CN109664308B

CN109664308B - Explosive-handling manipulator

Info

Publication number: CN109664308B
Application number: CN201811549470.8A
Authority: CN
Inventors: 丛保卫; 杨君杰
Original assignee: Harwar International Aviation Technology Shenzhen Co ltd
Current assignee: Harwar International Aviation Technology Shenzhen Co ltd
Priority date: 2018-12-18
Filing date: 2018-12-18
Publication date: 2024-02-02
Anticipated expiration: 2038-12-18
Also published as: CN109664308A

Abstract

An explosion venting manipulator, comprising: the clamping mechanism comprises a mounting seat, a clamping power part and a clamping transmission part, wherein the clamping transmission part comprises a first input part, a first output part and a first guide part, the first input part is connected with the clamping power part, the first guide part guides the first output part so that the first output part can stretch along the linear direction when the clamping power part drives the first input part, and the first output part keeps self-locking when the clamping power part stops driving the first input part; at least one pair of clamping jaws, one end of each clamping jaw is connected with the first output part; the other end is positioned at two sides of the expansion and contraction direction of the first output part. According to the explosion venting manipulator, the clamping mechanism can still keep self-locking when the clamping power part stops driving, so that the clamped objects can be prevented from falling, and the safety is high.

Description

Explosive-handling manipulator

Technical Field

The invention relates to a manipulator, in particular to an explosion venting manipulator.

Background

At present, the demolition of the abandoned shell and the dangerous inflammable and explosive substances is usually carried out by an explosion-discharging manipulator. The explosive ordnance disposal manipulator typically includes multiple degrees of freedom and has a clamping mechanism at the end of the explosive ordnance disposal manipulator. The explosive removing staff usually remotely controls the explosive removing manipulator through operating a remote control device, changes the degree of freedom of the explosive removing manipulator, and clamps the abandoned shells, dangerous inflammable and explosive objects and the like through a clamping mechanism at the tail end.

However, the conventional explosive-handling manipulator is usually electrically operated, for example, the steering engine drives each joint and each clamping mechanism, and the power supply of the steering engine is always on, so that stable output of each joint and each clamping mechanism is maintained. However, once the power supply of the steering engine is suddenly cut off, since the steering engine itself does not have a brake, the clamping mechanism at the tail end of the explosive removing manipulator which is powered off does not have clamping force any more, and at this time, objects clamped on the clamping mechanism, such as waste shells, dangerous inflammable and explosive objects and the like, are easy to drop, so that a dangerous situation is caused.

Therefore, there is a need for an improved explosion venting robot.

Disclosure of Invention

An explosion venting manipulator, comprising: a base; the joint parts are sequentially arranged from the base part; the fixture, the fixture sets up the end of a plurality of joints, the fixture includes, the mount pad, install on the mount pad: the clamping power part, the clamping transmission part includes first input part, first output part, first guiding part, first input part with clamping power part connects, first guiding part is right first output part is led so that first output part can follow sharp direction when clamping power part drives first input part, first output part is when clamping power part stops driving first input part, keeps the auto-lock, at least a pair of clamping jaw, one end of a pair of clamping jaw respectively with first output part is connected, the other end is located the both sides of the flexible direction of first output part, is kept away from each other when first output part stretches out, is close to each other when first output part withdraws, or the other end is kept away from each other when first output part stretches out, is kept away from each other when first output part withdraws.

Preferably, the clamping transmission part comprises a self-locking trapezoidal screw transmission mechanism, the first input part comprises a trapezoidal screw, and the first output part comprises a screw nut meshed with the trapezoidal screw.

Preferably, the first output part comprises a first connecting piece which is abutted to the first guiding part and is in sliding fit with the first guiding part.

Preferably, a first hinge part is arranged between two ends of the clamping jaw, the clamping jaw is mounted on the mounting seat through the first hinge part, one end of the clamping jaw connected with the first connecting piece is provided with a second groove part, the first connecting piece is embedded in the second groove part and can freely slide, an angle between a path extending from the second groove part and a straight line direction extending from the first connecting piece is larger than 0 degree and smaller than or equal to 90 degrees, and after the clamping jaw is mounted on the mounting seat, the first hinge part is located at the side of the straight line direction extending from the first connecting piece.

Preferably, the plurality of joint parts comprise a first joint part fixed on the base part, the first joint part comprises a first power part, a first arm part and a first transmission part, the first power part is installed on the base part, and the front end of the first arm part is connected with the first power part through the first transmission part, so that the first arm part can swing up and down.

Still preferably, the first transmission part is arranged in the horizontal direction and comprises a trapezoidal screw transmission mechanism capable of self-locking, the trapezoidal screw of the first transmission part is connected with the first power part, two ends of a screw nut of the first transmission part are provided with second connecting pieces, the front end of the first arm part is provided with a first groove part, and the second connecting pieces are embedded into the first groove part.

Preferably, the plurality of joint portions further comprise a second joint portion arranged at the tail end of the first arm portion, the second joint portion comprises a second power portion, a second arm portion and a second transmission portion, the second power portion is installed at the front end of the second arm portion, a first supporting shaft is fixedly arranged at the tail end of the first arm portion, the front end of the second arm portion is supported on the first supporting shaft and can swing around the axis of the first supporting shaft in parallel to the first arm portion.

Preferably, the second transmission part comprises a self-locking worm and gear transmission mechanism, a worm of the second transmission part is arranged at the front end of the second arm part and is connected with the second power part, and a worm wheel of the second transmission part is fixed on the first support shaft.

Preferably, the plurality of joint portions further include a third joint portion provided at a distal end of the second arm portion, the third joint portion includes a third power portion and a third arm portion, and the third arm portion is provided on an end surface of a rear end of the second arm portion and is torsionally rotated with respect to the third arm portion about an axial direction of a length direction of the third arm portion by driving of the third power portion.

Preferably, the plurality of joints further includes a fourth joint portion provided at a distal end of the third arm portion, the fourth joint portion includes a fourth arm portion, and the mount is provided on the fourth joint portion.

According to the explosion venting manipulator, the clamping mechanism can still keep self-locking when the clamping power part stops driving, so that the clamped objects can be prevented from falling, and the safety is high.

Drawings

FIG. 1 is a side view of an explosion venting robot of the present invention;

fig. 2 is a top perspective view of the explosive ordnance disposal robot of fig. 1;

FIG. 3 is a schematic view of the third joint part, the fourth joint part and the clamping mechanism of FIG. 1;

fig. 4 is a simplified schematic structural view of the clamping mechanism 6 of fig. 2 (clamping jaw closed state);

fig. 5 is a simplified schematic structural view of the clamping mechanism 6 (jaw open state) of fig. 4;

fig. 6 is a perspective view showing the holding jaw 64 and the holding transmission portion 63 together.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the present invention may be implemented in many different ways and is not limited to the embodiments described herein, but rather, these embodiments are provided so that this disclosure will be thorough and complete by those skilled in the art.

Additionally, the description of the illustrative embodiments in accordance with the principles of the present invention is intended to be read in connection with the accompanying drawings, which are to be considered part of the entire written description. In describing embodiments of the invention disclosed, reference to any direction or orientation is merely for ease of illustration and is not intended to limit the scope of the invention in any way. Related terms such as "front," "back," "front," "end," "left," "right," "outboard," "inner," "middle," "interior," "exterior," "lower," "upper," "horizontal," "vertical," "above," "below," "upward," "downward," "top" and "bottom," and derivatives thereof (e.g., "horizontally," "downwardly," "upwardly," etc.) should be construed to refer to the orientation as then described or as shown in the drawings under discussion. These relative terms are for convenience of description only and do not require that the apparatus be constructed or operated in a particular orientation unless explicitly stated otherwise. Thus, the invention should not be limited exactly to the exemplary embodiments illustrating some possible non-limiting combinations of features that may be present alone or in other combinations of features; the scope of the invention is defined by the appended claims.

As currently contemplated, this disclosure describes the best mode or practice mode of the present invention. The present invention is not intended to be construed in a limiting sense, but rather to provide an inventive example used for illustration only by way of illustration in conjunction with the accompanying drawings to inform those ordinarily skilled in the art of the advantages and constructions of the present invention. The same reference numbers will be used throughout the drawings to refer to the same or like parts.

Referring to fig. 1 and 2, fig. 1 is a perspective view of a side view of an explosion venting robot, and fig. 2 is a perspective view of the explosion venting robot in a top view. Explosive-handling manipulator includes: the base 1, in this embodiment, the base 1 is placed horizontally as a main support of the explosion venting manipulator. The base 1 may be a hollow support frame, and a control system, a power supply, etc. of the explosion venting manipulator may also be installed in the support frame of the base 1. The base 1 may be fixed to a walking robot. The explosion venting manipulator comprises a plurality of joint parts which are arranged in sequence from the base part 1.

Each joint will be described below. The plurality of joints comprise a first joint part 2 fixed on the base part 1, and the first joint part 2 is a joint part which swings up and down relative to the base part 1. The first joint section 2 includes a first power section 21, a first arm section 22, and a first transmission section 23, the first power section 21 is mounted on the base section 1, and the front end 22a of the first arm section 22 is linked with the first power section 21 by the first transmission section 23, so that the first arm section 22 can swing up and down with respect to the base section 1.

The upper end 1a of the base 1 is provided with a first bearing housing 11 for supporting the first joint part 2, and the first bearing housing 11 supports the first joint part 2 and allows the first joint part 2 to swing in the up-down direction. The first power part 21 may be a motor, in order to make the structure of the first joint part 2 more compact, preferably a steering engine, the first power part 21 is mounted on the upper end 1a of the base part 1, the first transmission part 23 is horizontally arranged, and the first transmission part 23 is preferably a transmission mechanism capable of self-locking, such as a self-locking trapezoidal screw transmission mechanism and a screw transmission mechanism, wherein the trapezoidal screw transmission mechanism is preferred. To prevent the first arm 22 from rotating downwardly from above about the axis of the first bearing housing 11 in the event of a power outage. The first transmission portion 23 is also mounted on the base portion 1, specifically, a trapezoidal screw of a trapezoidal screw transmission mechanism is supported on the upper end 1a of the base portion 1.

The trapezoidal screw of the trapezoidal screw transmission mechanism of the first transmission part 23 is connected with the steering engine of the first power part 21, and the steering engine can be directly connected with the trapezoidal screw through a coupling, can also be connected through a gear transmission mechanism, or is connected with a synchronous belt transmission mechanism and the like. Under the necessary condition, the reduction ratio can be generated through the gear transmission mechanism so as to improve the torque when the steering engine drives the trapezoidal screw rod. The lead screw nut 23a of the first transmission portion 23 is connected to the front end 22a of the first arm portion 22. Further, in order to further compact the structure of the first arm portion 22, both ends of the lead screw nut 23a of the first transmission portion 23 are provided with the second connecting pieces 24, the front end of the first arm portion 22 is provided with the first groove portion 25, and the second connecting pieces 24 are fitted into the first groove portion 25.

Specifically, the first arm 22 includes a first left side frame 22b and a first right side frame 22c, and the first left side frame 22b and the first right side frame 22c may have the same shape and are disposed in parallel and connected to each other by a connection rod 22 d. In order to reduce the weight of the first arm 22, the first left side frame 22b and the first right side frame 22c are provided with weight reduction grooves in the middle portions thereof as much as possible. The first groove 25 is provided at the front end of the first arm 22 and is a long groove, and is provided on the first left side frame 22b and the first right side frame 22c, respectively, and may be provided as an opening or as a closed long groove. The second connector 24 is fitted into the first groove portion 25.

The first groove 25 guides the lead screw nut of the first transmission portion 23, and when the steering engine drives the trapezoidal lead screw to rotate, the second link 24 slides in the first groove 25, and at the same time, the first arm 22 swings up and down about the first bearing housing 11 with respect to the upper end 1a of the base 1. By providing the first groove portion 25 at the front end of the first arm portion 22 and providing the second link 24 at both ends of the lead screw nut 23a of the first transmission portion 23 in direct sliding connection with the first groove portion 25, the installation space required therefor is greatly reduced.

The joint portion further includes a second joint portion 3 provided at the distal end 22e of the first arm portion 22, and the second joint portion 3 is a joint portion that swings with respect to the first joint portion 2. The second joint part 3 includes a second power part 31, a second arm part 32, and a second transmission part 33.

In one embodiment, the second power part 31 is a steering engine, so that the structure of the second joint part 3 is more compact. Also, the structure of the second arm portion 32 of the second joint portion 3 is similar to that of the first arm portion 22 of the first joint portion 2. Is mounted at the front end 32a of the second arm 32, and further, the second power portion 31 is accommodated in the second arm 32. The tip 22e of the first arm portion 32 is coupled to the second power portion 31 through the second transmission portion 33, and the second arm portion 32 is allowed to swing parallel to the first arm portion 22 with the tip 22e of the first arm portion 22 as a center.

The distal end 22e of the first arm 22 is provided with a first support base 221, the first support base 221 includes two first support bases 221 respectively mounted on distal ends of the first left side frame 22b and the first right side frame 22c of the first arm 22, and the two first support bases 221 respectively fixedly support the first support shaft 26. The second transmission portion 33 is a worm gear mechanism in which a worm gear 33a is embedded in the middle of the first support shaft 26 and fixed to the first support shaft 26. Therefore, in this embodiment, the worm gear 33a of the second transmission portion 33 is fixed with respect to the tip 22e of the first arm portion 22.

The steering engine of the second power section 31 is connected to the worm gear 33b of the second transmission section 33, and the worm gear 33b is mounted on the front end 32a of the second arm section 32 to be engaged with the worm gear 33 a. The second arm portion 32 includes a second left side frame 321 and a second right side frame 322. The second left side frame 321 and the second right side frame 322 of the second arm portion 32 are respectively fitted to the first support shaft 26 and are swingable about the axial center of the first support shaft 26.

The second arm portion 32 is kept fixed with respect to the first support shaft 26 by engagement of the worm wheel and worm of the second transmission portion 33, whereby the second joint portion 3 is kept relatively fixed with respect to the first joint portion 2. Therefore, excellent self-locking performance can be maintained. When the steering engine of the second power section 31 is driven, the worm 33b of the second transmission section 33 rotates around the axis of the worm wheel 33a with respect to the worm wheel 33a, so that the second arm section 32 rotates around the axis of the first support shaft 26.

Of course, in other embodiments, the second power unit 31 may be mounted on the end 22e of the first arm 22, the worm 33b of the second transmission unit 33 is also mounted on the end 22e of the first arm 22 and connected to the steering engine of the second power unit 31, and the turbine 33a of the second transmission unit 33 is mounted on the front end 32a of the second arm 32 and is free to rotate. When the steering engine of the second power section 31 drives the worm 33b to rotate, the worm wheel 33a is driven to rotate, and thereby the second joint section 3 is driven to rotate relative to the first joint section 2.

Fig. 3 is a schematic structural view of the third joint part 4, the fourth joint part 5, and the clamping mechanism 6. Referring to fig. 3, the joint further includes a third joint 4, and the third joint 4 is connected to the distal end 32b of the second arm portion 32 of the second joint 3 and is a joint that performs a torsional rotation motion with respect to the second joint 3. The third joint portion 4 includes a third power portion 41, a third transmission portion 43, and a third arm portion 42, and the third power portion 41 is preferably a steering engine as well, and is attached to the distal end 32b of the second arm portion 32, and the third arm portion 42 is attached to the end face 32c of the distal end of the second arm portion 32, and the third arm portion 42 and the steering engine of the third power portion 43 can be directly connected through the third transmission portion 43, and at this time, the third arm portion 42 performs a twisting rotational motion with the axial center in the arm length direction of the second arm portion 32 as the rotational axial center. The third transmission 43 may be a gear transmission and may be provided with an output reduction ratio to increase the torque at the output of the steering engine. The third transmission 43 may also be a coupling.

The joint part further includes a fourth joint part 5, and the fourth joint part 5 is connected to the distal end of the third arm part 42 of the third joint part 4 so as to perform a swinging motion parallel to the third arm part 42 of the third joint part 4 with respect to the third joint part 4. The fourth joint part 5 includes a fourth power part 51 and a fourth arm part 52. In one embodiment, the fourth joint part 5 also includes a fourth left side frame 521 and a fourth right side frame 522, and the fourth left side frame 521 and the fourth right side frame 522 of the fourth joint part 5 are located on both sides of the distal end of the third arm part 42, respectively. The fourth power part 51 is also preferably a steering engine, and further preferably steering engines with output shafts arranged on both sides of the steering engine. The fourth left side frame 521 and the fourth right side frame 522 of the fourth joint portion 5 are connected to output shafts coaxial with both sides of the steering engine.

In the present embodiment, the clamping mechanism 6 is mounted at the end of the fourth joint part 5. Of course, in other embodiments, if the joints include five, the clamping mechanism is mounted at the end of the fifth joint, and in summary, the clamping mechanism is mounted at the extreme ends of all of the joints.

The clamping mechanism 6 will be described in detail with reference to fig. 2 and 3, and fig. 4, 5 and 6. Wherein fig. 4 is a simplified schematic structural view of the clamping mechanism 6 of fig. 2 (clamping jaw closed state); fig. 5 is a simplified schematic structural view of the clamping mechanism 6 (jaw open state) of fig. 4; fig. 6 is a perspective view showing the holding jaw 64 and the holding transmission portion 63 together.

The clamping mechanism 6 includes a mounting seat 61, a clamping power portion 62, a clamping transmission portion 63, and a clamping jaw 64. The motor may be used for the clamping power portion of the clamping mechanism 6. In order to make the structure of the clamping mechanism 6 compact and to provide a large torque, the clamping power portion 62 of the clamping mechanism 6 is preferably a 360 degree rotating steering engine.

The clamping transmission part 63 includes a first input part 631, a first output part 632, and a first guide part 633, the first input part 631 is connected to the clamping power part 62, that is, the first input part 631 is connected to the steering engine, and specifically, the first input part 631 is coupled to the steering engine through a coupling (not shown). The first guide portion 633 guides the first output portion 632 such that the first output portion 632 can expand and contract in a linear direction when the clamping power portion 62 drives the first input portion 631, and the first output portion 632 maintains self-locking when the clamping power portion 62 stops driving the first input portion 631.

As will be described in more detail below, in this embodiment, the self-locking of the clamping mechanism 6, i.e. the holding of the clamping jaw 64, is mainly performed by the self-locking of the clamping transmission 63.

The clamping transmission 63 itself has a self-locking mechanism, and in a first embodiment the clamping transmission 63 comprises a self-locking trapezoidal screw transmission, the first input 631 comprises a trapezoidal screw and the first output 632 comprises a screw nut which engages with said trapezoidal screw. In this case, when the screw nut needs to be stretched in the linear direction of the screw, the linear direction stretching of the screw nut can be achieved only by driving the steering engine 635 connected with the trapezoidal screw, and in the case that the steering engine 635 is not driven, the screw nut can be kept stationary well on the trapezoidal screw.

In a second embodiment, the clamp transmission 63 comprises a screw transmission, the first input 631 comprises a screw, and the first output 632 comprises a first nut engaged with the screw. Similarly, in the screw driving mechanism, when the first nut stretches in the linear direction of the screw, the linear direction stretching of the first nut can be achieved only by driving the steering engine 635 connected with the screw, and the first nut can be kept stationary on the screw well under the condition that the steering engine 635 is not driven.

The clamping transmission portion 63 of the present embodiment does not need to rely on the clamping power portion 62 to complete self-locking of the clamping transmission portion 63. Thereby further improving the reliability of the self-locking of the clamping mechanism 6.

In addition, a self-locking transmission mechanism such as a worm gear or the like, which can be used for the clamp transmission portion 63, may be used.

In the first input portion 631 and the first output portion 632 of the above-described clamp transmission portion 63, a trapezoidal screw or a threaded rod is used as the first input portion 631, and a screw nut or a first nut is used as the first output portion 632. However, this is not limiting. In this embodiment, when the trapezoidal screw or the screw is linearly extended and contracted as the first output portion 632, the motor connected to the trapezoidal screw or the screw is also linked and linearly extended and contracted together.

As an auxiliary component of the trapezoidal screw drive mechanism or the screw drive mechanism, the clamp drive portion 63 actually further includes a bearing housing 634 supporting the trapezoidal screw drive mechanism or the screw drive mechanism. When the trapezoidal screw or the screw is used as the first input portion 631 only, the bearing seats 634 are respectively supported at both ends thereof, and when the trapezoidal screw or the screw is used as the first input portion 631 and the first output portion 632 simultaneously, the bearing seats 634 are only required to be provided at the first input portion 631. Specifically, the bearing mount 634 is mounted on the mounting base 61, and one or both ends of the trapezoidal screw or the threaded rod are embedded into the bearing of the bearing mount 634.

In addition, the steering engine 635 of the clamping power unit 62 and the input end of the clamping transmission unit 63 may be connected by a coupling, or may be connected by a synchronous belt transmission mechanism, so that the space of the clamping mechanism 6 is more compact, and in the above embodiment, the output shaft of the steering engine 635 is coupled to the first input unit 631 of the clamping transmission unit 63 by a coupling. Specifically, the output shaft of the steering engine 635 is connected with the input end of the trapezoidal screw rod or the screw rod through a coupling.

The clamp transmission 63 further includes a first guide 633 to guide the first output 632. The first guide 633 may be a combination of a linear guide shaft and a linear bearing, a linear slide rail, or another guide structure known to those skilled in the art that can guide a trapezoidal screw drive mechanism or a screw drive mechanism.

Referring to fig. 2, in the present embodiment, the first output portion 632 includes a first connection member 636, and the first connection member 636 abuts against the first guide portion 633 and slidingly engages with the first guide portion 633. Specifically, the distal end of the fourth arm portion 52 may function as the mount 61, and specifically, the mount 61 includes a fourth left side frame 521, a fourth right side frame 522, and a connection plate 523 connecting the fourth left side frame 521 and the fourth right side frame 522 of the fourth arm portion 52, and the first guide portion 633 is provided directly on the fourth left side frame 522 and the fourth right side frame 523 of the fourth arm portion 52.

In order to make the space of the clamping mechanism 6 more compact, the first guide portion 633 includes long grooves 633a penetrating the fourth left side frame 521 and the fourth right side frame 522, respectively, and the first link 636 is integrally formed with a lead screw nut or a first nut, specifically, a trapezoidal nut engaged with a trapezoidal lead screw is provided in the middle of the first link 636, or a first nut having a thread engaged with a screw is provided. Both ends of the first link 636 are slidably engaged with the elongated grooves 633a, and also guide the first output portion 632 of the clamp transmission portion 63. Of course, in order to reduce the friction force between the first connector 636 and the long groove 633a, the two ends of the first connector 636 may be embedded with rollers engaged with the long groove 633a, and the first connector 636 is engaged with the long groove 633a in a rolling manner.

Referring to fig. 4, 5 and 6, the clamping mechanism 6 further includes at least one pair of clamping jaws 64. One end of the at least one pair of clamping jaws 64 is connected to the first output portion 632; the other ends are located on both sides of the expansion and contraction direction AA of the first output portion 632, and are apart from each other when the first output portion 632 is extended (i.e., in the direction of arrow AA 1), are close to each other when the first output portion 632 is retracted (i.e., in the direction of arrow AA 2), or are close to each other when the first output portion 632 is extended, and are apart from each other when the first output portion 632 is retracted.

Although the following description will be made with reference to the pair of the clamping jaws 64, in practice, the clamping jaws may include a plurality of clamping jaws (not shown) circumferentially distributed around the first output portion 632 of the clamping transmission portion 63, for example, around the axis of the trapezoidal screw or the screw. Alternatively, the clamping jaw 64 may comprise two pairs (see fig. 2 and 4), one pair of clamping jaws 64 being located at one end of the first connector 636, and the other pair of clamping jaws 64 being located at the other end of the first connector 636. The two pairs of jaws 64 are interlocked and simultaneously open or simultaneously close. The two pairs of clamping jaws 64 may be symmetrically disposed on both sides of the first connector 636 of the clamping transmission part 63 in the length direction.

In the present embodiment, the linear expansion and contraction operation of the first output portion 632 of the clamp transmission portion 63 is converted into the movement of the jaws 64 away from each other or toward each other. Specifically, the first form may be divided into a first form in which the holding claws 64 are moved away from each other when the first output portion 632 is extended (see fig. 3), and the holding claws 64 are moved closer to each other when the first output portion 632 is retracted (see fig. 2). And a second form (not shown) in which the jaws are close to each other when the output is extended and are far from each other when the output is retracted.

In one embodiment of the first form, as described above, one end of the holding jaw 64 is connected to the first output portion 632, and the other end is located on both sides of the first output portion 632 in the expansion and contraction direction. Namely: for each clamping jaw 64, one end of the clamping jaw 64 is connected to the first output portion 632, and one end of the clamping jaw is in a cantilever state and is located at one side of the first output portion 632 in the telescopic direction AA.

The clamping jaw 64 is provided with a first hinge 634a between one end and the other end thereof, preferably at a substantially intermediate position of the clamping jaw 64, by means of which first hinge 634a the clamping jaw 64 is mounted to the mounting 61. Further, a second groove portion 634b is provided at one end of the jaw 64 connected to the first connector 636 (i.e., the first output portion 632), and the first connector 636 is slidably fitted into the second groove portion 634 b. An angle RR between the path BB1 along which the second groove 634b extends and the straight direction AA1 along which the first link 636 extends is greater than 0 degrees and less than or equal to 90 degrees. Also, the first hinge portion 634a attached to the mount 61 is located laterally of the extending straight direction AA1 of the first link 636.

In this case, when the first link 636 expands and contracts by the motor, the first link 636 can freely slide in the second groove 634b, since the expansion and contraction direction AA of the first link 636 has a certain angle (greater than 0 degrees, less than or equal to 90 degrees) with the extending direction BB1 of the second groove 634 b. It should be noted that, in this embodiment, the certain angle is a relative angle, such that when the first connector 636 is extended, the clamping jaws 64 are away from each other, and the angle between the direction in which the straight line of the first connector 636 extends and the path of the second groove 634b extending in the direction in which the first connector 636 extends is greater than 0 degrees and less than or equal to 90 degrees.

In this embodiment, when the first link 636 is extended or retracted, the jaw 64 is driven to rotate about the first hinge portion 634a with its sliding movement within the second slot portion 634b of the jaw 64 as the axis of the first hinge portion 634a, thereby effecting the opening or closing of the other end of the jaw 64. This embodiment allows the clamping jaw 64 to be opened or closed without adding additional parts, and the installation space required for the clamping mechanism 6 is greatly reduced in terms of structure, so that the clamping mechanism 6 is further compact and the weight of the mechanism is reduced. In addition, the assembly difficulty of the clamping mechanism 6 is greatly reduced.

In the second embodiment, the gripping claws may be moved closer to each other when the output section (not shown) is extended, and moved away from each other when the output section (not shown) is retracted.

In this embodiment, the holding jaw is mounted on a second guide portion (not shown), the sliding direction of the second guide portion is perpendicular to the extending and contracting direction of the output portion (not shown), and the sliding direction of the second guide portion intersects the extending and contracting direction of the output portion. The second guide part comprises two linear slide rails respectively positioned at two sides of the telescopic direction of the output part, and clamping jaws are respectively arranged on the linear slide rails. In this embodiment the output further comprises as many second connectors 24 as jaws, each second connector 24 being hinged at one end to the first connector and at the other end to the jaws.

In this embodiment, the angle of the direction of linear extension of the second connector 24 from the first connector is greater than or equal to 90 degrees and less than 180 degrees. The end of the second connecting member 24 hinged to the first connecting member is pulled by the first connecting member in the direction of extension compared to when the first connecting member is extended, and at the same time, the second connecting member 24 approaches the position of the clamping jaw in the direction of extension of the first connecting member, namely: when the first connecting piece stretches out, the clamping jaws guided by the second guide parts are close to each other. Similarly, the jaws guided by the second guide are moved away from each other when the first connector is retracted.

In addition, it is to be noted that, as a modified embodiment of this embodiment, when the angle of the direction in which the second link 24 is linearly extended from the first link is greater than 0 degrees and less than or equal to 90 degrees, the first link is extended, the jaws guided by the second guide portions are moved away from each other, and when the first link is retracted, the jaws guided by the second guide portions are moved closer to each other.

The specific features described in the above embodiments may be combined in any manner without contradiction, and various possible combinations are not separately described for the sake of unnecessary repetition.

The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and any modification or equivalent substitution without departing from the scope of the present invention should be included in the technical solution of the present invention.

Claims

1. An explosion venting manipulator, comprising:

a base;

the joint parts are sequentially arranged from the base part;

the fixture, the fixture sets up the end of a plurality of joints, the fixture includes, the mount pad, install on the mount pad:

the power part is clamped by the clamping device,

the clamping transmission part comprises a first input part, a first output part and a first guide part, wherein the first input part is connected with the clamping power part, the first guide part guides the first output part so that the first output part can stretch along the linear direction when the clamping power part drives the first input part, the first output part keeps self-locking when the clamping power part stops driving the first input part,

at least one pair of clamping jaws, one end of each clamping jaw is connected with the first output part, the other end of each clamping jaw is located at two sides of the first output part in the expansion direction, the clamping jaws are away from each other when the first output part extends, the clamping jaws are close to each other when the first output part retracts, or the other ends of the clamping jaws are close to each other when the first output part extends, and the clamping jaws are away from each other when the first output part retracts;

the first input part comprises a trapezoidal screw rod, and the first output part comprises a screw rod nut meshed with the trapezoidal screw rod;

the first output part further comprises a first connecting piece which is abutted to the first guiding part and is in sliding fit with the first guiding part;

the clamping jaw is provided with a first hinge part between two ends of the clamping jaw, the clamping jaw is mounted to the mounting seat through the first hinge part, one end, connected with the first connecting piece, of the clamping jaw is provided with a second groove part, the first connecting piece is embedded into the second groove part and can freely slide, an angle between a path extending from the second groove part and a straight line direction extending from the first connecting piece is larger than 0 degree and smaller than or equal to 90 degrees, and after the clamping jaw is mounted to the mounting seat, the first hinge part is positioned at the side of the straight line direction extending from the first connecting piece;

the plurality of joint parts comprise first joint parts fixed on the base part, the first joint parts comprise first power parts, first arm parts and first transmission parts, the first power parts are arranged on the base part, the front ends of the first arm parts are connected with the first power parts through the first transmission parts, and the first arm parts can swing up and down;

the first transmission part is arranged in the horizontal direction and comprises a trapezoidal screw transmission mechanism capable of self-locking, the trapezoidal screw of the first transmission part is connected with the first power part, second connecting pieces are arranged at two ends of a screw nut of the first transmission part, a first groove part is arranged at the front end of the first arm part, and the second connecting pieces are embedded into the first groove part.

2. The explosion venting manipulator of claim 1, wherein the plurality of joint portions further comprise a second joint portion arranged at the tail end of the first arm portion, the second joint portion comprises a second power portion, a second arm portion and a second transmission portion, the second power portion is arranged at the front end of the second arm portion, a first support shaft is fixedly arranged at the tail end of the first arm portion, and the front end of the second arm portion is supported on the first support shaft and can swing around the axis of the first support shaft in parallel with the first arm portion.

3. The explosion venting manipulator of claim 2, wherein the second transmission portion comprises a self-lockable worm gear transmission mechanism, wherein a worm of the second transmission portion is arranged at the front end of the second arm portion and is connected with the second power portion, and a worm gear of the second transmission portion is fixed on the first support shaft.

4. The explosion venting manipulator according to claim 2, wherein the plurality of joint portions further include a third joint portion provided at a distal end of the second arm portion, the third joint portion including a third power portion and a third arm portion provided on an end face of a rear end of the second arm portion, and the third arm portion is torsionally rotated with respect to the third arm portion about an axial direction of a length direction of the third arm portion by driving of the third power portion.

5. The explosion venting manipulator of claim 4, wherein the plurality of joints further comprises a fourth joint disposed at a distal end of the third arm, the fourth joint comprising a fourth arm, the mount being disposed on the fourth joint.