Three-position vision auxiliary explosive ordnance disposal robot gripper

Abstract

The utility model relates to the technical field of explosive ordnance disposal devices, in particular to a three-position vision auxiliary explosive ordnance disposal robot gripper which comprises a gripper base, a power device and a gripper body, the power device is arranged on the gripper base, the gripper body is movably arranged at the front end of the gripper base, the gripper body is in transmission connection with the power device, and the power device is arranged on the gripper base. The multi-dimensional visual auxiliary assembly comprises a first visual part, a second visual part and a third visual part, the first visual part is arranged on the end face of the front end of the gripper base and right faces a clamped object, and the second visual part is arranged on the end face of the front end of the gripper base and right faces the clamped object. The second visual part and the third visual part are respectively arranged at different positions on the claw body so as to provide different visual angles, and the three-position visual auxiliary explosive ordnance disposal robot claw has the following beneficial effects that the three-position visual auxiliary explosive ordnance disposal robot claw provided by the utility model has the effect of assisting an operator in quickly clamping.

Description

Technical Field

[0001] The utility model relates to the technical field of explosive disposal devices, in particular to a three-dimensional visually assisted explosive disposal robot gripper. Background Art

[0002] Explosive ordnance disposal robots can replace explosive disposal personnel to conduct reconnaissance, transfer, dismantle and destroy explosive devices or weapons. They can also dispose of other dangerous goods or serve as surveillance and attack platforms. Explosive ordnance disposal robots can be divided into large, medium and small sizes. The entire system consists of a main body, a control platform, cables, accessories and other parts. The main body adopts a tracked or wheeled vehicle structure, is radio or fiber optic remote controlled, and is equipped with a multi-degree-of-freedom gripper.

[0003] At present, most bomb disposal robot grippers on the market only have a visual video camera installed at the connection end between the gripper and the robotic arm. In actual applications, due to the two-dimensionality of the video presentation, when grabbing objects, it is impossible to quickly and directly determine the positional relationship between the object and the gripper, resulting in sometimes not grasping the object, not grasping it tightly, or grasping it too tightly. In addition, during the grasping process, the positional relationship needs to be determined based on the video image, resulting in a long operation time, which needs to be improved. Utility Model Content

[0004] The utility model aims to provide a three-dimensional vision-assisted bomb disposal robot gripper, which can assist an operator to quickly clamp an object.

[0005] The above technical objectives of the utility model are achieved through the following technical solutions:

[0006] A three-dimensional visually assisted bomb disposal robot gripper, comprising a gripper base, a power device and a gripper body, wherein the power device is arranged on the gripper base, the gripper body is movably arranged at the front end of the gripper base, and the gripper body is transmission-connected to the power device, and further comprises a multi-dimensional visual assistance component, wherein the multi-dimensional visual assistance component comprises a first visual part, a second visual part and a third visual part, wherein the first visual part is arranged at the front end face of the gripper base, facing the clamped object, and the second visual part and the third visual part are respectively arranged at different positions on the gripper body to provide different viewing angles.

[0007] Preferably, the claw body includes a left clamping body and a right clamping body, and the left clamping body and the right clamping body are both movably connected to the claw base, and the left clamping body and the right clamping body are both transmission connected to the power device. When the power device is started, the left clamping body and the right clamping body can be driven to approach or move away from each other, and the second visual part and the third visual part are respectively arranged on the clamping surfaces of the right clamping body and the left clamping body.

[0008] By adopting the above technical solution, the clamping effect can be achieved when the left clamping body and the right clamping body are close to each other, and the third visual part and the second visual part arranged on the left clamping body and the right clamping body can respectively provide the operator with images of different perspectives, making it convenient for the operator to align the clamped object to achieve a quick clamping effect.

[0009] Preferably, the left clamping body and the right clamping body are respectively provided with a first through hole and a second through hole, and the first through hole is opposite to the front end of the clamping surface of the right clamping body, and the second through hole is opposite to the rear end of the clamping surface of the left clamping body, the visual collection end of the second visual part is arranged in the second through hole, and the visual collection end of the third visual part is arranged in the first through hole.

[0010] By adopting the above technical solution, the second visual part is arranged in the second through hole, and the third visual part is arranged in the first through hole. Neither the second visual part nor the third visual part protrudes from the clamping surface to avoid the camera directly clamping the object to be clamped during clamping. The second visual part is at the rear end of the right clamping body, and the third visual part is at the front end of the left clamping body. The second visual part and the third visual part can provide images at different positions respectively.

[0011] Preferably, a third through hole is provided at the front end surface of the gripper base, and the visual collection end of the first visual part is arranged in the third through hole.

[0012] To sum up, the utility model has the following beneficial effects: in the three-dimensional vision-assisted bomb disposal robot gripper provided by the utility model, the basic video image is provided by the first visual part to judge the approximate position of the object to be clamped, and then the video images of different perspectives provided by the second visual part and the third visual part are used to accurately locate and clamp the object. The three-dimensional vision-assisted bomb disposal robot gripper provided by the utility model has the effect of assisting the operator to clamp quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural schematic diagram of the three-dimensional visual-assisted bomb disposal robot gripper of the utility model;

[0014] Figure 2 It is a top view of the claw body in the three-dimensional vision-assisted bomb disposal robot claw of the utility model.

[0015] In the figure, 1. gripper base; 2. power device; 3. left clamping body; 4. right clamping body; 5. third through hole; 6. second visual part; 7. first visual part; 8. third visual part; 91. first through hole; 92. second through hole. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solution of the utility model in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0018] The present invention will be further described below in conjunction with specific embodiments, but this is not intended to limit the present invention.

[0019] like Figure 1 and Figure 2 As shown, the three-dimensional visually assisted bomb disposal robot gripper provided in this embodiment includes a gripper base 1, a power device 2 and a claw body, the power device 2 is arranged on the gripper base 1, the claw body is movably arranged at the front end of the gripper base 1, and the claw body is transmission-connected to the power device 2, and also includes a multi-dimensional visual assistance component, the multi-dimensional visual assistance component includes a first visual part 7, a second visual part 6 and a third visual part 8, the first visual part 7 is arranged at the front end face of the gripper base 1, facing the clamped object, the second visual part 6 and the third visual part 8 are respectively arranged at different positions on the claw body to provide different viewing angles.

[0020] It should be noted that the first visual unit 7, the second visual unit 6 and the third visual unit 8 are three acquisition cameras respectively.

[0021] In the above embodiment, the claw body includes a left clamping body 3 and a right clamping body 4, both of which are movably connected to the claw base 1, and both of which are transmission connected to the power device 2. When the power device 2 is started, the left clamping body 3 and the right clamping body 4 can be driven to approach or move away from each other, and the second visual part 6 and the third visual part 8 are respectively arranged on the clamping surfaces of the right clamping body 4 and the left clamping body 3.

[0022] In the above embodiment, a first through hole 91 and a second through hole 92 are respectively provided on the clamping surfaces of the left clamping body 3 and the right clamping body 4, and the first through hole 91 is opposite to the front end of the clamping surface of the right clamping body 4, and the second through hole 92 is opposite to the rear end of the clamping surface of the left clamping body 3, the visual collection end of the second visual part 6 is arranged in the second through hole 92, and the visual collection end of the third visual part 8 is arranged in the first through hole 91.

[0023] It should be noted that when the second visual portion 6 and the third visual portion 8 are disposed in the second through hole 92 and the first through hole 91 , they do not protrude from the clamping surface, so as to avoid the camera directly clamping the object to be clamped during clamping.

[0024] In the above embodiment, a third through hole 5 is provided at the front end surface of the gripper base 1 , and the visual collection end of the first visual part 7 is provided in the third through hole 5 .

[0025] Working principle: the first visual part 7 can roughly locate the basic position of the object to be clamped. The operator drives the robot to move to the position according to the video image provided by the first visual part 7, and drives the claw to extend to the object to be clamped. As the claw gradually approaches, the position of the claw is adjusted according to the video image provided by the second visual part 6, and the relative position of the claw and the object to be clamped can be further determined. The third visual part 8 serves as supplementary information to achieve the effect of assisting the operator in quick clamping.

[0026] The above are only preferred embodiments of the present invention, and do not limit the implementation mode and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of the present invention specification should be included in the protection scope of the present invention.

Claims

1. A three-dimensional visually assisted explosive disposal robot gripper, comprising a gripper base (1), a power device (2) and a gripper body, wherein the power device (2) is arranged on the gripper base (1), the gripper body is movably arranged at the front end of the gripper base (1), and the gripper body is transmission-connected to the power device (2), characterized in that: The invention also includes a multi-dimensional visual auxiliary component, which includes a first visual part (7), a second visual part (6) and a third visual part (8). The first visual part (7) is arranged at the front end surface of the gripper base (1) and faces the clamped object. The second visual part (6) and the third visual part (8) are respectively arranged at different positions on the gripper body to provide different viewing angles.

2. The three-dimensional visually assisted bomb disposal robot gripper according to claim 1 is characterized in that: The claw body comprises a left clamping body (3) and a right clamping body (4), wherein the left clamping body (3) and the right clamping body (4) are both movably connected to the claw base (1), and the left clamping body (3) and the right clamping body (4) are both transmission-connected to the power device (2). When the power device (2) is started, the left clamping body (3) and the right clamping body (4) can be driven to move closer to or away from each other, and the second visual part (6) and the third visual part (8) are respectively arranged on the clamping surfaces of the right clamping body (4) and the left clamping body (3).

3. The three-dimensional visually assisted bomb disposal robot gripper according to claim 2 is characterized in that: A first through hole (91) and a second through hole (92) are respectively provided on the clamping surfaces of the left clamping body (3) and the right clamping body (4), and the first through hole (91) is opposite to the front end of the clamping surface of the right clamping body (4), and the second through hole (92) is opposite to the rear end of the clamping surface of the left clamping body (3); the visual collection end of the second visual portion (6) is arranged in the second through hole (92), and the visual collection end of the third visual portion (8) is arranged in the first through hole (91).

4. The three-dimensional vision-assisted bomb disposal robot gripper according to claim 3 is characterized in that: A third through hole (5) is provided at the front end surface of the gripper base (1), and the visual collection end of the first visual part (7) is arranged in the third through hole.

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