Heavy-load clamping quick-release gripper of explosive ordnance disposal robot

Abstract

The utility model discloses an explosive ordnance disposal robot heavy-load clamping quick-release gripper, which belongs to the technical field of explosive ordnance disposal clamping equipment and comprises a palm component, a half-tooth worm and gear component, a gripper connecting rod component, a clamping jaw quick-change seat, a locking pin, an accessory structure and a replaceable matched gripper. The claw connecting rod assembly is connected with the palm assembly and the half-tooth worm and gear assembly, the other end of the claw connecting rod assembly is connected with the clamping claw quick-changing seat, the locking pin and the accessory structure are installed on the clamping claw quick-changing seat, and the replaceable matched claw is installed on the clamping claw quick-changing seat. The device is mainly applied to explosive ordnance disposal robots.

Description

Technical Field

[0001] The utility model relates to the technical field of bomb disposal clamping equipment, in particular to a heavy-duty clamping and quick-release gripper for a bomb disposal robot. Background Technique

[0002] At present, bomb disposal robots are used to replace bomb disposal personnel to conduct reconnaissance, transfer, disassembly and destruction of explosive devices or weapons, and can also dispose of other dangerous items, or be used as a surveillance and attack platform. To cope with different usage scenarios, bomb disposal robots are equipped with multi-joint robotic arms and grippers.

[0003] At present, the grippers of bomb disposal robots commonly seen on the market have relatively small clamping force of the jaws and cannot cope with occasions that require a large clamping force.

[0004] At present, most of the grippers on the market are integrated with the robotic arm as a whole and do not have a quick-release structure. During use, only by preparing several sets of bomb disposal robots with different configurations or disassembling and replacing the grippers can different usage scenarios be dealt with. At this time, it will inevitably lead to an increase in usage costs or a long operation time, and improvement is needed.

[0005] The applicant is professionally engaged in the research and development of explosion-proof equipment. Through corresponding structural improvements to the existing equipment, the existing grippers can be quickly replaced, making it safer and more convenient to use. Content of the Utility Model

[0006] The purpose of the utility model is to provide a heavy-duty clamping and quick-release gripper for a bomb disposal robot, which can clamp objects of a relatively large mass and quickly replace the jaws to cope with different usage scenarios.

[0007] The above technical purpose of the utility model is achieved through the following technical solutions:

[0008] A heavy-duty clamping and quick-release gripper for a bomb disposal robot includes a palm assembly. Symmetrical semi-toothed worm and worm gear assemblies and several gripper link assemblies are arranged on the palm assembly. The semi-toothed worm and worm gear assemblies drive the gripper link assemblies to move. The semi-toothed worm and worm gear assemblies are used to clamp objects of a relatively large mass, taking advantage of the large transmission ratio characteristic of the worm and worm gear, and at the same time taking advantage of the self-locking characteristic of the worm and worm gear to realize that when the continuous output of the motor is cut off, the clamping of the object can still be maintained, meeting the low-power operation of the bomb disposal robot.

[0009] The core improvement of the present utility model is that a symmetrical jaw quick-change seat is provided on the gripper connecting rod assembly, and a T-shaped slot is provided on the gripper quick-change seat, which is used to fix the matching gripper, and the gripper quick-change seat is provided with a locking device, which includes a locking pin, a locking pin limit block, a spring and a second limit step, and a first limit step and a locking pin flat position are provided on the locking pin, and the second limit step is located below the locking pin limit block and supports the locking pin limit block under the action of the spring, and the first limit step is higher than the second limit step, and a T-shaped protrusion is provided on the matching gripper, and the T-shaped protrusion and the T-shaped slot are nested together.

[0010] The utility model has the following beneficial effects: through the structural improvement of the utility model, it can clamp heavy objects while keeping the clamping self-locking; different grippers can be quickly replaced and matched according to actual usage scenarios. In actual application, the replacement speed is fast and the use is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional diagram of the utility model;

[0012] Figure 2 It is a partial internal structure diagram of the utility model;

[0013] Figure 3 yes Figure 2 A local enlarged view of point A;

[0014] Figure 4 This is the usage state of the utility model Figure 1 ;

[0015] Figure 5 This is the usage state of the utility model Figure 2 . DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments of the present invention. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

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

[0018] Example 1

[0019] like Figures 1 - 5 As shown:

[0020] A heavy-loaded clamping quick-release gripper of a bomb disposal robot comprises a palm assembly 1, on which are provided a symmetrical half-tooth worm gear assembly 2 and a plurality of gripper connecting rod assemblies 4, the half-tooth worm gear assembly 2 drives the gripper connecting rod assembly 4 to move, the gripper connecting rod assembly 4 is provided with a symmetrical gripper quick-change seat 3, the gripper quick-change seat 3 is provided with a T-slot 3-1, the T-slot 3-1 is used to fix a matching gripper 13, the gripper quick-change seat 3 is provided with a locking device, the locking device comprises a locking pin 12, a locking pin limit baffle 6, a spring 7 and a limit step 2 8, the locking pin 12 is provided with a limit step 11 and a locking pin flat position 9, the limit step 2 8 is located below the locking pin limit baffle 6 and supports the locking pin limit baffle 6 under the action of the spring 7, the matching gripper 13 is provided with a T-shaped protrusion, the T-shaped protrusion and the T-slot 3-1 are nested together, and the limit step 11 is higher than the limit step 2 8.

[0021] The working principle of the present invention is as follows: a clamping jaw quick-change seat 3, a locking pin 12 and a replaceable matching hand claw 13 are used to realize rapid replacement of the clamping jaws to cope with different usage scenarios.

[0022] The quick-change jaw holder 3 has a T-slot 3-1 structure, and the matching gripper 13 has a T-shaped protrusion structure. The T-slot 3-1 and the T-shaped protrusion can be nested together. The T-slot 3-1 structure of the quick-change jaw holder 3 and the matching gripper 13 both have stop surfaces, which can withstand strong clamping force when they are in contact.

[0023] The locking device is mounted on the jaw quick-change base 3 and includes a locking pin 12, a locking pin stopper 6, and a spring 7. A locking pin flattening piece 9 is positioned corresponding to the locking pin. The alignment of the locking pin flattening piece 9 with the bottom surface of the T-slot 3-1 of the jaw quick-change base 3 is controlled by rotating the locking pin 12.

[0024] When the locking pin flat position 9 is flush with the bottom plane of the T-slot 3-1, the matching hand claw 13 can smoothly enter and exit the clamping claw quick change seat 3. There are limit steps 11 and 2 on the top of the locking pin 12. When it is rotated to position 10, both limits are located below the locking pin limit block 6, and under the action of the spring 7, the limit step 11 presses against the locking pin limit block 6. When it is rotated to position 2, that is, Figure 1 In this state, the second limiting step 8 is located below the locking pin limiting block piece 6 and, under the action of the spring 7, presses against the locking pin limiting block piece 6. The first limiting step 11 is located at and above the outer side of the locking pin limiting block piece 6. At the same time, the limiting block piece 6 presses against the side of the first limiting step 11, restricting the rotation of the locking pin 12. To unlock the rotation of the locking pin 12, press the locking pin 12 and then perform the above reverse operation.

[0025] The above are only the preferred embodiments of the present utility model, and do not limit the implementation manners and protection scope of the present utility model accordingly. For those skilled in the art, it should be realized that all the solutions obtained by equivalent substitution and obvious changes made by using the content of the specification of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An explosion-proof robot heavy-duty clamping and quick-release gripper, comprising a palm assembly (1), on which symmetric semi-toothed worm and worm gear assemblies (2) and a plurality of gripper link assemblies (4) are arranged, and the semi-toothed worm and worm gear assemblies (2) drive the gripper link assemblies (4) to move, characterized in that, A symmetrical clamping claw quick-change seat (3) is provided on the gripper connecting rod assembly (4), and a T-shaped groove (3-1) is provided on the gripper quick-change seat (3). The T-shaped groove (3-1) is used to fix the matching gripper (13). The gripper quick-change seat (3) is provided with a locking device, which includes a locking pin (12), a locking pin limit baffle (6), a spring (7) and a second limit step (8). The locking pin (12) is provided with a first limit step (11) and a locking pin flat position (9). The second limit step (8) is located below the locking pin limit baffle (6) and supports the locking pin limit baffle (6) under the action of the spring (7). The matching gripper (13) is provided with a T-shaped protrusion, and the T-shaped protrusion and the T-shaped groove (3-1) are nested together.

2. The heavy-duty clamping and quick-release gripper of an explosive disposal robot according to claim 1, characterized in that, The first limiting step (11) is higher than the second limiting step (8).

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