EOD robot auxiliary arm camera structure

Abstract

The utility model relates to the field of auxiliary arm of explosive -handling robot discloses an auxiliary arm camera structure of explosive -handling robot, including mechanical arm subassembly, the end of mechanical arm subassembly is provided with auxiliary arm camera mechanism, the end fixed mounting of auxiliary arm camera mechanism has auxiliary arm base shell, the rear end of auxiliary arm base shell is fixedly installed with auxiliary arm through auxiliary arm motor installation support, the inside rear end of auxiliary arm is provided with first drive unit. In the utility model, through the mutual cooperation of auxiliary arm, auxiliary arm holder subassembly, auxiliary arm wrist worm assembly and other spare parts in the equipment, the movement of camera on three degrees of freedom is realized, this makes the operator can under the condition of not moving robot ontology or main mechanical arm, fast, accurately adjusts camera to any observation angle, realizes seamless switching from wide -range scanning to small -range fine aiming, greatly promotes the environmental perception ability and operating efficiency in the explosive -handling operation.

Description

Technical Field

[0001] This utility model relates to the field of bomb disposal robot auxiliary arms, and in particular to a camera structure for a bomb disposal robot auxiliary arm. Background Technology

[0002] In recent years, with the increasing demand for counter-terrorism and public safety, bomb disposal robots have been increasingly used in various dangerous scenarios. As one of the core sensing devices of bomb disposal robots, cameras undertake the key tasks of environmental reconnaissance, target recognition, and operation monitoring. The flexibility and stability of their observation perspective directly determine the efficiency and safety of bomb disposal operations.

[0003] The aforementioned devices have the following drawbacks: the field of view of a fixed-mounted camera depends entirely on its installation location and cannot be flexibly adjusted according to on-site needs, resulting in a large number of blind spots. When a change in perspective is required, the operator must indirectly achieve this by controlling the entire robot or adjusting the posture of the main robotic arm. This is not only cumbersome and slow to respond, but also poses a collision risk in narrow or complex environments due to the significant adjustment of the robot's posture, which may lead to accidents. Existing bomb disposal robots lack sufficient adjustment precision and stability. Even cameras integrated with the actuator rely on the large joint movements of the main robotic arm for perspective adjustment. These movements are primarily designed for operational purposes rather than for precise observation optimization. This results in low camera positioning accuracy, making it difficult to stably lock onto a target for continuous observation. Furthermore, the main robotic arm inevitably vibrates during operation, and this vibration is directly transmitted to the camera, causing image jitter and affecting image quality and judgment. Therefore, a bomb disposal robot auxiliary arm camera structure is proposed to solve the above problems. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a camera structure for an auxiliary arm of a bomb disposal robot, which aims to improve the problems of inconvenient camera angle adjustment, insufficient accuracy, and poor environmental adaptability in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a bomb disposal robot auxiliary arm camera structure, including a robotic arm assembly, an auxiliary arm camera mechanism at the end of the robotic arm assembly, an auxiliary arm base housing fixedly mounted at the end of the auxiliary arm camera mechanism, an auxiliary arm fixedly mounted at the rear end of the auxiliary arm base housing via an auxiliary arm motor mounting bracket, the outer wall of the auxiliary arm being spliced ​​from a left auxiliary arm housing and a right auxiliary arm housing, a first drive unit at the rear end of the auxiliary arm being used to drive the auxiliary arm itself to rotate around its connecting axis with the auxiliary arm base housing, a second drive unit at the front end of the auxiliary arm being provided, an auxiliary arm gimbal assembly being provided on the second drive unit of the auxiliary arm, and a protection and sealing component mechanism being provided on the outer wall of the auxiliary arm, the protection and sealing component mechanism of the auxiliary arm providing dustproof, waterproof and impact-resistant protection for the auxiliary arm, adapting to the complex environment of bomb disposal operations, the second drive unit of the auxiliary arm being used to drive the auxiliary arm gimbal assembly to rotate relative to the auxiliary arm, and a camera being provided on the upper side of the auxiliary arm gimbal assembly.

[0006] As a further description of the above technical solution: the first drive unit of the auxiliary arm includes a shoulder motor, an auxiliary arm shoulder worm gear assembly and an auxiliary arm shoulder worm wheel. The auxiliary arm shoulder worm gear assembly is fixedly installed on the outer wall of the auxiliary arm shoulder worm wheel. The first drive unit of the auxiliary arm is disposed inside the auxiliary arm and is used to drive the auxiliary arm itself to rotate around its connecting axis with the auxiliary arm base housing.

[0007] As a further description of the above technical solution: the second drive unit of the auxiliary arm includes an auxiliary arm wrist motor assembly, an auxiliary arm wrist worm gear assembly, and an auxiliary arm wrist hub assembly. The output end of the auxiliary arm wrist motor assembly is detachably connected to the auxiliary arm wrist worm gear assembly, and the end of the auxiliary arm wrist worm gear assembly is provided with the auxiliary arm wrist hub assembly. The second drive unit of the auxiliary arm is located at the connection between the auxiliary arm and the auxiliary arm gimbal assembly, and is used to drive the auxiliary arm gimbal assembly to rotate relative to the auxiliary arm.

[0008] As a further description of the above technical solution: the first drive unit of the auxiliary arm also includes an angle detection unit, which consists of an encoder and an encoder gear assembly. The encoder gear assembly meshes with the output end of the first drive unit to detect the rotation angle of the auxiliary arm in real time and feed the angle data back to the control end to realize precise closed-loop control of the auxiliary arm.

[0009] As a further description of the above technical solution: the auxiliary arm gimbal assembly further includes a gimbal rotation bracket, an auxiliary arm gimbal body, a third drive unit, and a bearing. The third drive unit is composed of an auxiliary arm gimbal worm gear assembly and a worm wheel, used to drive the gimbal rotation bracket to rotate relative to the auxiliary arm gimbal body to fine-tune the posture of the camera. The inner wall of the bearing is fitted with an auxiliary arm gimbal tube shaft.

[0010] As a further description of the above technical solution: the auxiliary arm gimbal assembly also includes a slip ring mounting chamber for accommodating a conductive slip ring. The conductive slip ring circuit connects the camera to the external control and power supply system to ensure that the data cable and power cable of the camera do not become tangled when the camera rotates continuously.

[0011] As a further description of the above technical solution: a low-power dual-axis control circuit board is also provided at the internal axis of the auxiliary arm. The low-power dual-axis control circuit board is respectively connected to the first drive unit and the second drive unit of the auxiliary arm, and is used to receive external control commands and independently drive the first drive unit and the second drive unit of the auxiliary arm, so as to realize the coordinated or independent control of the auxiliary arm and the auxiliary arm gimbal assembly.

[0012] As a further description of the above technical solution: the protective and sealing component mechanism of the auxiliary arm includes an auxiliary arm cable protection cover, an auxiliary arm side cover, a protective plate, a star-shaped sealing ring, and a housing composed of an upper cover and a lower cover assembly. The outer wall of the auxiliary arm side cover is fixedly installed on the rear end of the left housing of the auxiliary arm by a cylindrical head screw. The inner wall of the auxiliary arm side cover is detachably connected to the slot at the rear end of the left housing of the auxiliary arm by a locking washer and a locking nut.

[0013] This utility model has the following beneficial effects:

[0014] 1. In this utility model, by utilizing the interoperability of components such as the auxiliary arm, auxiliary arm gimbal assembly, and auxiliary arm wrist worm gear assembly in the device, the camera can move in three degrees of freedom. This allows the operator to quickly and accurately adjust the camera to any observation angle without moving the robot body or the main robotic arm, achieving a seamless switch from large-scale scanning to small-scale fine aiming, which greatly improves the environmental perception capability and operational efficiency in bomb disposal operations.

[0015] 2. In this utility model, the auxiliary arm wrist wheel hub assembly, auxiliary arm wrist motor assembly, auxiliary arm gimbal worm gear assembly, and other components in the equipment utilize their interconnections and the self-locking characteristics of the worm gear transmission to ensure that the mechanism can remain stable in any posture and will not change position due to external forces or power outages, significantly improving operational safety. Simultaneously, the entire mechanism employs a comprehensive protection and sealing design composed of multiple components, effectively preventing dust, water, and impact, enabling it to maintain stable and reliable operation in complex and harsh real-world bomb disposal environments. Attached Figure Description

[0016] Figure 1 This is an overall schematic diagram of the camera structure of the auxiliary arm of a bomb disposal robot proposed in this utility model;

[0017] Figure 2 This is a schematic diagram of the auxiliary arm camera mechanism of an explosive ordnance disposal robot according to the present invention.

[0018] Figure 3 This is a schematic diagram of the auxiliary arm gimbal assembly of the auxiliary arm camera structure of an explosive ordnance disposal robot proposed in this utility model;

[0019] Figure 4 This is a schematic diagram of the auxiliary arm of the bomb disposal robot's auxiliary arm camera structure proposed in this utility model.

[0020] Legend:

[0021] 1. Camera; 2. Auxiliary arm base housing; 3. Auxiliary arm motor mounting bracket; 4. Auxiliary arm; 5. Locking washer; 6. Locking nut; 7. Auxiliary arm cable protection cover; 8. Auxiliary arm side cover; 9. Cylindrical head screw; 10. Auxiliary arm gimbal assembly; 11. Gimbal rotation bracket; 12. Top cover; 13. Bearing; 14. Auxiliary arm gimbal tube shaft; 15. Auxiliary arm gimbal body; 16. Auxiliary arm gimbal worm gear assembly; 17. Worm gear; 18. Slip ring mounting chamber ; 19. Lower cover assembly; 20. Star-shaped sealing ring; 21. Right housing of auxiliary arm; 22. Encoder gear assembly; 23. Encoder; 24. Shoulder worm gear assembly of auxiliary arm; 25. Shoulder worm wheel of auxiliary arm; 26. Left housing of auxiliary arm; 27. Wrist wheel hub assembly of auxiliary arm; 28. Wrist worm gear assembly of auxiliary arm; 29. ​​Wrist motor assembly of auxiliary arm; 30. Protection board; 31. Low-power dual-axis control circuit board; 32. Camera mechanism of auxiliary arm; 33. Robotic arm assembly. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Reference Figure 2 - Figure 4This utility model provides an embodiment of an auxiliary arm camera structure for a bomb disposal robot, including a robotic arm assembly 33, which serves as the main operating arm of the bomb disposal robot. An auxiliary arm camera mechanism 32 is located at the end of the robotic arm assembly 33, and an auxiliary arm base housing 2 is fixedly mounted at the end of the auxiliary arm camera mechanism 32. The auxiliary arm base housing 2 is used to fix the entire auxiliary arm camera mechanism 32 at the end of the robotic arm assembly 33, serving as a load-bearing and connecting element. An auxiliary arm 4 is fixedly mounted at the rear end of the auxiliary arm base housing 2 via an auxiliary arm motor mounting bracket 3. The auxiliary arm motor mounting bracket 3 provides a stable mounting platform for the first drive unit shoulder motor, ensuring the stability of the drive components during operation. It is an important structure for transmitting force and torque. The auxiliary arm 4 is the core moving arm of the mechanism, connecting the auxiliary arm base housing 2 and the auxiliary arm gimbal assembly 10. It integrates all drive, transmission, and control units, forming the basic framework for realizing multi-degree-of-freedom movement of the camera. The outer wall of the auxiliary arm 4 consists of an auxiliary arm left housing 26 and an auxiliary arm... The right shell 21 of the auxiliary arm is spliced ​​together with the left shell 26 of the auxiliary arm. Together they form the outer protective shell of the auxiliary arm 4, which is used to protect the internal precision mechanism, provide structural strength, and form an overall appearance. The rear end of the auxiliary arm 4 is provided with a first drive unit, which is used to drive the auxiliary arm 4 to rotate around the axis connecting it to the auxiliary arm base shell 2. The front end of the auxiliary arm 4 is provided with a second drive unit, on which the auxiliary arm gimbal assembly 10 is provided. The auxiliary arm gimbal assembly 10 is used to directly support and install the platform of the camera 1. It integrates a third drive unit to realize fine adjustment of the camera's posture. The outer wall of the auxiliary arm 4 is also provided with a protective and sealing component mechanism, which provides dustproof, waterproof and impact-resistant protection for the auxiliary arm 4, adapting to the complex environment of bomb disposal operations. The second drive unit of the auxiliary arm 4 is used to drive the auxiliary arm gimbal assembly 10 to rotate relative to the auxiliary arm 4. The camera 1 is provided on the upper side of the auxiliary arm gimbal assembly 10.

[0024] Reference Figure 2 - Figure 4The first drive unit of the auxiliary arm 4 includes a shoulder motor, an auxiliary arm shoulder worm gear assembly 24, and an auxiliary arm shoulder worm wheel 25. The auxiliary arm shoulder worm gear assembly 24 is driven by the shoulder motor and meshes with the auxiliary arm shoulder worm wheel 25, transmitting the power and motion of the motor to the worm wheel, driving the auxiliary arm 4 to rotate as a whole. The auxiliary arm shoulder worm gear assembly 24 is fixedly installed on the outer wall of the auxiliary arm shoulder worm wheel 25. The transmission components of the auxiliary arm shoulder worm wheel 25 and the auxiliary arm shoulder worm gear assembly 24 are fixed on the base of the auxiliary arm 4 and rotate under the drive of the worm, thereby driving the entire auxiliary arm 4 to rotate around its connecting axis with the auxiliary arm base housing 2. The first drive unit of the auxiliary arm 4 is located inside the auxiliary arm 4 and is used to drive the auxiliary arm 4. Arm 4 rotates around its connecting axis with the auxiliary arm base housing 2. The first drive unit of the auxiliary arm 4 also includes an angle detection unit, which consists of an encoder 23 and an encoder gear assembly 22. The encoder 23 is part of the angle detection unit and meshes with the output end of the first drive unit, such as the auxiliary arm shoulder worm gear 25, synchronously transmitting the rotational motion of the drive unit to the encoder 23 to achieve precise synchronous motion detection. The encoder 23 is the core of the angle detection unit, a high-precision position sensor that acquires the rotational angle information of the first drive unit through the encoder gear assembly 22 and converts it into an electrical signal to feed back to the low-power... The dual-axis control circuit board 31 enables closed-loop control. The encoder gear assembly 22 meshes with the output of the first drive unit to detect the rotation angle of the auxiliary arm 4 in real time and feeds the angle data back to the control terminal, achieving precise closed-loop control of the auxiliary arm 4. The second drive unit of the auxiliary arm 4 includes an auxiliary arm wrist motor assembly 29, an auxiliary arm wrist worm gear assembly 28, and an auxiliary arm wrist hub assembly 27. The auxiliary arm wrist motor assembly 29 is the power source for the wrist of the second drive unit. It is an integrated motor module that provides the original power for driving the rotation of the auxiliary arm gimbal assembly 10. The output of the auxiliary arm wrist motor assembly 29 is detachably connected to the auxiliary arm wrist worm gear assembly 28. Component 28 is the core transmission component of the wrist of the second drive unit. It is driven by the auxiliary arm wrist motor assembly 29 and meshes with the auxiliary arm wrist hub assembly 27. It amplifies the motion and torque of the motor and transmits it to the auxiliary arm gimbal assembly 10. The auxiliary arm wrist worm gear assembly 28 is provided with the auxiliary arm wrist hub assembly 27 at its end. The auxiliary arm wrist hub assembly 27 is the output end component of the wrist of the second drive unit. It cooperates with the auxiliary arm wrist worm gear assembly 28 to transmit the power of the wrist motor to the auxiliary arm gimbal assembly 10 and drive the gimbal to rotate as a whole. The second drive unit of the auxiliary arm 4 is located at the connection between the auxiliary arm 4 and the auxiliary arm gimbal assembly 10 and is used to drive the auxiliary arm gimbal assembly 10 to rotate relative to the auxiliary arm 4.

[0025] Reference Figure 1 - Figure 3The auxiliary arm gimbal assembly 10 further includes a gimbal rotation bracket 11, an auxiliary arm gimbal body 15, a third drive unit, and a bearing 13. The gimbal rotation bracket 11 is the core moving component of the auxiliary arm gimbal assembly 10, on which the camera 1 is directly mounted. Driven by the third drive unit, it rotates around the auxiliary arm gimbal body 15 to achieve pitch or attitude fine-tuning of the camera. The third drive unit consists of an auxiliary arm gimbal worm gear assembly 16 and a worm wheel 17, used to drive the gimbal rotation bracket 11 to rotate relative to the auxiliary arm gimbal body 15 to fine-tune the attitude of the camera 1. The auxiliary arm gimbal body 15 is the fixed base of the auxiliary arm gimbal assembly 10 and is connected to the front of the auxiliary arm 4. The wrist joint provides an installation position and support for the gimbal rotation bracket 11, the third drive unit, etc. The inner wall of the bearing 13 is fitted with the auxiliary arm gimbal tube shaft 14. The bearing 13 is used to reduce the friction coefficient when the two rotate relative to each other, ensuring smooth, stable and high-precision rotation. The auxiliary arm gimbal assembly 10 also includes a slip ring mounting chamber 18. The slip ring mounting chamber 18 is used to accommodate and fix the conductive slip ring, providing a safe and stable installation environment for the slip ring and facilitating the entry and exit and management of cables. The conductive slip ring circuit connects the camera 1 to the external control and power supply system to ensure that the data cable and power cable of the camera 1 will not get tangled when the camera 1 rotates continuously.

[0026] Reference Figure 2 - Figure 4 The auxiliary arm 4 also has a low-power dual-axis control circuit board 31 located at its internal axis. This low-power dual-axis control circuit board 31 serves as the "brain" of the mechanism, integrating a microprocessor, motor drive circuitry, and communication interface. It receives instructions from the robot's main controller and independently controls the movement of the first and second drive units to achieve precise and coordinated actions. The low-power dual-axis control circuit board 31 is connected to the first and second drive units of the auxiliary arm 4, respectively, to receive external control commands and independently drive the first drive unit of the auxiliary arm 4. The auxiliary arm 4 and the second drive unit are used to achieve coordinated or independent control of the auxiliary arm 4 and the auxiliary arm gimbal assembly 10. The protection and sealing components of the auxiliary arm 4 include the auxiliary arm cable protection cover 7, the auxiliary arm side cover 8, the protection plate 30, the star-shaped sealing ring 20, and the outer shell composed of the upper cover 12 and the lower cover assembly 19. The outer wall of the auxiliary arm side cover 8 is fixedly installed on the rear end of the auxiliary arm left housing 26 by the cylindrical head screw 9. The inner wall of the auxiliary arm side cover 8 is detachably connected to the slot at the rear end of the auxiliary arm left housing 26 by the locking washer 5 and the locking nut 6.

[0027] Working principle:

[0028] After receiving commands through the communication interface, the low-power dual-axis control circuit board 31 first drives the first drive unit shoulder drive to perform a wide range of posture adjustments. The shoulder motor transmits power to the entire auxiliary arm 4 through the meshing transmission of the auxiliary arm shoulder worm gear assembly 24 and the auxiliary arm shoulder worm wheel 25, causing it to rotate around the connecting axis of the auxiliary arm base housing 2. This rotational freedom enables the initial adjustment of the height and pitch angle of the camera 1. To ensure accuracy, the encoder 23 meshes with the auxiliary arm shoulder worm wheel 25 through the encoder gear assembly 22, detects the rotation angle of the auxiliary arm 4 in real time, and feeds it back to the low-power dual-axis control circuit board 31, forming a high-precision closed-loop control. The self-locking characteristic of the worm gear transmission enables the auxiliary arm 4 to maintain its current posture stably when the motor stops, effectively preventing the viewing angle shift caused by external force or gravity, and improving operational safety.

[0029] After the posture of the auxiliary arm 4 is determined, the wrist drive of the second drive unit is responsible for realizing all-round horizontal observation. The low-power dual-axis control circuit board 31 drives the auxiliary arm wrist motor assembly 29. Through the meshing of the auxiliary arm wrist worm gear assembly 28 and the auxiliary arm wrist hub assembly 27, the entire auxiliary arm gimbal assembly 10 is driven to rotate horizontally relative to the auxiliary arm 4. This design enables the camera 1 to achieve 360° continuous observation in the horizontal plane and complete all-round scanning without moving the robot body. In order to solve the problem of cable entanglement during rotation, the auxiliary arm gimbal assembly 10 is equipped with a slip ring mounting chamber 18. The built-in conductive slip ring ensures that the power supply and signal transmission of the camera 1 are unobstructed during continuous rotation.

[0030] When precise observation of the target is required, the third drive unit gimbal fine-tuning begins. The auxiliary arm gimbal worm gear assembly 16 meshes with the worm wheel 17, driving the gimbal rotation bracket 11 to rotate within a small range relative to the auxiliary arm gimbal body 15, achieving fine-tuning of the camera 1's posture. The cooperation between the bearing 13 and the auxiliary arm gimbal tube shaft 14 ensures the smoothness and stability of the fine-tuning action. The entire mechanism consists of the auxiliary arm left housing 26, the auxiliary arm right housing 21, the upper cover 12, the lower cover assembly 19, etc., forming a complete outer shell. Combined with protective components such as the star-shaped sealing ring 20 and the protective plate 30, a dustproof, waterproof, and impact-resistant protection system is formed, enabling the equipment to adapt to complex bomb disposal operation environments.

[0031] The coordinated operation of the three drive units, combined with precise closed-loop control and reliable protection design, enables this invention to achieve rapid target locking and high-precision observation while ensuring safety, significantly improving the operational efficiency and flexibility of the bomb disposal robot.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A camera structure for an auxiliary arm of a bomb disposal robot, comprising a robotic arm assembly (33), characterized in that: The end of the robotic arm assembly (33) is provided with an auxiliary arm camera mechanism (32), and an auxiliary arm base housing (2) is fixedly installed at the end of the auxiliary arm camera mechanism (32). An auxiliary arm (4) is fixedly installed at the rear end of the auxiliary arm base housing (2) through an auxiliary arm motor mounting bracket (3). The outer wall of the auxiliary arm (4) is spliced ​​from the auxiliary arm left housing (26) and the auxiliary arm right housing (21). The rear end of the auxiliary arm (4) is provided with a first drive unit. The first drive unit of the auxiliary arm (4) is used to drive the auxiliary arm (4) itself to rotate around its connection with the auxiliary arm base housing (2). The auxiliary arm (4) is rotated along the axis. A second drive unit is provided at the front end of the auxiliary arm (4). An auxiliary arm gimbal assembly (10) is provided on the second drive unit of the auxiliary arm (4). A protective and sealing component mechanism is also provided on the outer wall of the auxiliary arm (4). The protective and sealing component mechanism of the auxiliary arm (4) provides dustproof, waterproof and impact-proof protection for the auxiliary arm (4) and adapts to the complex environment of bomb disposal operations. The second drive unit of the auxiliary arm (4) is used to drive the auxiliary arm gimbal assembly (10) to rotate relative to the auxiliary arm (4). A camera (1) is provided on the upper side of the auxiliary arm gimbal assembly (10).

2. The camera structure for an auxiliary arm of a bomb disposal robot according to claim 1, characterized in that: The first drive unit of the auxiliary arm (4) includes a shoulder motor, an auxiliary arm shoulder worm gear assembly (24) and an auxiliary arm shoulder worm wheel (25). The auxiliary arm shoulder worm gear assembly (24) is fixedly installed on the outer wall of the auxiliary arm shoulder worm wheel (25). The first drive unit of the auxiliary arm (4) is located inside the auxiliary arm (4) and is used to drive the auxiliary arm (4) itself to rotate around its connecting axis with the auxiliary arm base housing (2).

3. The camera structure for an auxiliary arm of a bomb disposal robot according to claim 1, characterized in that: The second drive unit of the auxiliary arm (4) includes an auxiliary arm wrist motor assembly (29), an auxiliary arm wrist worm gear assembly (28), and an auxiliary arm wrist hub assembly (27). The output end of the auxiliary arm wrist motor assembly (29) is detachably connected to the auxiliary arm wrist worm gear assembly (28), and the end of the auxiliary arm wrist worm gear assembly (28) is provided with the auxiliary arm wrist hub assembly (27). The second drive unit of the auxiliary arm (4) is located at the connection between the auxiliary arm (4) and the auxiliary arm gimbal assembly (10) and is used to drive the auxiliary arm gimbal assembly (10) to rotate relative to the auxiliary arm (4).

4. The camera structure for an auxiliary arm of a bomb disposal robot according to claim 1, characterized in that: The first drive unit of the auxiliary arm (4) also includes an angle detection unit, which consists of an encoder (23) and an encoder gear assembly (22). The encoder gear assembly (22) meshes with the output end of the first drive unit and is used to detect the rotation angle of the auxiliary arm (4) in real time and feed the angle data back to the control end to realize precise closed-loop control of the auxiliary arm (4).

5. The camera structure for an auxiliary arm of a bomb disposal robot according to claim 1, characterized in that: The auxiliary gimbal assembly (10) further includes a gimbal rotation bracket (11), an auxiliary gimbal body (15), a third drive unit, and a bearing (13). The third drive unit is composed of an auxiliary gimbal worm gear assembly (16) and a worm wheel (17), which is used to drive the gimbal rotation bracket (11) to rotate relative to the auxiliary gimbal body (15) to fine-tune the posture of the camera (1). The inner wall of the bearing (13) is fitted with an auxiliary gimbal tube shaft (14).

6. The camera structure for an auxiliary arm of a bomb disposal robot according to claim 1, characterized in that: The auxiliary arm gimbal assembly (10) also includes a slip ring mounting chamber (18) for accommodating a conductive slip ring circuit that connects the camera (1) to an external control and power supply system to ensure that the data cable and power cable of the camera (1) do not become tangled when the camera (1) rotates continuously.

7. The camera structure for an auxiliary arm of a bomb disposal robot according to claim 1, characterized in that: A low-power dual-axis control circuit board (31) is also provided at the inner axis of the auxiliary arm (4). The low-power dual-axis control circuit board (31) is connected to the first drive unit and the second drive unit of the auxiliary arm (4) respectively. It is used to receive external control commands and independently drive the first drive unit and the second drive unit of the auxiliary arm (4) to realize the coordinated or independent control of the auxiliary arm (4) and the auxiliary arm gimbal assembly (10).

8. The camera structure for an auxiliary arm of a bomb disposal robot according to claim 1, characterized in that: The protective and sealing components of the auxiliary arm (4) include an auxiliary arm cable protection cover (7), an auxiliary arm side cover (8), a protective plate (30), a star-shaped sealing ring (20), and a housing composed of an upper cover (12) and a lower cover assembly (19). The outer wall of the auxiliary arm side cover (8) is fixedly installed on the rear end of the auxiliary arm left housing (26) by a cylindrical head screw (9). The inner wall of the auxiliary arm side cover (8) is detachably connected to the slot at the rear end of the auxiliary arm left housing (26) by a locking washer (5) and a locking nut (6).

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