Folding telescopic explosive ordnance disposal mechanical arm

Abstract

A folding telescopic explosive ordnance disposal mechanical arm comprises a rotary base, a plurality of connecting arms, an operating arm, a plurality of first driving mechanisms and a plurality of second driving mechanisms, the last connecting arm is a telescopic arm, and a connecting seat is arranged at the end of the telescopic arm; the working arm comprises a first shell, a driving device and a clamping jaw; the second driving mechanism comprises a second shell, a third shell obliquely arranged at the end of the second shell, a first motor, a universal joint coupler, a first speed reducer, a first transmission gear and a second transmission gear, wherein the first transmission gear and the second transmission gear are perpendicular to each other in the axial direction. The second shell is connected to the first shell and is coaxially arranged with the first shell, and the third shell is rotationally connected to the connecting seat; the first motor is installed in the second shell, and the two ends of the universal joint coupler are connected with the first motor and the first transmission gear respectively. The output end of the first reducer is fixed to the connecting base. The second transmission gear is connected to the input end of the first reducer. Compared with the prior art, the mechanical arm not only has large rotating torque, but also is compact in structure.

Description

Technical Field

[0001] This utility model belongs to the field of bomb disposal robotic arm technology, specifically relating to a folding telescopic bomb disposal robotic arm. Background Technology

[0002] The existing bomb disposal robotic arm includes a rotating base, multiple connecting arms, a telescopic arm, and a working arm. The first connecting arm is rotatably connected to the rotating base, and the remaining connecting arms rotate sequentially. To reduce the load on the telescopic sleeve of the telescopic arm and ensure its rigidity, the telescopic arm is rotatably connected to the last connecting arm. The working arm is connected to the telescopic sleeve of the telescopic arm.

[0003] As specialized operational equipment, the structural reliability, load capacity, and environmental adaptability of bomb disposal robotic arms directly affect the success or failure of bomb disposal missions. Existing bomb disposal robotic arm designs employ a built-in drive and transmission structure layout. By placing the power system within the corresponding connecting and telescopic arms, environmental corrosion and collision damage caused by external exposure are effectively avoided, thereby improving system operational stability.

[0004] Bomb disposal robotic arms are used in complex environments. To ensure their mobility in such environments, they must have a small size when folded. In practice, due to the large yield and mass of explosives used in counter-terrorism and bomb disposal missions, and to ensure the robotic arm's operating range, the number and size of its connecting arms are numerous, resulting in a significant weight. Consequently, the connecting arms, especially those near the rotating base, bear a heavy load. To reduce the requirements for driving the drive devices of adjacent connecting arms, they are connected by a linkage mechanism that amplifies the output torque.

[0005] If the telescopic boom and the working boom are also connected by a linkage structure, the linkage structure will occupy some space, which will affect the length of the telescopic boom and the working boom, thereby reducing the working range of the robotic arm. The telescopic boom and the working boom cannot be compactly close together, resulting in a larger volume of the robotic arm after folding, which will affect its passability.

[0006] While researching a transmission structure that "ensures high torque and minimizes the size of the telescopic boom and working arm in their folded state," the inventors also discovered that: Since the telescopic boom has a retractable telescopic cylinder, conventionally, to fully utilize the internal space of the cylinder, the drive mechanism and transmission structure between the telescopic boom and the working arm could be installed inside the cylinder. However, this requires drilling holes for wiring, which affects the cylinder's strength and rigidity; the limited space inside the cylinder makes assembly difficult and also limits the power of the drive mechanism. If the explosive is heavy and requires a more powerful drive mechanism, the installation cylinder is difficult to arrange, and it may even necessitate a complete redesign of the structure between the telescopic boom and the working arm. Utility Model Content

[0007] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a folding telescopic bomb disposal robotic arm.

[0008] To achieve the above objectives, this utility model discloses a folding telescopic bomb disposal robot arm, including a rotating base, multiple connecting arms, a working arm, multiple first drive mechanisms and second drive mechanisms. A first drive mechanism is installed in a connecting arm section and is used to drive the adjacent connecting arms to pitch and rotate.

[0009] The ends of each pair of adjacent connecting arms are hinged together by a first pivot.

[0010] The last connecting arm is a telescopic arm, and a connecting seat is provided at the end of the telescopic arm away from the slewing base;

[0011] The working arm includes a first housing, a drive device installed inside the first housing, and grippers installed outside the first housing that open or close under the action of the drive device.

[0012] The second drive mechanism includes a second housing, a third housing inclined at the end of the second housing, a first motor, a universal joint coupling, a first transmission gear, a first reducer, and a second transmission gear;

[0013] The end of the second housing away from the third housing is connected to the first housing, the second housing and the first housing are coaxially arranged, and the end of the third housing away from the second housing is rotatably connected to the connecting seat;

[0014] The first motor is installed inside the second housing, and the output end of the first motor is located at the junction of the second housing and the third housing. One end of the universal joint coupling is connected to the output end of the first motor, and the first transmission gear is installed at the other end of the universal joint coupling.

[0015] The output end of the first reducer is fixed to the connecting seat, and the second transmission tooth is connected to the input end of the first reducer. The rotation axis of the second transmission tooth is parallel to the first rotation axis, and the rotation axis of the first transmission tooth is perpendicular to the rotation axis of the second transmission tooth.

[0016] Preferably, the second housing is detachably connected to the first housing and the third housing.

[0017] Preferably, the second drive mechanism further includes a second reducer, the input end and the output end of the second reducer being connected to the output end of the first motor and the first transmission gear, respectively.

[0018] Preferably, the third housing has windows on both horizontal sides, and the positions of the windows are opposite to the positions of the universal joint coupling.

[0019] Preferably, the connecting arm includes an arm body and an obstruction arm inclined at the end of the arm body. In the folded state, the arm bodies of all connecting arms are arranged in parallel.

[0020] Preferably, the first drive mechanism includes a first telescopic cylinder, a first swing arm, and a second swing arm. One end of the first telescopic cylinder is hinged to a corresponding connecting arm. One end of the first swing arm and one end of the second swing arm are respectively hinged to two adjacent connecting arms. The other end of the second connecting arm and the other end of the first telescopic cylinder are hinged to the other end of the first swing arm.

[0021] Preferably, the two ends of two adjacent connecting arms that are hinged to each other are a first hinge end and a second hinge end, respectively. The first hinge end is provided with a first connecting part on each of the two side walls along the first rotation axis direction, and the second hinge end is provided with a second connecting part on each of the two side walls along the first rotation axis direction. The first connecting part is hinged to the corresponding second connecting part.

[0022] Preferably, the gripper includes a bracket, a slider, a connector, two sets of linkage assemblies, and two sets of anti-slip assemblies;

[0023] The slider is located at one end of the bracket and can move linearly along the first trajectory under the action of the driving device.

[0024] The other end of the bracket is provided with an outwardly protruding receiving block; a connector is provided on the bracket between the slider and the receiving block, and both ends of the connector are provided with a third connecting part;

[0025] The two sets of the linkage assemblies are symmetrically arranged about the first trajectory axis;

[0026] The linkage assembly includes a push rod and a quadrilateral mechanism. The quadrilateral mechanism is formed by a first link, a second link, a third link, and a fourth link that are sequentially hinged to the side away from the first trajectory. The end of the first link near the first trajectory is hinged to the third connecting part. The two ends of the push rod are respectively hinged to the end of the first link away from the first trajectory and to the slider.

[0027] The sum of the side lengths of the quadrilaterals corresponding to the first and second links is not equal to the side lengths of the quadrilaterals corresponding to the third and fourth links;

[0028] Each of the third links is provided with a set of the anti-slip components.

[0029] Preferably, the connector is further provided with a fourth connecting part located outside the third connecting part at both ends, the second connecting rod is hinged to the middle position of the third connecting rod, and the connecting rod assembly further includes a second telescopic cylinder, the two ends of the second telescopic cylinder being respectively hinged to the fourth connecting part and the end of the third connecting rod away from the fourth connecting rod.

[0030] Preferably, the driving device includes a second motor, a third reducer, and a lead screw. The input end and output end of the third reducer are respectively connected to the output end of the motor and the lead screw, and the slider is threadedly connected to the lead screw.

[0031] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0032] Installing the second drive mechanism on the working arm is easier and more convenient than installing it on the telescopic arm, as the installation space of the drive mechanism is not limited by the internal space of the telescopic cylinder. When it is necessary to operate on explosives of different weights, only the first motor with the corresponding power needs to be replaced between the telescopic arm and the working arm, and the rest of the transmission structure does not need to be changed, avoiding the high cost of replacing the entire robotic arm or redesigning the transmission chain due to load changes in traditional solutions.

[0033] The housing of the second drive mechanism includes a second housing and a third housing. The third housing is inclined at the end of the second housing and rotatably connected to the connecting seat of the telescopic arm. The inclined third housing can prevent the telescopic arm from interfering with the second housing and the working arm.

[0034] The second drive mechanism also includes a first motor, a universal joint coupling, a first transmission gear, a first reducer, and a second transmission gear. The first motor drives the first transmission gear to rotate via the universal joint coupling. The first transmission gear then engages with the second transmission gear to achieve a switching transmission. The second transmission gear transmits power to the input end of the first reducer. Since the output end of the first reducer is fixed on the connecting seat, its reaction force causes the third housing, the second housing, and the working arm to tilt and rotate. The universal joint coupling connects the first motor and the first transmission gear, enabling power transmission between the non-coaxially positioned first motor and first transmission gear. This provides a structural basis for the "tilted setting of the third housing to avoid interference." The above transmission structure is simple, compact, and small in size, reducing the limitations on the length and operating range of the telescopic arm / working arm, while also ensuring folding efficiency. By incorporating the first reducer, not only is the output speed reduced and the output torque increased, allowing the working arm to grasp heavier explosives and improving applicability, but it also absorbs vibrations generated by the transmission structure, preventing these vibrations from being transmitted to the working arm and subsequently to the explosives, thus avoiding the risk of explosive detonation. Attached Figure Description

[0035] Figure 1 The front view of the foldable telescopic bomb disposal robot arm in the unfolded state, as shown in the embodiment.

[0036] Figure 2 The front view of the foldable telescopic bomb disposal robot arm in the folded state, as shown in the embodiment.

[0037] Figure 3This is a three-dimensional exploded view of the first and second connecting arms.

[0038] Figure 4 This is a three-dimensional structural diagram of the boom;

[0039] Figure 5 for Figure 4 A three-dimensional exploded view of the boom arm;

[0040] Figure 6 This is a schematic diagram of the gripper structure;

[0041] Rotary base 100; Third motor 110;

[0042] Connecting arm 200; first pivot 210; arm body 220; clearance arm 230; opening 240; first connecting part 250; second connecting part 260;

[0043] Telescopic boom 300; telescopic cylinder 310; connecting seat 320;

[0044] Working arm 400; drive unit 410; second motor 411; third reducer 412; lead screw 413; first housing 414;

[0045] Gripper 500; Bracket 510; Receiving block 511; Connector 512; Third connecting part 5121; Fourth connecting part 5122; Slider 520; Link assembly 530; Push rod 540; Quadrilateral mechanism 550; First link 551; Second link 552; Third link 553; Fourth link 554; Second telescopic cylinder 560; Anti-slip component 570; Connecting shell 571; Anti-slip part 572; Anti-slip protrusion 5721;

[0046] First drive mechanism 600; first telescopic cylinder 610; first swing arm 620; second swing arm 630;

[0047] Second drive mechanism 700; second housing 710; third housing 720; window 721; first motor 730; universal joint coupling 740; first transmission gear 750; first reducer 760; second transmission gear 770; second reducer 780. Detailed Implementation

[0048] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] A folding telescopic bomb disposal robotic arm, see Figure 1The system includes a rotating base 100, a multi-section connecting arm 200, a working arm 400, and multiple first drive mechanisms 600 and second drive mechanisms 700 connected in sequence. The rotating base 100 can rotate horizontally. In this embodiment, the connecting arm 200 has three sections, corresponding to two sets of first drive mechanisms 600 and one set of second drive mechanisms 700. The bottom end of the first connecting arm section is hinged to the rotating base 100, the two ends of the second connecting arm section are hinged to the top end of the first connecting arm section and one end of the third connecting arm section, respectively, and the other end of the third connecting arm section is hinged to the working arm 400. By setting up a three-section working arm 400, the robotic arm has a large working range and high applicability. The two sets of first drive mechanisms 600 are respectively located on the first and second sections of the robotic arm and are used to drive the second and third connecting arms to tilt and rotate. The second drive mechanism 700 is located on the working arm 400 and is used to drive the working arm 400 to tilt and rotate. See the schematic diagram of the structure of the bomb disposal robotic arm in its folded state. Figure 2 .

[0050] In order to improve the flexibility of the robotic arm, the third connecting arm is a telescopic arm 300.

[0051] For ease of explanation, the pivot between any two adjacent connecting arms 200 is referred to as the first pivot 210.

[0052] See Figure 1 All connecting arms 200 include an arm body 220 and an obstruction arm 230 inclined at the end of the arm body 220. The obstruction arm 230 can prevent interference between adjacent connecting arms 200 at the connection position, so that in the folded state, the arm bodies 220 of the connecting arms 200 are arranged in parallel. Thus, the overall structure is compact and small in size in the folded state, and has good mobility in complex environments.

[0053] See Figure 3 Two telescopic cylinders are hinged to the slewing base 100, and the other ends of the two telescopic cylinders are hinged to the first connecting arm. The two telescopic cylinders are driven to extend and retract synchronously by the third motor 110, thereby driving the first connecting arm to tilt and rotate. Driving the connecting arm 200 to rotate by the two telescopic cylinders not only provides a large driving force, but also improves the stability of tilting and rotation, and enhances the safety of the bomb disposal process.

[0054] In this embodiment, the structures of the first connecting arm and the second connecting arm, as well as the connection structure between the first and second connecting arms and the connection structure between the second and third connecting arms, are the same. The following description uses the structure of the first connecting arm and the connection structure between the first and second connecting arms as examples.

[0055] The main structure of the first connecting arm is constructed by welding sheet metal, and internal reinforcement structures are incorporated to ensure strength. (See also...) Figure 3 The first drive mechanism 600 includes a first telescopic cylinder 610, a first swing arm 620, and a second swing arm 630. One end of the first telescopic cylinder 610 is hinged to a connecting arm 200, and the bottom of the connecting arm 200 has an opening 240 through which the first telescopic cylinder 610 extends out of the connecting arm 200. One end of the first swing arm 620 and one end of the second swing arm 630 are respectively hinged to the first connecting arm and the second connecting arm. The other end of the second connecting arm and the other end of the first telescopic cylinder 610 are hinged to the other end of the first swing arm 620. Specifically, the first telescopic cylinder 610 is hinged to... Figure 3 The second swing arm 630 is hinged to the right side of the first swing arm 620. Figure 3 The first swing arm 620 is located on the left side. When the robotic arm is extended, the first telescopic cylinder 610 extends, pushing the first swing arm 620 outward, which in turn pushes the second swing arm 630 outward, thus opening the second connecting arm. Similarly, when the second connecting arm is folded, the first telescopic cylinder 610 retracts. The first drive mechanism 600 is a telescopic cylinder swing arm structure. The swing arm structure can amplify the output torque, allowing the swing arm to withstand a larger load and making it highly practical.

[0056] In order to ensure the structural compactness in the folded state, the length of the first swing arm 620 is configured to rest against the bottom of the connecting arm 200 in the folded state. In this embodiment, it specifically rests against the reinforcing rib located at the bottom of the connecting arm 200.

[0057] See Figure 3 The first and second connecting arms are hinged to each other at their two ends, which are respectively the first hinge end and the second hinge end. Each of the two sidewalls along the width direction of the first hinge end has a first connecting portion 250, and each of the two sidewalls along the width direction of the second hinge end has a second connecting portion 260. The first connecting portion 250 is hinged to the corresponding second connecting portion 260. By setting the hinge positions of adjacent connecting arm sections 200 on both sides of the width direction, and leaving the middle of the hinge end open, the rotation of the first swing arm 620 and the second swing arm 630 is not restricted by the corresponding first rotating shaft 210, giving them a relatively large rotation range and improving the working range of the robotic arm.

[0058] The telescopic arm 300 has a telescopic cylinder 310 that can be extended or retracted by a drive. In this embodiment, specifically, a ball screw 413 telescopic mechanism is used, which can suppress axial movement.

[0059] See Figure 2 The end of the telescopic boom 300 furthest from the slewing base 100 is provided with a connecting seat 320. See also Figures 4-5The working arm 400 includes a first housing 414, a drive device 410 installed inside the first housing 414, and a gripper 500 installed outside the first housing 414 and opening or closing under the action of the drive device 410. The second drive mechanism 700 includes a second housing 710, a third housing 720 inclined at one end of the second housing 710, a first motor 730, a universal joint coupling 740, a first transmission gear 750, a first reducer 760, and a second transmission gear 770. The end of the second housing 710 away from the third housing 720 is connected to the first housing 414, and the second housing 710 and the first housing 414 are coaxially arranged. The end of the third housing 720 away from the second housing 710 is rotatably connected to the connecting seat 320. The first motor 730 is mounted on the second housing. Inside 710, the output end of the first motor 730 is located at the junction of the second housing 710 and the third housing 720. One end of the universal joint coupling 740 is connected to the output end of the first motor 730, and the first transmission gear 750 is installed at the other end of the universal joint coupling 740. The output end of the first reducer 760 is fixed to the connecting seat 320, and the second transmission gear 770 is connected to the input end of the first reducer 760. The shaft of the second transmission gear 770 is parallel to the first shaft 210, and the shaft of the first transmission gear 750 is perpendicular to the shaft of the second transmission gear 770.

[0060] The connection structure between the telescopic boom 300 and the working boom 400 described above has the following advantages:

[0061] First, the second drive mechanism 700 is mounted on the working arm 400. Compared with mounting it on the telescopic arm 300, the installation space of the drive mechanism is not limited by the internal space of the telescopic cylinder 310, making assembly easier and more convenient. When it is necessary to operate on explosives of different weights, only the first motor 730 with the corresponding power needs to be replaced between the telescopic arm 300 and the working arm 400. The rest of the transmission structure does not need to be changed, avoiding the high cost of replacing the entire robotic arm or redesigning the transmission chain due to load changes in the traditional solution.

[0062] Second, the housing of the second drive mechanism 700 includes a second housing 710 and a third housing 720. The third housing 720 is inclinedly disposed at the end of the second housing 710 and rotatably connected to the connecting seat 320 of the telescopic arm 300. The inclined third housing 720 can prevent the telescopic arm 300 from interfering with the second housing 710 and the working arm 400.

[0063] Third, the second drive mechanism 700 also includes a first motor 730, a universal joint coupling 740, a first transmission gear 750, a first reducer 760, and a second transmission gear 770. The first motor 730 drives the first transmission gear 750 to rotate through the universal joint coupling 740. The first transmission gear 750 then engages with the second transmission gear 770 to achieve line-changing transmission. The second transmission gear 770 transmits power to the input end of the first reducer 760. Since the output end of the first reducer 760 is fixed on the connecting seat 320, its reaction force causes the third housing 720, the second housing 710, and the working arm 400 to pitch and rotate. The first motor 730 and the first transmission gear 750 are connected by a universal joint coupling 740, enabling power transmission between the non-coaxial first motor 730 and the first transmission gear 750. This provides a structural basis for the "tilted setting of the third housing 720 to avoid interference." The above transmission structure is simple, compact, and small in size, reducing the length and operating range limitations of the telescopic boom 300 / working boom 400, while also ensuring the folding effect. By setting the first reducer 760, not only is the output speed reduced and the output torque increased, enabling the working boom 400 to grab heavier explosives and improving its applicability, but it also absorbs the vibration generated by the transmission structure, avoiding the risk of the vibration being transmitted to the working boom 400 and then to the explosive, ultimately leading to the explosion of the explosive.

[0064] In this embodiment, the second housing 710 is detachably connected to the first housing 414 and the third housing 720. This modular housing design allows the second drive mechanism 700 to form an independent functional unit. When the first motor 730 needs to be repaired or its power needs to be replaced, there is no need to disassemble the whole machine, making disassembly and assembly convenient.

[0065] See Figure 5 The second drive mechanism 700 also includes a second reducer 780, whose input and output ends are connected to the output end of the first motor 730 and the first transmission gear 750, respectively. With the second reducer 780, the second drive mechanism 700 forms a dual reduction system, which further increases the output torque, enabling the working arm 400 to grasp heavier explosives and improve its applicability. Simultaneously, the second reducer 780 can buffer the impact during motor start-up and shutdown, improving the transmission stability of the first transmission gear 750 and the second transmission gear 770, further reducing vibration.

[0066] See Figure 5The third housing 720 has windows 721 on both horizontal sides, with the windows 721 positioned opposite the universal joint coupling 740. The windows 721 on both sides of the third housing 720 form a convection cooling channel, improving heat dissipation within the third housing 720 and the second housing 710 connected to it. This maintains the internal temperature at a normal level and improves the reliability of internal components. Furthermore, the windows 721 facilitate observation of the universal joint's wear, allowing for timely detection and replacement of any damage, ensuring the reliability of the transmission structure.

[0067] See Figure 5 The drive unit 410 includes a second motor 411, a third reducer 412, and a lead screw 413. The input and output ends of the third reducer 412 are connected to the output end of the motor and the lead screw 413, respectively. A slider 520 is threadedly connected to the lead screw 413. When gripping explosives, the second motor 411 drives the lead screw 413 to rotate through the third reducer 412, and the slider 520 moves along the axial direction of the lead screw. The movement of the slider 520 causes the gripper 500 to open and close. The drive unit 410 includes a third reducer 412, which not only reduces speed to ensure operational stability but also alleviates high-frequency vibrations during transmission, overcoming problems such as failed explosive gripping and accidental triggering of precision detonation components caused by end-effector jitter in existing technologies.

[0068] The third reducer 412 is preferably a planetary reducer, and the lead screw is a ball screw 413.

[0069] See Figure 5 The drive unit 410 also includes a third motor, which can drive the working arm 400 to rotate along a plane perpendicular to the lead screw axis.

[0070] See Figure 6 The gripper 500 includes a bracket 510, a slider 520, two sets of connecting rod assemblies 530, and two sets of anti-slip assemblies 570. The slider 520 is located at one end of the bracket 510 and can move axially along the lead screw under its influence. The other end of the bracket 510 has an outwardly protruding receiving block 511, located outside the end of the lead screw, specifically in the middle of the two sets of connecting rod assemblies 530, used to receive explosives. A connector 512 is located on the bracket 510 between the slider 520 and the receiving block 511, with first connecting portions 250 at both ends. The two sets of connecting rod assemblies 530 are symmetrically arranged about a first trajectory axis. The structure of one set of connecting rod assemblies 530 will be described below; it can be understood that the other set of connecting rod assemblies 530 is axially symmetrically connected to the other side of the lead screw.

[0071] The linkage assembly 530 includes a push rod 540 and a quadrilateral mechanism 550. The quadrilateral mechanism 550 is formed by a first link 551, a second link 552, a third link 553, and a fourth link 554 that are hinged sequentially. The end of the first link 551 near the lead screw is hinged to a third connecting part 5121. The two ends of the push rod 540 are respectively hinged to the end of the first link 551 away from the first trajectory and to the slider 520. The sum of the side lengths of the quadrilaterals corresponding to the first link 551 and the second link 552 is not equal to the side lengths of the quadrilaterals corresponding to the third link 553 and the fourth link 554. For ease of explanation, in this embodiment, the sum of the side lengths of the quadrilaterals corresponding to the first link 551 and the second link 552 is greater than the sum of the side lengths of the quadrilaterals corresponding to the third link 553 and the fourth link 554. Two sets of anti-slip components 570 are respectively installed on the third link 553 of the two sets of quadrilateral mechanisms 550, and are arranged facing each other to clamp the explosive together.

[0072] When it is necessary to grasp an explosive, the slider 520 moves outward (towards the receiving block 511) under the action of the lead screw 413. During this process, the slider 520 drives the push rod 540 to move outward. The push rod 540 pushes the first connecting rod 551, increasing the angle between the first connecting rod 551 and the second connecting rod 552. Consequently, the second connecting rod 552 extends outward, pushing the third connecting rod 553 to flip towards the explosive. The anti-slip component 570 on the third connecting rod 553 pushes the explosive towards the receiving block 511 until the explosive contacts the receiving block 511. At this point, the explosive presses against the receiving block 511 and is clamped by the two anti-slip components 570. By using the two anti-slip components 570 and the receiving block 511 to clamp the explosive together, both regularly shaped and irregularly shaped explosives can be clamped.

[0073] See Figure 6 In the quadrilateral mechanism 550, except for the second link 552 which is hinged to the middle position of the third link 553, all other links are hinged to each other at their first and second ends, resulting in a compact structure.

[0074] In this embodiment, the sum of the side lengths of the quadrilaterals corresponding to the first link 551 and the second link 552 is the sum of the lengths of the first link 551 and the second link 552. The sum of the side lengths of the quadrilaterals corresponding to the third link 553 and the fourth link 554 is the distance between the hinge position of the second link 552 and the third link 553 and the end of the third link 553 near the fourth link 554, plus the length of the fourth link 554.

[0075] The connector 512 is further provided with a fourth connecting part 5122 located outside the third connecting part 5121 at both ends. The second connecting rod 552 is hinged to the middle position of the third connecting rod 553. The connecting rod assembly 530 also includes a second telescopic cylinder 560. The two ends of the telescopic cylinder are respectively hinged to the ends of the fourth connecting part 5122 and the third connecting rod 553 away from the fourth connecting rod 554. Specifically, the telescopic cylinder is an adaptive telescopic cylinder, used to provide reverse tension to the third connecting rod 553 during the clamping of explosives. The second telescopic cylinder 560 has the following advantages: First, the second cylinder enhances the structural strength and stability of the quadrilateral mechanism 550 and improves its service life; Second, when the four connecting rods of the quadrilateral mechanism 550 are hinged to each other, there are hinge gaps, which can easily lead to vibration of the quadrilateral mechanism 550 during the operation of the robotic arm, resulting in problems such as failure to grasp explosives and accidental triggering of precision detonation components. In this embodiment, under the action of the reverse pulling force provided by the second cylinder and the thrust provided by the push rod 540, the four connecting rods are in a "tight" state, the overall structure is more stable, and the safety problems caused by end vibration are significantly reduced.

[0076] See Figure 6 The third link 553 is L-shaped, and its bottom structure is connected to the second link 552, the fourth link 554, and the second telescopic cylinder 560. The vertical structure is used to connect the anti-slip assembly 570. The anti-slip assembly 570 includes a connecting shell 571 and an anti-slip element 572, which is connected to the third link 553 through the connecting shell 571.

[0077] Among them, the surface of the anti-slip component 572 is provided with anti-slip protrusions 5721, which can increase friction and prevent explosives from slipping.

[0078] In this embodiment, a force sensor is provided inside the connecting shell 571. The force sensor can monitor the clamping force in real time to ensure the clamping effect and avoid safety problems caused by excessive clamping force leading to the explosion of explosives.

[0079] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A folding telescopic bomb disposal robotic arm, comprising a rotating base, multiple connecting arms, a working arm, multiple first drive mechanisms and second drive mechanisms, wherein a first drive mechanism is installed inside a connecting arm section for driving the adjacent connecting arms to pitch and rotate, characterized in that: The ends of each pair of adjacent connecting arms are hinged together by a first pivot. The last connecting arm is a telescopic arm, and a connecting seat is provided at the end of the telescopic arm away from the slewing base; The working arm includes a first housing, a drive device installed inside the first housing, and grippers installed outside the first housing that open or close under the action of the drive device. The second drive mechanism includes a second housing, a third housing inclined at the end of the second housing, a first motor, a universal joint coupling, a first transmission gear, a first reducer, and a second transmission gear; The end of the second housing away from the third housing is connected to the first housing, the second housing and the first housing are coaxially arranged, and the end of the third housing away from the second housing is rotatably connected to the connecting seat; The first motor is installed inside the second housing, and the output end of the first motor is located at the junction of the second housing and the third housing. One end of the universal joint coupling is connected to the output end of the first motor, and the first transmission gear is installed at the other end of the universal joint coupling. The output end of the first reducer is fixed to the connecting seat, and the second transmission tooth is connected to the input end of the first reducer. The rotation axis of the second transmission tooth is parallel to the first rotation axis, and the rotation axis of the first transmission tooth is perpendicular to the rotation axis of the second transmission tooth.

2. The folding telescopic bomb disposal robotic arm according to claim 1, characterized in that: The second housing is detachably connected to the first housing and the third housing.

3. The folding telescopic bomb disposal robotic arm according to claim 1, characterized in that: The second drive mechanism also includes a second reducer, the input end and the output end of which are respectively connected to the output end of the first motor and the first transmission gear.

4. The folding telescopic bomb disposal robotic arm according to claim 1, characterized in that: The third housing has windows on both horizontal sides, and the positions of the windows are opposite to the positions of the universal joint coupling.

5. The folding telescopic bomb disposal robotic arm according to claim 1, characterized in that: The connecting arm includes an arm body and an obstruction arm inclined at the end of the arm body. In the folded state, the arm bodies of all connecting arms are arranged in parallel.

6. The folding telescopic bomb disposal robotic arm according to claim 1, characterized in that: The first drive mechanism includes a first telescopic cylinder, a first swing arm, and a second swing arm. One end of the first telescopic cylinder is hinged to the corresponding connecting arm. One end of the first swing arm and one end of the second swing arm are respectively hinged to two adjacent connecting arms. The other end of the second connecting arm and the other end of the first telescopic cylinder are hinged to the other end of the first swing arm.

7. The folding telescopic bomb disposal robotic arm according to claim 6, characterized in that: The two ends of two adjacent connecting arms that are hinged to each other are the first hinge end and the second hinge end, respectively. The first hinge end has a first connecting part on each of the two side walls along the first rotation axis direction, and the second hinge end has a second connecting part on each of the two side walls along the first rotation axis direction. The first connecting part is hinged to the corresponding second connecting part.

8. The folding telescopic bomb disposal robotic arm according to claim 1, characterized in that: The gripper includes a bracket, a slider, two sets of connecting rod assemblies, and two sets of anti-slip assemblies; The slider is located at one end of the bracket and can move linearly along the first trajectory under the action of the driving device. The other end of the bracket is provided with an outwardly protruding receiving block; a connector is provided on the bracket between the slider and the receiving block, and both ends of the connector are provided with a third connecting part; The two sets of the linkage assemblies are symmetrically arranged about the first trajectory axis; The linkage assembly includes a push rod and a quadrilateral mechanism. The quadrilateral mechanism is formed by a first link, a second link, a third link, and a fourth link that are sequentially hinged to the side away from the first trajectory. The end of the first link near the first trajectory is hinged to the third connecting part. The two ends of the push rod are respectively hinged to the end of the first link away from the first trajectory and to the slider. The sum of the side lengths of the quadrilaterals corresponding to the first and second links is not equal to the side lengths of the quadrilaterals corresponding to the third and fourth links; Each of the third links is provided with a set of the anti-slip components.

9. The folding telescopic bomb disposal robotic arm according to claim 8, characterized in that: The connector is further provided with a fourth connecting part located outside the third connecting part at both ends. The second connecting rod is hinged to the middle position of the third connecting rod. The connecting rod assembly also includes a second telescopic cylinder. The two ends of the second telescopic cylinder are respectively hinged to the fourth connecting part and the end of the third connecting rod away from the fourth connecting rod.

10. The folding telescopic bomb disposal robotic arm according to claim 8, characterized in that: The driving device includes a second motor, a third reducer, and a lead screw. The input and output ends of the third reducer are respectively connected to the output end of the motor and the lead screw. The slider is threadedly connected to the lead screw.

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