Unmanned aerial vehicle mounted explosive ordnance disposal mechanical gripper device

Abstract

The utility model discloses an unmanned aerial vehicle mounted explosive ordnance disposal mechanical claw device which comprises an explosive ordnance disposal mechanical claw robot mounted at the bottom of an unmanned aerial vehicle. The explosive ordnance disposal mechanical claw robot comprises an explosive ordnance disposal trolley, and an explosive ordnance disposal mechanical arm mechanism is assembled and connected to the top of the explosive ordnance disposal trolley The explosive ordnance disposal mechanical arm mechanism comprises a mechanical arm body, and a clamping jaw throwing assembly is assembled and connected to the upper end of the mechanical arm body. The clamping jaw throwing assembly comprises a throwing motor assembled and connected to the mechanical arm body, the throwing motor is assembled and connected with a throwing shaft lever, and the throwing shaft lever is assembled and connected with an electric clamping jaw; the distance between the electric clamping jaw and the throwing shaft rod can be adjusted, and by adjusting the distance, in the process that the throwing motor drives the electric clamping jaw, the throwing centrifugal force is adjusted, and the falling point of the thrown explosives is changed. By means of the mode, the unmanned aerial vehicle remotely transports the explosive handling mechanical claw robot to rapidly reach the designated position to work, the mechanical arm is matched with the electric clamping claw to achieve unmanned operation explosive handling, and after explosive handling, automatic throwing of explosives is achieved, and the falling point of the explosives can be adjusted and changed.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicle mounting, and in particular relates to an unmanned aerial vehicle mounting and bomb disposal mechanical claw device. Background Art

[0002] A drone is a type of aircraft that can fly at high altitudes. Drones with different purposes often have different load capacities. For example, conventional drones for taking photos are usually small and have a small load capacity. However, drones used to complete work tasks are usually slightly larger and have a slightly larger load capacity.

[0003] Drones are widely used in public security management, which is reflected in the fact that drones can be used to remotely patrol public security. In addition, in the actual work process, drones also play the role of carrying and loading weapons in public security.

[0004] Explosive bomb disposal is one of the important tasks of public security inspections. Currently, explosives disposal is mostly performed by explosive disposal experts. However, in the actual public security inspection process, it takes a long time from the time the task is accepted to the time the explosive disposal experts arrive at their work posts and go to the explosion site. The long wait often leads to the loss of the best time for explosives disposal.

[0005] With the rapid development of artificial intelligence, robots are replacing humans to perform tasks with a high risk factor, which has become a new trend in technological innovation. For example, using robotic arms to dismantle dangerous objects such as detonators and explosives will not injure workers even if there is an explosion during the dismantling process.

[0006] However, after removing dangerous objects, the existing manipulators cannot quickly throw them to a safe place due to the limitations of the manipulator structure, and they explode spontaneously. Secondly, during the security inspection process, the waiting time from the discovery of explosives to the arrival of the manipulators to the work station is relatively long, and a special person is required to transport the manipulators to the work station. Once the explosives are located on high-rise buildings, it is difficult for the manipulators to be in place in time.

[0007] Finally, when the robot dismantles the explosive, if the explosive is slightly larger in size and weight, the robot cannot transport the explosive to a safe area. Utility Model Content

[0008] Based on the above background, the purpose of the utility model is to provide a UAV mounted bomb disposal mechanical claw device.

[0009] In order to achieve the above objectives, the utility model adopts the following technical solutions:

[0010] A UAV-mounted explosive disposal mechanical claw device, comprising an explosive disposal mechanical claw robot mounted at the bottom of the UAV;

[0011] The bomb disposal mechanical claw robot comprises a bomb disposal trolley, and a bomb disposal mechanical arm mechanism is assembled and connected on the top of the bomb disposal trolley;

[0012] The bomb disposal mechanical arm mechanism comprises a mechanical arm body, and the upper end of the mechanical arm body is assembled and connected with a clamping claw throwing assembly;

[0013] The clamping jaw throwing assembly comprises a throwing motor assembled and connected to the mechanical arm body, the throwing motor is assembled and connected to a throwing shaft, and the throwing shaft is assembled and connected to an electric clamping jaw;

[0014] The distance between the electric clamp and the throwing shaft is adjustable. By adjusting the distance, the throwing centrifugal force is adjusted during the throwing motor driving the electric clamp, thereby changing the landing point of the explosive after throwing.

[0015] Preferably, the throwing shaft is rotatably connected to the upper end of the mechanical arm body;

[0016] A mounting sleeve is threadedly connected to the throwing shaft rod, and the electric clamp is assembled on the mounting sleeve.

[0017] Preferably, the longitudinal cross-section of the mounting sleeve is rectangular;

[0018] A threaded cavity is provided in the installation sleeve, and the throwing shaft is threadedly connected in the threaded cavity.

[0019] Preferably, an adjusting screw is fixedly connected to the electric clamp, a threaded connection sleeve is fixedly connected to the mounting sleeve, and the adjusting screw is threadably connected to the threaded connection sleeve.

[0020] Preferably, the bottom of the bomb disposal vehicle is connected with a roller system;

[0021] The roller system includes a driving wheel, and the bottom of the bomb disposal vehicle is equipped with a driving motor for driving the driving wheel;

[0022] The roller system also includes a driven wheel rotatably connected to the bomb disposal vehicle.

[0023] Preferably, the UAV mounted explosive disposal mechanical claw device further comprises a lifting rope mechanism installed in the explosive disposal vehicle;

[0024] When the UAV is flying at high altitude with the bomb disposal mechanical claw device mounted on it, the lifting rope mechanism unwinds the pull rope, and the pull rope passes through the bottom of the bomb disposal vehicle.

[0025] Preferably, the lifting rope mechanism comprises a rope winding shaft rotatably connected in the bomb disposal vehicle, and a pull rope is wound on the rope winding shaft;

[0026] The lifting rope mechanism further includes a rotary motor for driving the rope winding shaft to rotate.

[0027] Preferably, a rectangular rope-releasing through hole is provided at the bottom of the bomb disposal vehicle.

[0028] Preferably, a plurality of hanging rails mounted on the bottom of the UAV are installed on the top of the bomb disposal vehicle.

[0029] The utility model has the following beneficial effects:

[0030] 1. After the drone is mounted on the top of the bomb disposal vehicle, the drone immediately carries the bomb disposal mechanical claw robot to fly to the designated location at high altitude, solving the problem that the bomb disposal device cannot quickly reach the work position due to the influence of traffic and geographical environment in the actual work process.

[0031] 2. A gripper and throwing assembly is assembled and connected through the upper end of the robot arm body; the gripper and throwing assembly includes a throwing motor assembled and connected to the robot arm body, a throwing shaft assembled and connected to the throwing motor, and an electric gripper assembled and connected to the throwing shaft. During the working process, with the cooperation of the robot arm, the electric gripper clamps the explosive. Then, the throwing motor drives the throwing shaft at high speed. During the driving process, the rotating electric gripper and the clamped object perform centrifugal motion. After rotating for a period of time, the electric gripper releases the clamped object and throws the clamped object outward. In this way, during the detonation process, the explosives can be thrown to a safe place to protect the equipment. Secondly, it can protect personnel, equipment, and buildings.

[0032] 3. The distance between the electric clamp and the throwing shaft can be adjusted. By adjusting the distance, the throwing motor drives the electric clamp to adjust the throwing centrifugal force and change the landing point of the explosive after throwing, thereby meeting the actual throwing needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0034] Figure 1 This is a schematic diagram of the overall structure of the embodiment of the utility model;

[0035] Figure 2 This is a structural schematic diagram of the clamping claw throwing assembly installed on the mechanical arm body in the embodiment of the utility model;

[0036] Figure 3 This is a schematic diagram of the structure of the hanging rail in the embodiment of the utility model;

[0037] Figure 4 This is a schematic diagram of the structure of the explosive disposal vehicle in which the pull rope is extended in the embodiment of the utility model;

[0038] Figure 5 This is a schematic diagram of the structure in which the rope winding shaft is installed in the bomb disposal vehicle in an embodiment of the utility model.

[0039] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in 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.

[0041] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0042] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0043] Example 1

[0044] like Figure 1-5 As shown, a UAV mounted explosive disposal mechanical claw device includes an explosive disposal mechanical claw robot mounted at the bottom of a UAV (not shown in the figure). By mounting the explosive disposal mechanical claw robot on a UAV, once explosives are found during security inspections, the workbench immediately mounts the explosive disposal mechanical claw robot on the bottom of the UAV, and remotely transports the explosive disposal mechanical claw robot to the work station, including a high altitude position, through the UAV, so as to dismantle the explosives in the shortest time.

[0045] Specifically, it is the same as the existing mounting method: a plurality of hanging rails 13 mounted on the bottom of the UAV are installed on the top of the bomb disposal vehicle (the bottom of the hanging rails 13 are installed on the top of the bomb disposal vehicle 11 through a plurality of mounting rods 131. Under normal circumstances, the following mechanical arm body 3 maintains the lowest posture. When the UAV is carried to the designated position, the UAV is detached and the mechanical arm body 3 operates unimpeded). Through the track groove on the hanging rail 13, it is possible to insert the robot along the track groove into the card protrusion at the bottom of the UAV. After mounting, the UAV immediately carries the bomb disposal mechanical claw robot to fly high to the designated position, which solves the defect that the bomb disposal device cannot quickly reach the work position due to the influence of traffic and geographical environment in the actual work process.

[0046] Example 2

[0047] like Figure 1-5 As shown, in this embodiment, based on the structure of embodiment 1, the bomb disposal mechanical claw robot includes a bomb disposal trolley 11, wherein the bomb disposal trolley 11 is a conventional walking trolley disclosed in the prior art, and its main structure includes a body, and a roller system installed at the bottom of the body (those skilled in the art can know the specific structure and working principle of the roller system disclosed in the utility model and the specific structure and working principle of the roller system installed on the body, as well as the specific structure and working principle of driving the body to walk by consulting a technical manual or dictionary). Specifically, the roller system includes a driving wheel 21 installed at the rear side of the bomb disposal trolley 11, which is the same as the existing method. The bottom of the bomb disposal trolley 11 is equipped with a driving motor that drives the driving wheel 21 (specifically, the wheel axle of the driving wheel is rotatably connected to the motor box 23, and the motor in the motor box 23 is used to drive the wheel axle to rotate. The specific method adopts the conventional driving method disclosed in the prior art, such as gear driving, in which the driving gear on the wheel axle is engaged with the driving gear installed on the motor to achieve driving).

[0048] Similarly, similar to the existing bomb disposal vehicle 11 , the roller system further includes a driven wheel 22 rotatably connected to the front end of the bomb disposal vehicle 11 .

[0049] During the working process, a camera 12 is installed on the bomb disposal vehicle 11. The camera 12 is a conventional wireless camera disclosed in the prior art, which is used to monitor the explosive situation in a timely manner and transmit the picture to the background. Transmitting the monitoring picture through the camera 12 is a conventional technical means disclosed in the prior art.

[0050] Example 3

[0051] like Figure 1-5As shown, in this embodiment, based on the structure of embodiment 1, the top of the above-mentioned bomb disposal vehicle 11 is equipped with a bomb disposal mechanical arm mechanism. The bomb disposal mechanical arm mechanism includes a mechanical arm body 3, wherein the mechanical arm body 3 is a conventional mechanical arm disclosed in the prior art (specifically, the mechanical arm body 3 can change its posture in space to meet the needs of bomb disposal posture like the existing mechanical arm), and the working circuit components for controlling the mechanical arm are installed in the body of the bomb disposal vehicle 11 in the same way as in the prior art. Those skilled in the art can know the specific structure and working principle of the mechanical arm body 3 disclosed in the utility model by consulting a technical manual or dictionary.

[0052] In order to dismantle the explosives and throw them to a safe area after dismantling them, the robot arm body 3 is improved as follows:

[0053] The upper end of the robot body 3 is assembled and connected with a gripper throwing assembly 4; the gripper throwing assembly 4 includes a throwing motor 42 assembled and connected to the robot body 3 (the throwing motor 42 is installed on the robot arm rod of the robot body 3), and the throwing motor 42 is assembled and connected with a throwing shaft rod (the throwing shaft rod rotates between the robot arm rods, which is the same as the existing rotation method, and the robot arm rods are installed with suitable bearings), and the throwing shaft rod is assembled and connected with an electric gripper 41.

[0054] The electric clamp 41 is a conventional electric clamp 41 disclosed in the prior art (those skilled in the art can know the specific structure and working principle of the electric clamp 41 disclosed in the utility model by referring to a technical manual or dictionary). During operation, the motor on the electric clamp 41 drives the clamps on both sides to clamp the explosive. During the detonation process, the mechanical arm body 3 completes a series of actions until the clamp throwing assembly 4 is in the best clamping position.

[0055] Then, the throwing motor 42 drives the throwing shaft at high speed, and during the driving process, the rotating electric clamp 41-clamped object performs centrifugal motion. After rotating for a period of time, the electric clamp 41 releases the clamped object and throws the clamped object outward.

[0056] Example 4

[0057] like Figure 1-5 As shown, in this embodiment, based on the structure of embodiment 3, the distance between the electric clamp 41 and the throwing shaft is adjustable. By adjusting the distance, the throwing centrifugal force is adjusted during the process of the throwing motor 42 driving the electric clamp 41, thereby changing the landing point of the explosive after throwing.

[0058] Specifically, a mounting sleeve 43 is threadedly connected to the throwing shaft, and the electric clamp 41 is assembled on the mounting sleeve 43. The longitudinal cross-section of the mounting sleeve 43 is rectangular; at the same time, a threaded cavity is opened in the mounting sleeve 43, and the throwing shaft is threadedly connected in the threaded cavity.

[0059] An adjusting screw 431 is fixedly connected to the electric clamp 41 , a threaded connection sleeve 4311 is fixedly connected to the mounting sleeve 43 , and the adjusting screw 431 is threadedly connected to the threaded connection sleeve 4311 .

[0060] During the working process, by rotating the adjusting screw 431 until the adjusting screw 431 carries the electric clamp 41 to change the distance with the mounting sleeve 43-throwing shaft rod (after the adjusting screw 431 is connected to the threaded connecting sleeve 4311 at different depths, the landing point of the explosive after throwing can be changed through slight adjustment), the throwing position changes due to the change of the centrifugal radius, and after grabbing the explosive, the explosive is thrown away to a safe position.

[0061] Similarly, by rotating the threaded connection sleeve 4311, the horizontal position of the adjusting screw 431-electric clamp 41 and the throwing shaft rod changes, thereby changing the landing point of the explosive.

[0062] Example 5

[0063] like Figure 1-5 As shown, the above-mentioned UAV mounted explosive disposal mechanical claw device also includes a lifting rope mechanism installed in the explosive disposal vehicle 11. When the explosive to be dismantled is large in volume and heavy, it is fixed by the lifting rope mechanism and carried by the UAV from a high altitude to a safe location.

[0064] Specifically, the lifting rope mechanism includes a rope reel 51 rotatably connected to the bomb disposal vehicle 11, and the pull rope 5 is wound on the rope reel 51. Similar to the existing method, the two ends of the rope reel 51 are rotatably connected to a bracket installed in the bomb disposal vehicle 11. At the same time, similar to the existing method, the lifting rope mechanism also includes a rotating motor (not shown in the figure) that drives the rope reel 51 to rotate. The rotating motor is fixedly mounted on the bracket rotatably connected to the rope reel 51, and in this way, the motor drives the rope reel 51 to reel or unreel the pull rope 5. After the explosive is fixed to the free end of the pull rope 5, the rope reel 51 is pulled up to a higher height. When the explosive reaches a safe position, the rope reel 51 is lowered to detonate the explosive.

[0065] Correspondingly, a rectangular rope-releasing through hole A is provided at the bottom of the bomb disposal vehicle 11. The pull rope 5 passes through the rectangular rope-releasing through hole A.

[0066] Example 6

[0067] like Figure 1-5 As shown, similar to the existing method, the bomb disposal vehicle 11 is equipped with an antenna 11 for receiving information.

[0068] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A UAV mounted bomb disposal mechanical claw device, characterized in that: Including a bomb disposal mechanical claw robot mounted on the bottom of the drone; The bomb disposal mechanical claw robot comprises a bomb disposal trolley, and a bomb disposal mechanical arm mechanism is assembled and connected on the top of the bomb disposal trolley; The bomb disposal mechanical arm mechanism comprises a mechanical arm body, and the upper end of the mechanical arm body is assembled and connected with a clamping claw throwing assembly; The clamping jaw throwing assembly comprises a throwing motor assembled and connected to the mechanical arm body, the throwing motor is assembled and connected to a throwing shaft, and the throwing shaft is assembled and connected to an electric clamping jaw; The distance between the electric clamp and the throwing shaft is adjustable. By adjusting the distance, the throwing centrifugal force is adjusted during the throwing motor driving the electric clamp, thereby changing the landing point of the explosive after throwing.

2. The UAV mounted bomb disposal mechanical claw device according to claim 1, characterized in that: The throwing shaft is rotatably connected to the upper end of the mechanical arm body; A mounting sleeve is threadedly connected to the throwing shaft rod, and the electric clamp is assembled on the mounting sleeve.

3. The UAV mounted bomb disposal mechanical claw device according to claim 2, characterized in that: The longitudinal cross-section of the mounting sleeve is rectangular; A threaded cavity is provided in the installation sleeve, and the throwing shaft is threadedly connected in the threaded cavity.

4. The UAV mounted bomb disposal mechanical claw device according to claim 3 is characterized in that: The electric clamp is fixedly connected with an adjusting screw, the mounting sleeve is fixedly connected with a threaded connection sleeve, and the adjusting screw is threadedly connected to the threaded connection sleeve.

5. The UAV mounted bomb disposal mechanical claw device according to claim 1, characterized in that: The bottom of the bomb disposal vehicle is connected with a roller system; The roller system includes a driving wheel, and the bottom of the bomb disposal vehicle is equipped with a driving motor for driving the driving wheel; The roller system also includes a driven wheel rotatably connected to the bomb disposal vehicle.

6. The UAV mounted bomb disposal mechanical claw device according to claim 1, characterized in that: The UAV mounted explosive disposal mechanical claw device also includes a lifting rope mechanism installed in the explosive disposal vehicle; When the UAV is flying at high altitude with the bomb disposal mechanical claw device mounted on it, the lifting rope mechanism unwinds the pull rope, and the pull rope passes through the bottom of the bomb disposal vehicle.

7. The UAV mounted bomb disposal mechanical claw device according to claim 6, characterized in that: The lifting rope mechanism comprises a rope reel rotatably connected to the bomb disposal vehicle, and a pull rope is wound on the rope reel; The lifting rope mechanism further includes a rotary motor for driving the rope winding shaft to rotate.

8. The UAV mounted bomb disposal mechanical claw device according to claim 7, characterized in that: A rectangular rope-releasing through hole is provided at the bottom of the bomb disposal vehicle.

9. The UAV mounted bomb disposal mechanical claw device according to claim 1, characterized in that: The top of the bomb disposal vehicle is provided with a plurality of hanging rails mounted on the bottom of the UAV.

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