Police robot bomb clamping device

Abstract

The application relates to the technical field of police explosive ordnance disposal equipment, in particular to a police robot explosive ordnance disposal clamping device which comprises a main body frame, a self-adaptive clamping assembly and a force feedback adjusting assembly. The self-adaptive clamping assembly realizes automatic adjustment of a clamping jaw module through a flexible connecting rod and an elastic buffer, so that the impact force is reduced; the force feedback adjusting assembly realizes fine force control by using a pressure sensor, a signal processor and a fine adjustment motor. The application can improve the safety, operation precision and environmental adaptability of explosive ordnance disposal clamping, and meets the demand of modern anti-terrorist explosive ordnance disposal tasks for high reliability and high intelligent equipment.

Description

Technical Field

[0001] This utility model belongs to the field of police robot technology, specifically a bomb disposal gripping device for police robots. Background Technology

[0002] With the development of police bomb disposal robot technology, bomb disposal operations are gradually evolving towards remote, intelligent, and precise operations. In the process of handling explosives, the gripping device, as a key actuator that directly contacts the explosive, directly affects the success rate of the bomb disposal mission due to its safety, stability, and adaptability. However, existing gripping devices still suffer from high operational risks, weak adaptability, and insufficient control precision when dealing with complex and varied explosive shapes, sensitive detonation mechanisms, and harsh operating environments.

[0003] A search revealed a test device for the gripping performance of a bomb disposal robot, publication number CN119574172B, published on May 23, 2025. This device is primarily used to test the gripping performance of a bomb disposal robot on simulated explosives with different radii, weights, and velocity variables. It adjusts the gripping dimensions using guide slots, multiple curved plates, and linked electric cylinders, and is equipped with counterweights and velocity variable measurement mechanisms to complete multi-condition test evaluations. While this solution can simulate various explosive shapes and perform gripping performance tests, it is essentially a ground-based fixed test device and lacks actual bomb disposal operational capabilities. Furthermore, it does not address force feedback control, compliance adjustment, or anti-accidental contact mechanisms during the gripping process. This device is only for performance verification in a laboratory environment and cannot meet the core requirements for safety and intelligent adaptability of gripping actions in real bomb disposal scenarios.

[0004] A search revealed a bomb disposal robot with publication number CN118832607B, published on December 17, 2024. This robot is equipped with a robotic arm assembly and a gripping assembly with an internal sliding connection. It possesses signal reception, real-time monitoring, and obstacle-crossing capabilities, and can be remotely controlled to perform bomb disposal tasks. While its gripping assembly can perform basic grasping actions, the patent text does not mention gripping force sensing, compliant control, or a variable stiffness structure design, indicating that its gripping action may be a rigid contact mode. When facing easily triggered, irregularly shaped, or surface-sensitive explosives, such rigid gripping can easily cause localized stress concentration, leading to explosive displacement, structural deformation, or even accidental detonation, making it difficult to meet the operational requirements of "light touch, steady grip, and flexible control" in high-risk environments.

[0005] The aforementioned problems indicate that existing bomb disposal gripping devices are either limited to experimental verification functions and lack practical combat capabilities, or, although integrated into the robot body, lack precise force control and environmental adaptability design for the gripping process. Especially when dealing with explosives of unknown shape and high sensitivity, traditional gripping methods struggle to balance grasping stability and operational safety. Therefore, there is an urgent need for a novel gripping device with biomimetic multi-finger dexterous operation, a variable stiffness gripper structure, and integrated force feedback control to achieve safe, precise, and adaptive gripping of explosives.

[0006] This utility model provides a police robot bomb disposal gripping device, which adopts a biomimetic multi-finger dexterous hand or variable stiffness gripper, combined with force feedback control technology, to effectively avoid the displacement or accidental contact of explosives caused by rigid collisions. It solves the core problems of insufficient safety, low operation accuracy and poor environmental adaptability in traditional bomb disposal operations, and meets the needs of modern counter-terrorism bomb disposal missions for highly reliable and intelligent operating equipment. Utility Model Content

[0007] This utility model relates to a bomb disposal gripping device for police robots, comprising a main frame, an adaptive gripping assembly, and a force feedback adjustment assembly. The adaptive gripping assembly is installed within the main frame, and the force feedback adjustment assembly is installed at the top of the main frame. The adaptive gripping assembly includes a drive unit, a flexible connecting rod, a gripper module, pressure sensors, an elastic buffer, and guide rails. Guide rails are symmetrically arranged within the main frame. A flexible connecting rod is slidably connected to the inner wall of the guide rail. One end of the flexible connecting rod is fixedly connected to the gripper module. Pressure sensors are distributed and installed on the outer side of the gripper module. An elastic buffer is sleeved on the outer wall of the flexible connecting rod. One end of the elastic buffer is fixed to the outer wall of the gripper module, and the other end is fixed to the inner wall of the guide rail. The drive unit is embedded in the bottom of the main frame, and the top end of the output shaft of the drive unit is connected to the flexible connecting rod via a transmission mechanism.

[0008] The force feedback adjustment component includes a control unit, a signal processor, a fine-tuning motor, and rigid support arms. Rigid support arms are symmetrically fixed to the top of the main frame. Fine-tuning motors are rotatably connected between the rigid support arms. A signal processor is fixed to the top of the output shaft of the fine-tuning motor. Control units are distributed and installed on one side of the outer wall of the signal processor, and these control units are connected to pressure sensors via data cables. An arc-shaped groove is formed at the top of each rigid support arm, and a slider is slidably connected within the arc-shaped groove. A connecting rod is fixed to one side of the outer wall of the slider, and one end of the connecting rod is connected to the top of the gripper module.

[0009] An operation window is provided on one side of the main frame. A protective cover is installed on the inner wall of the operation window. Locking bolts are fixedly distributed on the outer wall of one side of the protective cover. One end of the locking bolts passes through the protective cover and is threadedly connected to the outer wall of the main frame. An auxiliary bracket is fixedly connected to the other side of the main frame. A display panel is installed on one end of the auxiliary bracket. Operation buttons are distributed on the outer wall of one side of the display panel.

[0010] The elastic buffer element adopts a helical spring structure, and its outer wall is coated with an anti-rust coating. There are four elastic buffer elements, each corresponding to one of the four gripper modules. A biomimetic texture layer is distributed on the inner wall of each gripper module. The biomimetic texture layer is fixed to the inner wall of the gripper module by adhesive bonding, and its surface is wavy. An annular groove is formed on the outer wall of the flexible connecting rod, and a sealing ring is embedded in the annular groove. The outer wall of the sealing ring is tightly fitted against the inner wall of the guide rail.

[0011] The drive unit includes a stepper motor, a reduction gear set, and a transmission belt. The reduction gear set is fixedly connected to the top of the output shaft of the stepper motor. The transmission belt is meshed with the outer side of the reduction gear set, and one end of the transmission belt is fixedly connected to the outer wall of the flexible connecting rod. Tensioning pulleys are distributed on the outer side of the transmission belt. An adjusting bolt is fixedly connected to one side of the outer wall of the tensioning pulley. One end of the adjusting bolt passes through the tensioning pulley and is threadedly connected to the outer wall of the main frame.

[0012] The signal processor integrates an analog-to-digital conversion module and a data analysis module. The analog-to-digital conversion module converts the analog signals acquired by the pressure sensor into digital signals, and the data analysis module processes the digital signals in real time and generates control commands. The control unit includes a storage module and a communication module. The storage module records historical operation data, and the communication module interacts with external devices.

[0013] An eccentric wheel is fixedly connected to the top of the output shaft of the fine-tuning motor. A sliding block is attached to one outer wall of the eccentric wheel, and a connecting rod is fixedly connected to one outer wall of the sliding block. One end of the connecting rod is connected to the top of the gripper module. Positioning holes are distributed on the outer wall of the eccentric wheel, and positioning pins are inserted into the positioning holes. One end of the positioning pin passes through the eccentric wheel and is threadedly connected to the housing of the fine-tuning motor.

[0014] This invention employs an adaptive gripping assembly. Through a combination of a flexible connecting rod and an elastic buffer, the gripper module automatically adjusts its position according to the shape of the contact surface when in contact with an explosive, preventing displacement or accidental contact due to rigid collisions. Simultaneously, the compression and rebound characteristics of the elastic buffer effectively absorb impact force, reducing the risk of localized stress concentration. Furthermore, the biomimetic textured layer increases the friction between the gripper module and the explosive, further enhancing gripping stability.

[0015] This invention also employs a force feedback adjustment component, which uses a pressure sensor to monitor the contact force between the gripper module and the explosive in real time, and transmits the collected data to a signal processor for analysis. The control commands generated by the signal processor are transmitted to a fine-tuning motor via a control unit. The fine-tuning motor, through the linkage of an eccentric wheel and a connecting rod, finely adjusts the position of the gripper module, thereby achieving precise force control. This design not only improves the safety of the gripping process but also enhances its adaptability to complex explosive configurations.

[0016] In summary, this invention, through the synergistic effect of the adaptive clamping component and the force feedback adjustment component, solves the shortcomings of traditional bomb disposal clamping devices in terms of safety, operational accuracy, and environmental adaptability, and meets the requirements of modern counter-terrorism bomb disposal missions for highly reliable and intelligent equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the overall structure of this utility model from another angle.

[0019] Figure 3 for Figure 1 A magnified diagram of region A.

[0020] Figure 4 for Figure 1 A magnified diagram of region B.

[0021] The attached figures are labeled as follows: 1. Main frame; 2. Adaptive clamping assembly; 3. Force feedback adjustment assembly; 4. Drive unit; 5. Flexible connecting rod; 6. Gripper module; 7. Pressure sensor; 8. Elastic buffer; 9. Guide rail; 10. Rigid support arm; 11. Fine-tuning motor; 12. Signal processor; 13. Control unit; 14. Bionic texture layer; 15. Transmission belt; 16. Tensioning wheel; 17. Adjusting bolt. 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0023] Specific implementation examples are given below.

[0024] This utility model relates to a bomb disposal gripping device for police robots, the specific implementation of which is as follows. (Combined with...) Figures 1 to 4 As shown, the device includes a main frame 1, an adaptive clamping assembly 2, and a force feedback adjustment assembly 3. The main frame 1 serves as the supporting structure for the entire device, with the adaptive clamping assembly 2 installed inside and the force feedback adjustment assembly 3 installed on top. An operation window is provided on one side of the main frame 1, and a protective cover is installed on the inner wall of the operation window. The protective cover is fixed to the outer wall of the main frame 1 by locking bolts. An auxiliary bracket is fixed to the other side, and a display panel is installed at one end of the auxiliary bracket. Operation buttons are distributed on one side of the outer wall of the display panel.

[0025] The adaptive clamping assembly 2 includes a drive unit 4, a flexible connecting rod 5, a gripper module 6, a pressure sensor 7, an elastic buffer 8, and a guide rail 9. Guide rails 9 are symmetrically arranged within the main frame 1. A flexible connecting rod 5 is slidably connected to the inner wall of the guide rail 9. One end of the flexible connecting rod 5 is fixedly connected to the gripper module 6, and pressure sensors 7 are distributed and installed on the outer side of the gripper module 6. An elastic buffer 8 is sleeved on the outer wall of the flexible connecting rod 5. One end of the elastic buffer 8 is fixed to the outer wall of the gripper module 6, and the other end is fixed to the inner wall of the guide rail 9. The drive unit 4 is embedded in the bottom of the main frame 1. The top end of the output shaft of the drive unit 4 is connected to the flexible connecting rod 5 via a transmission mechanism. The drive unit 4 includes a stepper motor, a reduction gear set, and a transmission belt 15. The top end of the output shaft of the stepper motor is fixedly connected to the reduction gear set, and the transmission belt 15 is meshed and installed on the outer side of the reduction gear set. One end of the transmission belt 15 is fixed to the outer wall of the flexible connecting rod 5. Tensioning pulleys 16 are distributed on the outer side of the transmission belt 15. An adjusting bolt 17 is fixed to one side of the outer wall of the tensioning pulley 16. One end of the adjusting bolt 17 passes through the tensioning pulley 16 and is threadedly connected to the outer wall of the main frame 1.

[0026] The force feedback adjustment component 3 includes a control unit 13, a signal processor 12, a fine-tuning motor 11, and rigid support arms 10. Rigid support arms 10 are symmetrically fixed to the top of the main frame 1. Fine-tuning motors 11 are rotatably connected between the rigid support arms 10. A signal processor 12 is fixed to the top of the output shaft of the fine-tuning motor 11. Control units 13 are mounted on one side of the outer wall of the signal processor 12 and are connected to pressure sensors 7 via data cables. An arc-shaped groove is formed at the top of the rigid support arm 10, and a slider is slidably connected within the groove. A connecting rod is fixed to one side of the outer wall of the slider, and one end of the connecting rod is connected to the top of the gripper module 6. An eccentric wheel is fixed to the top of the output shaft of the fine-tuning motor 11. A sliding block is attached to one side of the outer wall of the eccentric wheel, and a connecting rod is fixed to one side of the outer wall of the sliding block, with one end of the connecting rod connected to the top of the gripper module 6. Positioning holes are distributed on the outer wall of the eccentric wheel, and positioning pins are inserted into the positioning holes. One end of the positioning pin passes through the eccentric wheel and is threadedly connected to the housing of the fine-tuning motor 11.

[0027] A biomimetic texture layer 14 is distributed on the inner wall of the gripper module 6. The biomimetic texture layer 14 is fixed to the inner wall of the gripper module 6 by adhesive bonding, and the surface of the biomimetic texture layer 14 is distributed in a wavy pattern. An annular groove is formed on the outer wall of the flexible connecting rod 5, and a sealing ring is embedded in the annular groove. The outer wall of the sealing ring is in close contact with the inner wall of the guide rail 9. The elastic buffer 8 adopts a helical spring structure, and its outer wall is coated with an anti-rust coating. There are four elastic buffers 8, each corresponding to one of the four gripper modules 6.

[0028] In actual operation, after the stepper motor in drive unit 4 starts, it transmits power to transmission belt 15 through reduction gear set. Transmission belt 15 drives flexible connecting rod 5 to slide along guide rail 9, thereby driving gripper module 6 to move closer to or away from target object. When gripper module 6 contacts target object, pressure sensor 7 collects the contact force between gripper module 6 and target object in real time and transmits the collected data to signal processor 12. Signal processor 12 integrates analog-to-digital conversion module and data analysis module. Analog-to-digital conversion module converts analog signal collected by pressure sensor 7 into digital signal, and data analysis module processes digital signal in real time and generates control command. Control command is transmitted to fine-tuning motor 11 through control unit 13. Fine-tuning motor 11 fine-tunes the position of gripper module 6 through the linkage of eccentric wheel and connecting rod, thereby achieving precise force control.

[0029] During the contact between the gripper module 6 and the target object, the elastic buffer 8 absorbs the impact force through compression and rebound characteristics, reducing the risk of local stress concentration. Simultaneously, the flexible connecting rod 5 can slide flexibly within the guide rail 9, allowing the gripper module 6 to automatically adjust its position according to the shape of the target object, preventing displacement or accidental contact due to rigid collisions. The biomimetic texture layer 14 increases the friction between the gripper module 6 and the target object, further improving gripping stability.

[0030] The display panel shows the device's operating status and various parameters. The operation buttons are for manual input of commands. The control unit 13 contains a storage module and a communication module. The storage module records historical operation data, and the communication module interacts with external devices. The protective cover is fixed to the operating window of the main frame 1 with locking bolts to ensure the device is not disturbed by external factors during operation.

[0031] Through the above structural design, this device can achieve safe clamping and stable operation of explosives, meeting the requirements of modern counter-terrorism and bomb disposal missions for highly reliable and intelligent equipment. To better enable those skilled in the art to fully understand and implement this invention, the specific implementation principle of this invention is further explained below in conjunction with a specific application scenario.

[0032] In actual bomb disposal operations, operators input commands via the display panel. Upon receiving the commands, control unit 13 activates the stepper motor in drive unit 4. The output shaft of the stepper motor drives a reduction gear set to rotate, which transmits power to transmission belt 15. Transmission belt 15 pulls the flexible connecting rod 5 along guide rail 9. The sliding of the flexible connecting rod 5 causes the gripper module 6 to move closer to the target explosive. During this process, the sealing ring on the outer wall of the flexible connecting rod 5 fits tightly against the inner wall of the guide rail 9, ensuring a smooth and non-deviation-prone sliding process. Simultaneously, the elastic buffer 8 compresses or rebounds with the movement of the flexible connecting rod 5, absorbing the impact force generated by contact with the explosive and preventing localized stress concentration that could lead to accidents.

[0033] When the gripper module 6 contacts the target explosive, the pressure sensor 7 collects the contact force between the gripper module 6 and the explosive in real time and transmits the analog signal to the signal processor 12. The analog-to-digital converter module inside the signal processor 12 converts the analog signal into a digital signal, and the data analysis module processes the received digital signal to generate control commands. The control commands are transmitted to the control unit 13 via a data line, and the control unit 13 starts the fine-tuning motor 11 according to the commands. The output shaft of the fine-tuning motor 11 drives the eccentric wheel to rotate. The eccentric wheel, through the linkage of the sliding block and the connecting rod, finely adjusts the position of the gripper module 6, thereby achieving precise control of the clamping force.

[0034] During the gripping process, the biomimetic texture layer 14 on the inner wall of the gripper module 6 comes into contact with the surface of the explosive. The wavy design of the biomimetic texture layer 14 increases the friction between the gripper module 6 and the explosive, preventing unstable gripping due to the smooth surface of the explosive. In addition, the flexible connecting rod 5 can slide flexibly within the guide rail 9, allowing the gripper module 6 to automatically adjust its position according to the shape of the explosive, avoiding displacement or accidental triggering of the explosive due to rigid collisions.

[0035] Meanwhile, the protective cover is fixed to the operating window of the main frame 1 by locking bolts, ensuring that the device is not disturbed by external factors during operation. The storage module inside the control unit 13 records historical operating data, and the communication module interacts with external devices for data exchange, facilitating subsequent analysis and optimization. The adjusting bolt 17 adjusts the tension of the transmission belt 15 through the tensioning wheel 16 to ensure stable transmission efficiency.

[0036] Through the above steps, the device can safely and stably perform clamping operations on explosives with complex shapes. The compression and rebound characteristics of the elastic buffer 8 effectively reduce the risk of impact, the adaptive adjustment capability of the flexible connecting rod 5 avoids rigid collisions, and the force feedback adjustment component enables precise control of the clamping force. These designs together improve the safety and reliability of the device in handling highly sensitive explosives, meeting the needs of modern counter-terrorism and bomb disposal missions.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A police robot EOD clamping device, characterized by, The device includes a main frame (1), an adaptive clamping assembly (2), and a force feedback adjustment assembly (3). The adaptive clamping assembly (2) is installed inside the main frame (1), and the force feedback adjustment assembly (3) is installed on the top of the main frame (1). The adaptive clamping assembly (2) includes a drive unit (4), a flexible connecting rod (5), a gripper module (6), a pressure sensor (7), an elastic buffer (8), and a guide rail (9). The guide rail (9) is symmetrically arranged inside the main frame (1), and a flexible connecting rod is slidably connected to the inner wall of the guide rail (9). A flexible connecting rod (5) is fixedly connected to a gripper module (6) at one end. Pressure sensors (7) are distributed and installed on the outer side of the gripper module (6). An elastic buffer (8) is sleeved on the outer wall of the flexible connecting rod (5). One end of the elastic buffer (8) is fixed to the outer wall of the gripper module (6), and the other end is fixed to the inner wall of the guide rail (9). A drive unit (4) is embedded in the bottom of the main frame (1), and the top end of the output shaft of the drive unit (4) is connected to the flexible connecting rod (5) through a transmission mechanism.

2. The police robot bomb disposal clamping device according to claim 1, characterized in that, The force feedback adjustment component (3) includes a control unit (13), a signal processor (12), a fine-tuning motor (11), and a rigid support arm (10). The top of the main frame (1) is symmetrically fixed with rigid support arms (10), and the fine-tuning motor (11) is rotatably connected between the rigid support arms (10). The top of the output shaft of the fine-tuning motor (11) is fixed with a signal processor (12). Control units (13) are distributed and installed on one side of the outer wall of the signal processor (12), and the control unit (13) is connected to the pressure sensor (7) through a data line.

3. The police robot bomb disposal clamping device according to claim 1, characterized in that, The drive unit (4) includes a stepper motor, a reduction gear set and a transmission belt (15). The top of the output shaft of the stepper motor is fixedly connected to the reduction gear set, and the transmission belt (15) is meshed and installed on the outer side of the reduction gear set. One end of the transmission belt (15) is fixedly connected to the outer wall of the flexible connecting rod (5).

4. The police robot bomb disposal clamping device according to claim 1, characterized in that, A biomimetic texture layer (14) is distributed on the inner wall of the gripper module (6). The biomimetic texture layer (14) is fixed to the inner wall of the gripper module (6) by adhesive bonding, and the surface of the biomimetic texture layer (14) is distributed in a wave-like pattern.

5. The police robot bomb disposal gripping device according to claim 1, characterized in that, The flexible connecting rod (5) has an annular groove on its outer wall, and a sealing ring is embedded in the annular groove. The outer wall of the sealing ring is tightly fitted with the inner wall of the guide rail (9).

6. The police robot bomb disposal gripping device according to claim 1, characterized in that, The elastic buffer (8) adopts a helical spring structure and its outer wall is coated with an anti-rust coating. There are four elastic buffers (8), which correspond to four gripper modules (6) respectively.

7. The police robot bomb disposal gripping device according to claim 2, characterized in that, An eccentric wheel is fixedly connected to the top of the output shaft of the fine-tuning motor (11). A sliding block is attached to one side of the outer wall of the eccentric wheel. A connecting rod is fixedly connected to one side of the outer wall of the sliding block. One end of the connecting rod is connected to the top of the gripper module (6).

8. The police robot bomb disposal gripping device according to claim 2, characterized in that, The signal processor (12) integrates an analog-to-digital conversion module and a data analysis module, and the control unit (13) is equipped with a storage module and a communication module.

9. The police robot bomb disposal gripping device according to claim 1, characterized in that, An operation window is provided on one side of the main frame (1). A protective cover is installed on the inner wall of the operation window. Locking bolts are distributed and fixed on the outer wall of one side of the protective cover. One end of the locking bolt passes through the protective cover and is threadedly connected to the outer wall of the main frame (1).

10. The police robot bomb disposal gripping device according to claim 1, characterized in that, An auxiliary support is fixed to the other side of the main frame (1). A display panel is installed at one end of the auxiliary support, and operation buttons are distributed on one side of the outer wall of the display panel.

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