Accurate positioning adjustable jaw visual support structure

Abstract

The application discloses a precise positioning adjustable clamping jaw visual support structure and relates to the field of explosive disposal robot auxiliary assembly technology. The precise positioning adjustable clamping jaw visual support structure comprises an assembly base, an assembly part, two turnover positioning parts and a supporting mechanism. The assembly base is installed on one side of an execution end of a clamping jaw of an explosive disposal robot. The assembly part is slidably inserted into the assembly base. Two locking mechanisms for locking the assembly part are arranged on the top of the assembly base. The bottom ends of the two turnover positioning parts are connected with the top of the assembly part. The supporting mechanism is fixedly connected with the rotating ends of the two turnover positioning parts on the outer side. The application meets the pre-adaptive installation adjustment requirement of visual components in explosive disposal operation and is convenient for subsequent quick replacement and disassembly.

Description

Technical Field

[0001] This application relates to the field of bomb disposal robot assisted assembly technology, and in particular to a vision support structure for a precisely positioned adjustable gripper. Background Technology

[0002] In bomb disposal operations, bomb disposal robots serve as core equipment for remote operations. Their gripper actuators must be equipped with vision components (such as high-definition cameras and infrared sensors) to provide operators with real-time images of the target area through visual feedback, assisting in precise operations such as grasping and transferring hazardous materials. Therefore, the installation stability and the flexibility of position and angle adjustment of the vision components directly affect the accuracy and safety of bomb disposal operations.

[0003] Currently, the vision supports commonly used in the grippers of bomb disposal robots are mostly fixed structures or single-dimensional adjustable structures. Once the fixed structure support is installed, it is not only inconvenient to adjust the angle of the vision components, but also difficult to adapt to the observation needs of different scenarios. For example, when facing dangerous objects with different placement positions and different sizes, it is not possible to quickly adjust the visual angle in advance to obtain a clear image. In addition, it is also inconvenient to carry out subsequent quick disassembly and assembly work. Utility Model Content

[0004] To address the problems of the prior art, this application provides a precise positioning adjustable gripper vision support structure.

[0005] The precise positioning adjustable gripper vision support structure provided in this application adopts the following technical solution:

[0006] A vision support structure for a precisely positioned adjustable gripper includes an assembly base component, which is installed on the execution end side of the gripper of an explosive ordnance disposal robot.

[0007] The assembly is slidably inserted inside the assembly base, and the top of the assembly base is provided with two locking mechanisms for locking the assembly.

[0008] Two flip-positioning components, the bottom ends of which are connected to the top of the assembly;

[0009] The supporting mechanism is fixedly connected to the rotating ends of the two flipping positioning members on its outer side.

[0010] By adopting the above technical solution, the assembly base provides an installation carrier for the overall structure. After the assembly parts are assembled on the base, the locking mechanism ensures the stability of the position of the adjusted assembly parts. The flipping positioning part drives the angle of the support mechanism to change by rotating. The support mechanism is used to support the vision component, which can realize the stable assembly of the vision component and the gripper of the bomb disposal robot. At the same time, it provides the position and angle adjustment space for the vision component, meets the pre-adaptation installation and adjustment requirements of the vision component in bomb disposal operations, and also facilitates subsequent quick replacement and disassembly.

[0011] Preferably, the assembly base includes a base, and the base has an assembly groove adapted to the assembly part.

[0012] By adopting the above technical solution, the assembly groove can guide and limit the sliding trajectory of the assembly, reduce the offset of the assembly during the sliding process, ensure the consistency of the fit between the assembly and the assembly base, and provide a stable fit base for the subsequent locking and fixing of the assembly.

[0013] Preferably, the assembly includes an assembly seat that slides into the assembly slot, and the top two sides of the assembly seat are provided with locking grooves that cooperate with the locking mechanism for locking. The top of the assembly seat is connected to the bottom of the flip positioning component.

[0014] By adopting the above technical solution, the assembly base can move along the assembly groove by sliding, and the locking mechanism can restrict the movement of the assembly base by engaging with the locking groove, thus ensuring the stability of the assembly base position.

[0015] Preferably, the top of the mounting base is fixed with a boss that is connected to the flip positioning member, and the top of the base is provided with a slot that matches the boss.

[0016] By adopting the above technical solution, the boss can extend the connection length between the assembly base and the flip positioning component, enhance the structural stability of the connection between the two, and the slot can prevent the boss from interfering with the base during the sliding process of the assembly base, ensuring the smoothness of the sliding adjustment of the assembly base, while further improving the structural stability of the flip positioning component after installation.

[0017] Preferably, the flipping positioning component includes a side plate fixedly connected to the protrusion, a rotating shaft connected to the outside of the support mechanism is rotatably mounted on the side plate, a positioning disk is fixed at one end of the rotating shaft away from the support mechanism, a side frame located outside the positioning disk is fixed on one side of the top of the side plate, and a positioning bolt that abuts against the positioning disk is threaded into the side frame.

[0018] By adopting the above technical solution, the rotation of the rotating shaft around the side plate can drive the supporting mechanism to rotate synchronously, thereby realizing the angle adjustment of the supporting mechanism; the positioning plate rotates synchronously with the rotating shaft, and when the positioning bolt is tightened, the contact force between its end and the surface of the positioning plate can limit the rotation of the positioning plate, thereby locking the angle position of the rotating shaft and the supporting mechanism, which can realize the adjustable angle of the supporting mechanism and the stable locking after adjustment, meeting the needs of different observation angles of the vision component.

[0019] Preferably, the supporting mechanism includes a support frame connected to the rotating shaft, and a liftable clamping assembly is mounted on the top of the support frame.

[0020] By adopting the above technical solution, the support frame provides a platform for placing vision components. The liftable clamping component clamps the bottom inner surface of the support frame through lifting action, which can be adapted to vision components of different thicknesses or sizes, realize the stable fixation of vision components on the support frame, and at the same time provide adaptable space for the installation of vision components of different specifications.

[0021] Preferably, the clamping assembly includes a clamping bolt threaded onto the support frame, a pressure plate rotatably connected to the bottom end of the clamping bolt, and a guide rod slidably inserted into the top end of the support frame fixed to the top of the pressure plate.

[0022] By adopting the above technical solution, when the clamping bolt is rotated, it moves up and down along the threaded hole of the support bracket, driving the pressure plate to rise and fall synchronously, thereby adjusting the distance between the pressure plate and the support bracket to accommodate vision components of different thicknesses; the guide rod slides synchronously with the pressure plate, which can limit the offset of the pressure plate during the lifting and lowering process, ensuring that the pressure plate applies uniform pressure to the vision component, enabling stable clamping and disassembly of the vision component, while ensuring the stability of the vision component's position during clamping.

[0023] Preferably, the locking mechanism includes a vertical tube fixed on the base, a cap fixed at the top of the vertical tube, a vertical rod slidably inserted on the cap, a limit ring fixed at the top of the vertical rod, a locking block adapted to the locking groove fixed at the bottom of the vertical rod, a spring sleeved on the vertical rod inside the vertical tube, and an inclined surface at one end of the locking block.

[0024] By adopting the above technical solution, when the assembly slides in, its edge contacts and presses against the inclined surface of the locking block, causing the vertical rod to move upward along the cap and the spring to compress. After the assembly is in place, the locking block aligns with the locking groove, the spring resets and pushes the vertical rod downward, so that the locking block is engaged in the locking groove, realizing the automatic locking of the assembly. Pulling the limit ring can drive the vertical rod and the locking block to move upward, disengaging from the locking groove to unlock the assembly. This enables quick locking and unlocking of the assembly. At the same time, the spring force can ensure the stability of the engagement between the locking block and the locking groove, reducing locking loosening caused by vibration.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. High adaptability: The rotation of the pivot of the flipping positioning component drives the angle change of the supporting mechanism, providing angle adjustment space for the vision component, which can accurately adapt to the pre-adjustment work of different observation angles in bomb disposal operations.

[0027] 2. Stable assembly and good versatility: The clamping assembly can be adapted to visual components of different thicknesses or sizes through the clamping cooperation between the pressure plate and the support frame. At the same time, the locking mechanism ensures the stability of the assembly position and the support mechanism angle after adjustment by the engagement of the locking block and the locking groove, and the locking of the positioning bolt and the positioning plate, thereby reducing the deviation caused by operational vibration.

[0028] 3. Convenient and efficient operation: The locking mechanism uses spring force to automatically lock the components, and can be quickly unlocked by pulling the limit ring; the clamping assembly can clamp and release the vision component by rotating the clamping bolt. The overall structure is easy to adjust and disassemble, improving the installation and debugging efficiency of vision components in bomb disposal operations. Attached Figure Description

[0029] Figure 1 This is a three-dimensional schematic diagram of the present application;

[0030] Figure 2 This is a three-dimensional schematic diagram of the assembly in this application;

[0031] Figure 3 This is a three-dimensional schematic diagram of the locking mechanism in this application;

[0032] Figure 4 This is a three-dimensional schematic diagram of the trustee in this application;

[0033] Figure 5 This is a schematic diagram of the flipping positioning component in this application.

[0034] Figure label:

[0035] 1. Assembly base components; 101. Base; 102. Assembly slot; 103. Slot opening; 2. Assembly parts; 21. Assembly seat; 22. Plug; 23. Locking slot; 3. Locking mechanism; 31. Vertical tube; 32. Cap; 33. Vertical rod; 34. Limiting ring; 35. Spring; 36. Locking block; 37. Inclined surface; 4. Flip positioning components; 41. Side plate; 42. Side frame; 43. Rotating shaft; 44. Positioning bolt; 45. Positioning plate; 5. Supporting mechanism; 51. Support frame; 52. Pressure plate; 53. Tightening bolt; 54. Guide rod. Detailed Implementation

[0036] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0037] This application discloses a vision support structure with adjustable gripper for precise positioning.

[0038] Reference Figure 1 and Figure 2 A precision-positioning adjustable gripper vision support structure includes an assembly base 1, an assembly part 2, two locking mechanisms 3, two flip positioning parts 4, and a support mechanism 5. The assembly base 1 is fixedly installed on one side of the execution end of the gripper of the bomb disposal robot, providing an installation reference for the overall structure. The assembly part 2 is slidably inserted into the assembly base 1. The two locking mechanisms 3 are symmetrically arranged on the top of the assembly base 1 for locking and fixing the assembly part 2 after it is adjusted to the correct position. The two flip positioning parts 4 are respectively connected to the top two sides of the assembly part 2, providing rotational support for the support mechanism 5. The support mechanism 5 is fixed between the rotating ends of the two flip positioning parts 4 for supporting and fixing vision components (such as cameras, sensors, etc.).

[0039] Reference Figure 1 and Figure 2 The assembly base 1 includes a base 101, which is made of high-strength aluminum alloy and anodized, combining lightweight and corrosion resistance. The base 101 is fixed to the mounting plane of the gripper end of the bomb disposal robot by bolts. The base 101 has an assembly groove 102 extending along its length. The cross-section of the assembly groove 102 is rectangular, and the inner wall is polished to reduce sliding friction. The assembly part 2 includes an assembly seat 21 and a boss 22. The boss 22 is vertically fixed to the center of the top of the assembly seat 21 and is integrally connected to the assembly seat 21 by welding. The assembly seat 21 has a cuboid structure, and its shape fits the inner wall of the assembly groove 102. The top of the base 101 has a slot 103 corresponding to the position of the boss 22 of the assembly part 2, which communicates with the assembly groove 102. The slot 103 provides assembly space for the boss 22 while preventing lateral displacement.

[0040] Reference Figure 2 and Figure 3The mounting base 21 has symmetrical locking grooves 23 on both sides of its top. The locking grooves 23 have a trapezoidal groove structure. The locking mechanism 3 includes a vertical tube 31, a cap 32, a vertical rod 33, a limiting ring 34, a spring 35, and a locking block 36. The vertical tube 31 is vertically welded to the top of the base 101, corresponding vertically to the locking grooves 23. The cap 32 is screwed onto the top of the vertical tube 31, serving a sealing and guiding function. The vertical rod 33 is slidably inserted into the central hole of the cap 32 and can slide up and down along the axis of the vertical tube 31. The limiting ring 34 is welded to the top of the vertical rod 33 and has a diameter larger than the central hole diameter of the cap 32 to prevent the vertical rod 33 from falling completely into the vertical tube 31. The locking block 36 is fixed to the bottom of the vertical rod 33 and is made of wear-resistant alloy steel. The shape of the locking block 36 is adapted to the locking groove 23. After being embedded in the locking groove 23, it can restrict the movement of the mounting base 21. The end of the locking block 36 near the groove 103 has an inclined surface 37. The angle between the inclined surface 37 and the horizontal direction is 45°, which facilitates the upward movement of the locking block 36 when the mounting part 2 is slid in. The spring 35 is sleeved on the vertical rod 33 and located inside the vertical tube 31. The upper end of the spring 35 abuts against the inner side of the cap 32 and the lower end abuts against the top surface of the locking block 36. In its natural state, the spring 35 is in a slightly compressed state, pushing the locking block 36 to maintain a downward preload.

[0041] Reference Figure 4 and Figure 5 The flipping positioning component 4 includes a side plate 41, a side frame 42, a rotating shaft 43, positioning bolts 44, and a positioning disk 45. The side plate 41 is a rectangular steel plate, vertically welded to the top end face of the boss 22. The two side plates 41 are parallel and symmetrically distributed. The side frame 42 is a U-shaped frame, welded to one side of the top of the side plate 41, covering the outside of the positioning disk 45, and providing installation support for the positioning bolts 44. The rotating shaft 43 is rotatably mounted in the middle through hole of the side plate 41 through bearings, ensuring smooth rotation and stable load bearing of the rotating shaft 43. One end of the rotating shaft 43 is welded and fixed to the outside of the support mechanism 5, and the other end is coaxially welded to the positioning plate 45. The positioning plate 45 is a circular steel plate with angle scales engraved on its surface along the circumference, which facilitates precise angle adjustment. The positioning bolt 44 is threaded into the threaded hole of the side frame 42. The bolt head adopts a knob design and a rubber anti-slip pad is installed at the end. When tightened, the rubber anti-slip pad is in close contact with the surface of the positioning plate 45, and the rotation of the positioning plate 45 is restricted by friction, thereby locking the angle position of the rotating shaft 43.

[0042] Reference Figure 4 and Figure 5The supporting mechanism 5 includes a support frame 51 and a pressing assembly. The support frame 51 is a U-shaped closed frame structure made of stainless steel and used to place the visual component. The outer walls on both sides of the support frame 51 are welded to the two rotating shafts 43 to ensure balanced force. The pressing assembly includes a pressure plate 52, a pressing bolt 53, and two guide rods 54. The bottom surface of the pressure plate 52 is covered with a silicone anti-slip pad to prevent damage to the surface of the visual component. The pressing bolt 53 is threaded into the center of the top crossbeam of the support frame 51. The bottom end of the bolt is rotatably connected to the top surface of the pressure plate 52 through a thrust bearing to ensure that rotating the pressing bolt 53 only moves the pressure plate 52 up and down without rotating with the bolt. The two guide rods 54 are symmetrically arranged on both sides of the pressing bolt 53 and vertically welded to the top of the pressure plate 52. The top ends are slidably inserted into the guide holes of the top crossbeam of the support frame 51. The guide rods 54 are clearance-fitted with the guide holes to limit the tilting deviation of the pressure plate 52 during the lifting and lowering process and ensure uniform pressing force.

[0043] The implementation principle of a precision positioning adjustable gripper vision support structure in this application embodiment is as follows:

[0044] Before use, first fix the base 101 of the assembly base component 1 to one side of the execution end of the explosive ordnance disposal robot gripper with bolts, ensuring that the mounting plane of the base 101 is parallel to the movement direction of the gripper, and complete the basic fixation of the overall bracket.

[0045] The vision component is then installed: the vision component is placed inside the support frame 51 of the support mechanism 5, so that it fits against the inner wall of the support frame 51 for positioning; the clamping bolt 53 is rotated, which drives the pressure plate 52 to move downward along the guide rod 54 until the silicone anti-slip pad on the bottom surface of the pressure plate 52 is tightly fitted with the top surface of the vision component, thereby achieving the clamping and fixing of the vision component. The clamping degree of the pressure plate 52 can be flexibly adjusted by the clamping bolt 53 according to the thickness of the vision component to adapt to vision components of different specifications.

[0046] Next, adjust the angle of the vision component: Loosen the positioning bolt 44 of the flip positioning component 4 so that the rubber anti-slip pad at the end of the positioning bolt 44 disengages from the surface of the positioning disk 45, thus releasing the lock on the rotating shaft 43; rotate the support bracket 51 to drive the rotating shaft 43 and the positioning disk 45 to rotate synchronously, and adjust the vision component to the required observation angle according to the angle scale on the surface of the positioning disk 45; tighten the positioning bolt 44 so that the positioning disk 45 is locked by the friction between the rubber anti-slip pad at its end and the surface of the positioning disk 45, thereby fixing the angle position of the rotating shaft 43 and the support bracket 51, and achieving precise angle positioning of the vision component;

[0047] During bomb disposal operations, if the position or angle of the vision component needs to be adjusted, the above position and angle adjustment steps can be repeated. The locking structure of the locking mechanism 3 and the flip positioning component 4 can ensure the positional stability of the vision component after adjustment, reduce the offset caused by robot operation vibration, and ensure the vision component's accurate observation of the target.

[0048] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vision support structure with adjustable gripper for precise positioning, characterized in that, include: Assembly base component (1), said assembly base component (1) is installed on the execution end side of the gripper of the bomb disposal robot; Assembly component (2), which is slidably inserted inside the assembly base (1), and the top of the assembly base (1) is provided with two locking mechanisms (3) for locking the assembly component (2); Two flip positioning parts (4), the bottom ends of the two flip positioning parts (4) are connected to the top of the assembly (2); The support mechanism (5) is fixedly connected to the rotating ends of the two flip positioning members (4) on its outer side.

2. The precise positioning adjustable gripper vision support structure according to claim 1, characterized in that: The assembly base (1) includes a base (101), on which an assembly slot (102) adapted to the assembly part (2) is provided.

3. The precise positioning adjustable gripper vision support structure according to claim 2, characterized in that: The assembly (2) includes an assembly base (21) that slides into the assembly slot (102). The top two sides of the assembly base (21) are provided with locking slots (23) that cooperate with the locking mechanism (3) for locking. The top of the assembly base (21) is connected to the bottom of the flip positioning member (4).

4. The precise positioning adjustable gripper vision support structure according to claim 3, characterized in that: The top of the mounting base (21) is fixed with a boss (22) that is connected to the flip positioning member (4), and the top of the base (101) is provided with a slot (103) that is adapted to the boss (22).

5. The precise positioning adjustable gripper vision support structure according to claim 4, characterized in that: The flipping positioning component (4) includes a side plate (41) fixedly connected to the protrusion (22). A rotating shaft (43) connected to the outside of the support mechanism (5) is rotatably mounted on the side plate (41). A positioning disk (45) is fixed at one end of the rotating shaft (43) away from the support mechanism (5). A side frame (42) located outside the positioning disk (45) is fixed on one side of the top of the side plate (41). A positioning bolt (44) that abuts against the positioning disk (45) is threaded into the side frame (42).

6. The precise positioning adjustable gripper vision support structure according to claim 5, characterized in that: The support mechanism (5) includes a support frame (51) connected to the pivot (43), and a liftable clamping assembly is mounted on the top of the support frame (51).

7. The precise positioning adjustable gripper vision support structure according to claim 6, characterized in that: The clamping assembly includes a clamping bolt (53) threaded onto the support frame (51), a pressure plate (52) rotatably connected to the bottom end of the clamping bolt (53), and a guide rod (54) slidably inserted into the top end of the support frame (51) fixed to the top of the pressure plate (52).

8. The precise positioning adjustable gripper vision support structure according to claim 3, characterized in that: The locking mechanism (3) includes a vertical tube (31) fixed on the base (101), a cap (32) fixed at the top of the vertical tube (31), a vertical rod (33) slidably inserted on the cap (32), a limit ring (34) fixed at the top of the vertical rod (33), a locking block (36) adapted to the locking groove (23) fixed at the bottom of the vertical rod (33), a spring (35) sleeved on the vertical rod (33) and located inside the vertical tube (31), and an inclined surface (37) opened at one end of the locking block (36).

Images