An explosive disposal robot mechanical claw and camera combined structure

Abstract

The utility model relates to the field of defusing robot, disclose a defusing robot mechanical claw and camera combination structure, including claw piece gearbox assembly, the outer wall of claw piece gearbox assembly is provided with crank, the inner side of crank is hinged and links, the inner side of link is hinged and claw piece, the outer wall fixed connection of claw piece gearbox assembly has camera, the top of claw piece gearbox assembly is provided with annex connector mouth, the outer wall fixed connection of claw piece gearbox assembly has LED light, the surface fixed connection of claw piece has rubber sheet, the lateral wall of claw piece is provided with annex installation site. In the utility model, through the LED light of claw piece gearbox assembly outer wall and camera cooperation, can accurate light filling under the dim scene and real -time capture the state of grabbing, avoid the visual angle deviation, the picture fuzzy problem caused by the traditional dependence other parts observation, significantly improve the grabbing adaptability and operation accuracy of defusing operation.

Description

Technical Field

[0001] This utility model relates to the field of bomb disposal robots, and in particular to a combination structure of a mechanical claw and a camera for a bomb disposal robot. Background Technology

[0002] In bomb disposal operations, bomb disposal robots are the core equipment that ensures the safety and efficiency of operators in handling suspicious items. The mechanical gripper, as the end effector of the bomb disposal robot, undertakes the key functions of grasping and transferring suspicious items.

[0003] In existing technologies, domestic bomb disposal robots are usually equipped with dedicated mechanical claws to achieve the function of grasping objects, and the movement of the mechanical claws is driven by their own transmission components.

[0004] The existing technology has the following drawbacks: the mechanical gripper itself does not integrate a camera and lighting device. When relying on observation equipment in other parts of the robot, it is difficult for the operator to quickly and clearly determine the specific state of the mechanical gripper relative to the object being grasped, which can easily affect the timeliness and accuracy of the operation judgment. In addition, the existing mechanical gripper lacks the expansion installation function of bomb disposal tool accessories, and cannot be equipped with additional bomb disposal tool accessories, making it difficult to complete multiple complex bomb disposal tasks at one time, which is not conducive to the efficient advancement of bomb disposal operations. To address these issues, a combination structure of mechanical gripper and camera for a bomb disposal robot is proposed. Utility Model Content

[0005] To overcome the above deficiencies, this utility model provides a combination structure of a mechanical claw and a camera for a bomb disposal robot, aiming to solve the problem that some existing devices do not have observation equipment.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a combination structure of a mechanical claw and camera for a bomb disposal robot, including a claw gearbox assembly, a crank provided on the outer wall of the claw gearbox assembly, a connecting rod hinged to the inner side of the crank, a claw plate hinged to the inner side of the connecting rod, a camera fixedly connected to the outer wall of the claw gearbox assembly, an accessory connector port provided at the top of the claw gearbox assembly, an LED light fixedly connected to the outer wall of the claw gearbox assembly, a rubber sheet fixedly connected to the surface of the claw plate, and an accessory mounting position provided on the side wall of the claw plate.

[0007] As a further description of the above technical solution:

[0008] The claw plates are provided in two sets, and the two sets of claw plates are arranged symmetrically.

[0009] As a further description of the above technical solution:

[0010] The upper ends of the two sets of claw plates form claw tips.

[0011] As a further description of the above technical solution:

[0012] The claw tip has a flat shape, which is adapted to the shape of small items and is used to grasp small items.

[0013] As a further description of the above technical solution:

[0014] The middle ends of the two sets of claw plates form a claw-in-claw shape, which is adapted to the shape of a general-sized item and is used to grasp such items.

[0015] As a further description of the above technical solution:

[0016] The lower ends of the two sets of claw plates form a claw bottom shape, which is adapted to the shape of large objects and is used to grasp large objects.

[0017] This utility model has the following beneficial effects:

[0018] 1. In this utility model, the LED lighting on the outer wall of the claw gearbox assembly works in conjunction with the camera to accurately supplement the light in dim scenes and capture the grasping status in real time. This avoids the problems of perspective deviation and image blur caused by traditional reliance on observation from other parts, and significantly improves the grasping adaptability and operational accuracy of bomb disposal operations.

[0019] 2. In this utility model, the claw-shaped design of different areas of the claw plate achieves targeted fixation. Compared with the limitation of traditional mechanical claws that can only fix objects of small size, this structure realizes reliable fixation of objects of different sizes, providing a guarantee for the safe grasping and subsequent processing of objects in bomb disposal operations. Attached Figure Description

[0020] Figure 1 This is an exploded view of the overall structure of the combination of mechanical claw and camera of the bomb disposal robot proposed in this utility model.

[0021] Figure 2 This is a front view schematic diagram of a combination structure of a bomb disposal robot's mechanical claw and camera proposed in this utility model;

[0022] Figure 3 This is a schematic diagram illustrating the opening and closing of the claw plates in a combination structure of a bomb disposal robot's mechanical claw and camera, as proposed in this utility model.

[0023] Figure 4 This is a schematic diagram showing the accessory mounting position of the combination structure of the mechanical claw and camera of the bomb disposal robot proposed in this utility model.

[0024] Legend:

[0025] 1. Claw plate; 2. Connecting rod; 3. Crank; 4. Claw plate gearbox assembly; 5. Camera; 6. Accessory connector port; 7. LED light; 8. Claw tip shape; 9. Claw middle shape; 10. Claw bottom shape; 11. Rubber sheet; 12. Accessory mounting position. Detailed Implementation

[0026] 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.

[0027] Reference Figures 1-3 This utility model provides an embodiment of a bomb disposal robot's mechanical claw and camera combination structure, including a claw gearbox assembly 4. A crank 3 is provided on the outer wall of the claw gearbox assembly 4, and a connecting rod 2 is hinged to the inner side of the crank 3. The connecting rod 2 and the crank 3 cooperate to transmit the motion trajectory of the crank 3, converting the rotational motion of the crank 3 into the opening and closing action of the claw 1. The claw 1 is hinged to the inner side of the connecting rod 2, and the claw 1 directly contacts the object to be grasped. Different claw shapes are used to achieve precise grasping. A camera 5 is fixedly connected to the outer wall of the claw gearbox assembly 4. The camera 5 precisely focuses on the grasping area of ​​the mechanical claw, acquiring the relative position and contact state of the claw 1 and the object to be grasped in real time. An accessory connector is provided at the top of the claw gearbox assembly 4. Port 6, the accessory connector port 6, is a physical interface, serving as a reserved connection structure to provide a stable connection reference for the added bomb disposal tool accessories. An LED light 7 is fixedly connected to the outer wall of the claw gearbox assembly 4. The LED light 7 provides sufficient light for observation of bomb disposal operations, preventing the operator from being unable to see the details of the mechanical claw and the object being grasped due to dim lighting. A rubber sheet 11 is fixedly connected to the surface of the claw 1. The rubber sheet 11 can increase the friction between the claw 1 and the contact object, ensuring stability during the grasping process. The side wall of the claw 1 is provided with an accessory mounting position 12, which can provide a stable physical mounting space for various bomb disposal tool accessories such as small cutting tools and detection tools.

[0028] Reference Figures 2-4The claw plates 1 are provided in two sets, which are symmetrically arranged. The upper ends of the two sets of claw plates 1 form claw tip shape 8. Because it is designed to be planar, its structure, function and role are focused on grasping small-sized items. The claw tip shape 8 is planar and adapts to the shape of small-sized items for grasping small-sized items. The middle ends of the two sets of claw plates 1 form claw middle shape 9. The claw middle shape 9 adapts to the shape of medium-sized items for grasping medium-sized items. The lower ends of the two sets of claw plates 1 form claw bottom shape 10. The claw bottom shape 10 adapts to the shape of large items for grasping large items.

[0029] Working principle: When the entire device is in use, the claw gearbox assembly 4 serves as the core power adjustment and transmission hub. After receiving the external power source, the rotational motion of the crank 3 is converted into the reciprocating push-pull motion of the connecting rod 2 due to the hinge connection between the inner side of the crank 3 and the connecting rod 2. This drives the two symmetrically arranged claws 1 to complete the opening and closing action with the hinge point as the reference. Considering that there may be dark scenes in the bomb disposal operation, the LED lighting 7 on the outer wall of the claw gearbox assembly 4 is activated to directly supplement the light of the claw 1 gripping area, eliminate shadows and blind spots, and provide sufficient light for the camera 5 to take pictures.

[0030] When grasping small items, the claw plates 1 open and close moderately under power drive, so that the claw tips 8 formed by the upper ends of the two sets of claw plates 1 fit against the surface of the small item. The planar structure increases the contact area, and the rubber sheet 11 on the surface of the claw plates 1 enhances the friction, preventing small items from slipping and achieving stable grasping. For regular-sized items, the opening and closing range of the claw plates 1 is adjusted so that the claw tips 9 in the middle of the two sets of claw plates 1 wrap around the middle area of ​​the item. Its shape is adapted to the outline of general-sized items, and it can fit the item by its own structure without additional power adjustment. Combined with the anti-slip effect of the rubber sheet 11, it ensures that the item does not shift when grasped. When grasping large items, the claw plate gearbox assembly 4 outputs a large torque power to drive the claw plates 1 to open and close significantly, so that the claw bottoms 10 at the lower ends of the two sets of claw plates 1 completely wrap around the outside or bottom of the large item. The large contact area disperses the weight of the item, and with sufficient clamping force, it prevents large items from falling due to their weight or insufficient grasping range, achieving stable grasping.

[0031] The attachment mounting position 12 on the side wall of the claw 1 can be used to install small cutting tools, detection tools and other bomb disposal attachments. After the attachment is installed, it moves synchronously with the claw 1. After the claw completes the gripping and positioning of the object, the attachment can directly perform the corresponding operation without replacing the mechanical claw or relying on other equipment.

[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 combination structure of a bomb disposal robot's mechanical claw and camera, comprising a claw gearbox assembly (4), characterized in that: The outer wall of the claw gearbox assembly (4) is provided with a crank (3), the inner side of the crank (3) is hinged with a connecting rod (2), the inner side of the connecting rod (2) is hinged with a claw (1), the outer wall of the claw gearbox assembly (4) is fixedly connected with a camera (5), the top of the claw gearbox assembly (4) is provided with an accessory connector port (6), the outer wall of the claw gearbox assembly (4) is fixedly connected with an LED lighting lamp (7), the surface of the claw (1) is fixedly connected with a rubber sheet (11), and the side wall of the claw (1) is provided with an accessory mounting position (12).

2. The combination structure of the mechanical claw and camera of the bomb disposal robot according to claim 1, characterized in that: The claw plates (1) are provided in two sets, and the two sets of claw plates (1) are arranged symmetrically.

3. The combination structure of the mechanical claw and camera of the bomb disposal robot according to claim 1, characterized in that: The upper ends of the two sets of claw plates (1) form a claw tip shape (8).

4. The combination structure of the mechanical claw and camera of the bomb disposal robot according to claim 3, characterized in that: The claw tip (8) is a planar shape, adapted to the shape of small items, and used to grasp small items.

5. The combination structure of a bomb disposal robot's mechanical claw and camera according to claim 1, characterized in that: The middle ends of the two sets of claw plates (1) form a claw-in-claw shape (9), which is adapted to the shape of a general-sized item and is used to grasp the general-sized item.

6. The combination structure of the mechanical claw and camera of the bomb disposal robot according to claim 1, characterized in that: The lower ends of the two sets of claw plates (1) form a claw bottom shape (10), which is adapted to the shape of large items and is used to grasp large items.

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