion 232a1 extending radially inward is provided at one end of the hollow channel 232a located on the inner side of the outer ring connecting portion 232. In this embodiment, the elastic buffer 233a is sleeved on the second connecting portion 2332, and its two opposite ends are respectively against the end connecting piece 2333 and the annular supporting protrusion 232a1.

[0077] like Figure 5As shown, according to one embodiment of the utility model, the end connector 2333 includes: a threaded connection portion 2333a and a limiting protrusion 2333b connected to the threaded connection portion 2333a; wherein, the hollow channel 232a can be set as a circular channel, and the radial dimension of the limiting protrusion 2333b is smaller than the radial dimension of the hollow channel 232a. In this embodiment, the side of the limiting protrusion 2333b away from the threaded connection part 2333a can be set to a spherical surface. By setting the side of the limiting protrusion 2333b away from the threaded connection part 2333a to a spherical surface, and the radial dimension of the limiting protrusion 2333b is smaller than the radial dimension of the hollow channel 232a, the contact area between the limiting protrusion 2333b and the hollow channel 232a can be effectively reduced, which is beneficial for reducing the restriction of the limiting protrusion 2333b on the movement direction of the second connection part 2332 when the second connection part 2332 moves in the hollow channel 232a, thereby facilitating increasing the flexibility of the second connection part 2332 and effectively increasing the compression range of the elastic buffer 233a.

[0078] In another embodiment, the side of the limiting protrusion 2333b away from the threaded connection portion 2333a can be configured as a conical surface with a trapezoidal surface. Through the above configuration, the contact area between the limiting protrusion 2333b and the hollow channel 232a can also be effectively reduced, thereby facilitating the increase of the mobility of the second connection portion 2332 and effectively increasing the compression range of the elastic buffer 233a.

[0079] In another embodiment, the hollow channel 232a can be set as an oblong hole-shaped channel, and the radial dimension of the limiting protrusion 2333b is set to be consistent with the width of the hollow channel 232a. The length direction of the cross section of the hollow channel 232a (i.e., the long axis direction of the oblong hole) is set in a vertical direction (parallel to the axial direction of the opening and closing control ring 23) to achieve a certain activity space of the second connecting part 2332 in the vertical direction, further increase the activity flexibility of the second connecting part 2332, and effectively increase the compression range of the elastic buffer 233a.

[0080] like Figure 5As shown, according to an embodiment of the utility model, a guide surface 232a11 is provided on one side of the annular support protrusion 232a1 facing the connecting arm 233; in this embodiment, the guide surface 232a11 can be set as an annular surface with a circular arc cross section, and the radial dimension of the guide surface 232a11 is gradually increased in the direction close to the connecting arm 233. In this embodiment, if the hollow channel 232a can be set as a circular channel, the radial dimension of the second connecting part 2332 can be smaller than the minimum radial dimension of the annular support protrusion 232a1, so as to increase the radial activity space of the second connecting part 2332. Of course, if the hollow channel 232a is set as an oblong hole channel, the radial dimension of the second connecting part 2332 is set to be consistent with the width of the annular support protrusion 232a1.

[0081] Through the above-mentioned arrangement, by setting the guide surface 232a11 on one side of the annular support protrusion 232a1 toward the connecting arm 233, the radial restriction of the annular support protrusion 232a1 on the second connecting part 2332 is effectively reduced, which is beneficial to increase the flexibility of the second connecting part 2332 and increase the compression range of the elastic buffer 233a.

[0082] Combination Figure 6 , Figure 7 and Figure 8 As shown, according to an embodiment of the utility model, the first connecting part 2331 includes: a first rod 2331a, a second rod 2331b, a connecting shaft 2331c and a torsion spring 2331d. In this embodiment, the first rod 2331a and the second rod 2331b are coaxially arranged and are rotatably connected based on the connecting shaft 2331c; wherein the second connecting part 2332 is coaxially arranged with an end of the first rod 2331a away from the second rod 2331b; and an end of the second rod 2331b away from the first rod 2331a is fixedly connected to the intermediate connecting part 231. In this embodiment, the torsion spring 2331d is sleeved on the connecting shaft 2331c, and the two torsion arms of the torsion spring 2331d are respectively against the first rod 2331a and the second rod 2331b.

[0083] In this embodiment, one end of the first rod 2331a connected to the second rod 2331b is provided with two first connecting ears 2331a1 with a gap, wherein the side surface of the first connecting ear 2331a1 opposite to the second rod 2331b includes: a first plane portion 2331a11 and a first curved surface portion 2331a12, wherein the first curved surface portion 2331a12 is located at the lower side of the first plane portion 2331a11. In this embodiment, one end of the second rod 2331b connected to the first rod 2331a is provided with a second connecting ear 2331b1; wherein the second connecting ear 2331b1 is connected to the first connecting ear 2331a1 through the connecting shaft 2331c, and the second connecting ear 2331b1 is located between the two first connecting ears 2331a1. In this embodiment, when the first rod 2331a and the second rod 2331b are in a coaxial state, the end surface of one end of the second rod 2331b provided with the second connecting ear 2331b1 can be abutted against the first plane portion 2331a11.

[0084] Through the above-mentioned arrangement, it can be achieved that in the process of driving the opening and closing control ring 23 to control the clamping arm 22 to clamp, when the clamping arm 22 has clamped the target object, the second rod 2331b can be rotated along the direction of the first arc surface portion 2331a12 by further pulling the opening and closing control ring 23 by the driving motor 21, so as to further ensure that the first rod 2331a smoothly compresses the elastic buffer 233a, thereby improving the adjustment range of the clamping force of the clamping arm 22 on the target object.

[0085] According to an embodiment of the present invention, a side of the clamping arm 22 for clamping the target object may be further provided with a rough structure to achieve stability in clamping the target object. In this embodiment, the rough structure may be provided as grooves or protrusions that are regularly arranged or randomly distributed.

[0086] like Figure 1 As shown, according to an embodiment of the utility model, the spray structure 4 is connected to one side of the connection base 1 or the support plate 241; wherein the spray structure 4 comprises: a nozzle 41 and a connecting pipe 42 connected to the nozzle 41; in this embodiment, the connecting pipe 42 is used to connect to a cold source, wherein the connecting pipe 42 is one of a stainless steel bamboo tube and a stainless steel bamboo corrugated tube. In this embodiment, the cold source can be liquid nitrogen.

[0087] Through the above arrangement, the position of the nozzle 41 can be conveniently and flexibly adjusted, so that the operating range of the clamping arm 22 can be accurately and fully cooled and frozen, thereby making the clamping process of the target object safer and more reliable.

[0088] According to an embodiment of the utility model, the bomb disposal manipulator of the utility model further includes: a control single chip microcomputer; wherein the control single chip microcomputer can be installed in the connection base 1, and the control single chip microcomputer is respectively connected to the drive motor 21, the camera assembly 3, and the injection structure 4 to realize the control of the drive motor 21, the camera assembly 3, and the injection structure 4. wherein the control mode of the control single chip microcomputer on the drive motor 21, the camera assembly 3, and the injection structure 4 can be realized by adopting the existing technology, which will not be repeated here.

[0089] The above contents are merely examples of specific solutions of the present invention. For the equipment and structures not described in detail, it should be understood that they are implemented by adopting the general equipment and general methods available in the art.

[0090] The above is only one solution of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model can be modified and varied in various ways. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A bomb disposal manipulator, characterized in that: include: A connecting base (1), a clamping assembly (2) arranged on the connecting base (1), a camera assembly (3) connected to the clamping assembly (2), and a spraying structure (4); The camera assembly (3) and the spray structure (4) are arranged around the clamping assembly (2); The clamping assembly (2) comprises: a driving motor (21), a plurality of clamping arms (22) and an opening and closing control ring (23); The rotating end of the clamping arm (22) is provided with two first rotating structures (221) and a second rotating structure (222) spaced apart from each other; The clamping arm (22) is rotationally connected to the driving motor (21) based on the first rotating structure (221), and the clamping arm (22) is rotationally connected to the opening and closing control ring (23) based on the second rotating structure (222); The rotating shaft (211) of the driving motor (21) is rotatably connected to the middle connecting portion (231) of the opening and closing control ring (23), and a transmission thread is provided between the rotating shaft (211) and the middle connecting portion (231); The driving motor (21) drives the opening and closing control ring (23) to reciprocate along the axial direction based on the rotation of the rotating shaft (211), so as to control the synchronous opening and closing movement of the plurality of clamping arms (22).

2. The bomb disposal manipulator according to claim 1, characterized in that: The clamping assembly (2) further comprises: a rotating support (24); The rotary support (24) comprises: a support plate (241) and a rotary drive; The driving motor (21) is supported on the supporting plate (241); The support plate (241) is supported on the rotating shaft of the rotating drive; The rotary drive is embedded in the connection base (1).

3. The bomb disposal manipulator according to claim 2, characterized in that: A first supporting portion (2411) is provided on one side of the supporting plate (241); The camera assembly (3) is supported on the first supporting portion (2411).

4. The bomb disposal manipulator according to claim 3, characterized in that: The opening and closing control ring (23) further comprises: an outer ring connecting portion (232) and a connecting arm (233); The outer ring connecting portion (232) is coaxially arranged with the middle connecting portion (231), and the radial dimension of the outer ring connecting portion (232) is greater than the radial dimension of the middle connecting portion (231); The two opposite ends of the connecting arm (233) are respectively connected to the outer ring connecting portion (232) and the middle connecting portion (231); Along the circumference of the middle connecting portion (231), a plurality of connecting arms (233) are arranged at equal angles.

5. The bomb disposal manipulator according to claim 4, characterized in that: Along the axial direction of the opening and closing control ring (23), the position of the outer ring connecting portion (232) is higher than that of the middle connecting portion (231); An elastic buffer (233a) is provided at one end of the connecting arm (233) connected to the outer ring connecting portion (232).

6. The bomb disposal manipulator according to claim 5, characterized in that: The connecting arm (233) comprises: a first connecting portion (2331), a second connecting portion (2332) and an end connecting piece (2333); The first connecting portion (2331) and the second connecting portion (2332) are coaxially arranged; The radial dimension of the second connecting portion (2332) is smaller than the radial dimension of the first connecting portion (2331); The end connecting piece (2333) and the end of the second connecting part (2332) away from the first connecting part (2331) are detachably arranged; The outer ring connecting portion (232) is provided with a hollow channel (232a) for connecting with the second connecting portion (2332); The hollow channel (232a) passes through two opposite radial sides of the outer ring connecting portion (232), and an annular supporting protrusion (232a1) extending radially inward is provided at one end of the hollow channel (232a) located on the inner side of the outer ring connecting portion (232); The elastic buffer (233a) is sleeved on the second connecting portion (2332), and its two opposite ends are respectively in contact with the end connecting piece (2333) and the annular supporting protrusion (232a1).

7. The bomb disposal manipulator according to claim 6, characterized in that: The end connecting piece (2333) comprises: a threaded connecting portion (2333a) and a limiting protrusion (2333b) connected to the threaded connecting portion (2333a); The radial dimension of the limiting protrusion (2333b) is smaller than the radial dimension of the hollow channel (232a).

8. The bomb disposal manipulator according to claim 7, characterized in that: A guide surface (232a11) is provided on one side of the annular support protrusion (232a1) facing the connecting arm (233); The radial dimension of the guide surface (232a11) is gradually increased in a direction approaching the connecting arm (233).

9. The bomb disposal manipulator according to claim 8, characterized in that: The first connecting part (2331) includes: a first rod (2331a), a second rod (2331b), a connecting shaft (2331c) and a torsion spring (2331d); The first rod (2331a) and the second rod (2331b) are coaxially arranged and rotationally connected based on the connecting shaft (2331c); The second connecting portion (2332) is coaxially arranged with an end of the first rod (2331a) away from the second rod (2331b); One end of the second rod (2331b) away from the first rod (2331a) is fixedly connected to the middle connecting portion (231); The torsion spring (2331d) is sleeved on the connecting shaft (2331c), and the two torsion arms of the torsion spring (2331d) are respectively against the first rod (2331a) and the second rod (2331b).

10. The bomb disposal manipulator according to claim 9, characterized in that: The injection structure (4) is connected to one side of the connection base (1) or the support plate (241); The spray structure (4) comprises: a nozzle (41), a connecting pipe (42) and a switch valve (43) connected to the nozzle (41); The connecting pipe (42) is connected to the switch valve (43), and the switch valve (43) is used to be connected to a cold source, wherein the connecting pipe (42) is one of a stainless steel bamboo joint pipe and a stainless steel bamboo corrugated pipe.

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