CN101274430A - Large-sized redundant mechanical arm for handling explosive and rescue - Google Patents
Large-sized redundant mechanical arm for handling explosive and rescue Download PDFInfo
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- CN101274430A CN101274430A CNA2008100374131A CN200810037413A CN101274430A CN 101274430 A CN101274430 A CN 101274430A CN A2008100374131 A CNA2008100374131 A CN A2008100374131A CN 200810037413 A CN200810037413 A CN 200810037413A CN 101274430 A CN101274430 A CN 101274430A
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Abstract
The invention relates to a large scale redundancy manipulator used for handling explosion and rescuing, pertaining to the technical field of mechanical engineering. In the invention, a lumbar mechanism, a large arm, a mid-arm, a small arm, a wrist mechanism and a paw are connected in series, thus obtaining a wingspan not more than 5 metres. The large arm realizes pitching movement relative to the lumbar mechanism under the action of a first push rod; the mid-arm realizes the pitching movement relative to the large arm under the action of a second push rod; the small arm realizes the pitching movement relative to the mid-arm under the action of a third push rod; the wrist mechanism realizes the pitching movement relative to the small arm under the action of a forth push rod; the paw which is driven by the wrist mechanism turns around relative to the wrist mechanism; 7 degrees of freedom are provided including the paw. The invention realizes the manipulator with high load, large wingspan, high redundancy and high precision, provides possibility for solving the problem of energy supply for long-term working and has high applicability in dangerous and complicated fields such as explosion disposal and rescuing.
Description
Technical field
What the present invention relates to is a kind of manipulator of mechanical engineering technical field, specifically, is a kind of large-sized redundant mechanical arm that is used for handling explosive and rescue.
Background technology
In the operation in numerous dangerous fields, for example get rid of the operation of bomb, land mine, carry out the operation of rescue, dangerous material transport operation of nuclear industry or chemical industry or the like, all requirement can be used the personnel of manipulator automatic or automanual replacement carrying out traditional work, finish the operation of appointment, reduce hazards, improve operating efficiency.
Through the new discovery of looking into,, obtained certain achievement both at home and abroad in that certain research is all arranged aspect the development of the manipulator that is applied to dangerous field to prior art.As the F6A manipulator of U.S. Remotec (Lei Mo Imtech), have 6 frees degree, the arm exhibition is 1.4 meters, 11 kilograms of load capacity adopt storage battery power supply.The TSR manipulator of France has 4 frees degree, and the arm exhibition is 2 meters, and load capacity is 12 kilograms.The Dragon III type explosive-removal robot of the auspicious outstanding Time Inc. in Beijing of China development has 4 frees degree, and the arm exhibition is 1.5 meters, and load capacity is less than 10 kilograms.
At the manipulator in handling explosive and rescue field, sum up and get up generally to have following shortcoming: (1) load capacity is little, can not adapt to the eliminating than the huge explosion thing both at home and abroad.Manipulator usually is required to get rid of simple and easy explosive and the war that the mankind can carry placement and leaves over explosives such as bomb, so the manipulator of load capacity about 30 kilograms has bigger demand; (2) free degree is few.Manipulator should be able to be applied to narrow many obstacles etc. relatively in the complex environment.This requires manipulator to have the more freedom degree to realize flexible and changeable operation.(3) the arm exhibition is little.Manipulator should carrier finish once move after, have bigger job area, to increase work efficiency, handle various tasks faster.(4) do not possess the ability that works long hours.In order to guarantee operating efficiency and operating continuity reliability, manipulator should use continuous power supply mode or can keep the battery mode that farm labourer more does the time (being not less than 5 hours).
Summary of the invention
The present invention is directed to the deficiencies in the prior art and shortcoming, a kind of large-sized redundant mechanical arm that is used for handling explosive and rescue is provided, make it can be bigger stronger carry out the handling explosive and rescue operation.Mechanical arm of the present invention exhibition is big, and load capacity is big, has large redundancy, solves the energy resource supply problem, and flexible movements precision height is suitable for the operation under the complex environment more, applied range, and applicability is more intense.
The present invention is achieved by the following technical solutions, the present invention includes: waist mechanism, big arm, first push rod, middle arm, second push rod, forearm, the 3rd push rod, linkage, Wrist mechanism, the 4th push rod, paw.One end of big arm connects waist mechanism, and first push rod connects waist mechanism and big arm, and big arm can be realized the elevating movement with respect to waist mechanism under the effect of first push rod.One end of middle arm connects the other end of big arm, and second push rod connects big arm and middle arm, and middle arm can be realized the elevating movement with respect to big arm under the effect of second push rod.The other end of arm during one end of forearm connects, linkage connects forearm and middle arm, arm and linkage during the 3rd push rod connects, forearm can be realized the elevating movement with respect to middle arm under the effect of the 3rd push rod and linkage.Wrist mechanism connects the other end of forearm, and the 4th push rod connects forearm and Wrist mechanism, and Wrist mechanism can be realized the elevating movement with respect to forearm under the effect of the 4th push rod.Paw is connected to Wrist mechanism, and paw can carry out opening and closing movement for outer equipped putting, and turns round with respect to Wrist mechanism under Wrist mechanism drives.
Described waist mechanism comprises: firm banking, waist motor, pinion, floating bearing, revolving dial, supporting structure, hollow vertical shaft, gear wheel, rotary braking retainer.The waist motor uses AC servo motor, is installed in firm banking inside, and pinion is installed on the output shaft of waist motor, and supporting structure is fixed on the revolving dial top, and what hollow vertical shaft and gear wheel were coaxial is fixed on below the revolving dial.Revolving dial is connected on the firm banking by floating bearing, can turn round with respect to firm banking.Waist motor-driven pinion, gear wheel finally drive revolving dial and supporting structure is finished spinning movement.The rotary braking retainer is installed between hollow vertical shaft and the firm banking, and the rotation of its operation time limit system waist mechanism is carried out safety arrestment to it.
Described first push rod to the, four push rods all adopt identical structure, comprising: push-rod electric machine, trapezoidal screw, feed screw nut, lead, outer sleeve.Push-rod electric machine uses AC servo motor, is installed on the outer sleeve.Trapezoidal screw is installed on the output shaft of push-rod electric machine, guarantees safety by the mechanical self-latching characteristic.Lead is fixed on the feed screw nut, realizes linear reciprocating motion at the driving lower edge of push-rod electric machine outer sleeve.
Described linkage comprises: first connecting rod, second connecting rod.One end of first connecting rod adopts the pin mode to be connected with an end of second connecting rod.The luffing angle scope of forearm with respect to middle arm amplified in the effect of linkage.
Described Wrist mechanism comprises: wrist framework, wrist rotating motor.The wrist rotating motor is fixed in the wrist framework, can drive outer tennis partner's pawl and turn round.
Compared with prior art, advantage of the present invention has provided a kind of large-sized redundant mechanical arm, comprise paw 7 frees degree altogether, the cascaded structure of big arm, middle arm, forearm, Wrist mechanism, paw has been realized reaching the arm exhibition that is not more than 5 meters, greatly increase working space, improved the applicability that comprises operation under the complex environment of keeping away barrier.By using AC servo motor to provide bigger power greatly to improve load capacity, load capacity is not less than 30 kilograms under the maximum arm exhibition of level state.The resolution ratio and the kinematic accuracy in each joint of manipulator have been improved simultaneously.By being equipped with the external communication power equipment, can effectively solve the problem of power supply power supply, possess the possibility of long working.By using trapezoidal screw and rotary braking retainer, the joint self-locking and the safety arrestment of manipulator have been realized.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is plan structure figure of the present invention
Fig. 3 is the waist mechanism structural representation
Fig. 4 is the structural representation of first push rod to the, four push rods
Fig. 5 is the linkage structural representation
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As depicted in figs. 1 and 2, present embodiment comprises: waist mechanism 1, big arm 2, first push rod 3, middle arm 4, second push rod 5, forearm 6, the 3rd push rod 7, linkage 8, Wrist mechanism 9, the 4th push rod 10, paw 11.One end of big arm 2 adopts the pin mode to connect waist mechanism 1, first push rod 3 adopts the pin mode to connect waist mechanism 1 and big arm 2, big arm 2 can be realized the elevating movement with respect to waist mechanism 1 under the telescopic action of first push rod 3, its movement angle scope is not less than 110 degree.One end of middle arm 4 adopts the pin mode to connect the other end of big arm 2, second push rod 5 adopts the pin mode to connect big arm 2 and middle arm 4, middle arm 4 can be realized the elevating movement with respect to big arm 2 under the telescopic action of second push rod 5, its movement angle scope is not less than 90 degree.The other end of arm 4 during the one end employing pin mode of forearm 6 connects, linkage 8 adopts the pin mode to connect forearm 6 and middle arm 4, the 3rd push rod 7 adopt the pin modes connect in arm 4 and linkage 8; forearm 6 can be realized the elevating movement with respect to middle arm 4 under the amplification of the telescopic action of the 3rd push rod 7 and linkage 8, its movement angle scope is not less than 145 degree.Wrist mechanism 9 adopts the pin mode to connect the other end of forearm 6, the 4th push rod 10 adopts the pin mode to connect forearm 6 and Wrist mechanism 9, Wrist mechanism 9 can be realized the elevating movement with respect to forearm 6 under the telescopic action of the 4th push rod 10, its movement angle scope is not less than 90 degree.Paw 11 adopts the axle mode to be connected to Wrist mechanism 9, and paw 11 can carry out opening and closing movement for outer equipped putting, and turns round with respect to Wrist mechanism 9 under Wrist mechanism 9 drives.Its angle of revolution scope is revolution continuously, also can be set at discontinuous rotating a certain angular range.
As shown in Figure 3, described waist mechanism 1 comprises: firm banking 12, waist motor 13, pinion 14, floating bearing 15, revolving dial 16, supporting structure 17, hollow vertical shaft 18, gear wheel 19, rotary braking retainer 20.Waist motor 13 uses AC servo motor, be installed in firm banking 12 inside, pinion 14 is installed on the output shaft of waist motor 13, and supporting structure 17 is fixed on revolving dial 16 tops, and hollow vertical shaft 18 and gear wheel 19 are coaxial is fixed on revolving dial 16 belows.Revolving dial 16 is connected on the firm banking 12 by floating bearing 15, can be with respect to firm banking 12 revolutions.Waist motor 13 driving pinions 14, gear wheel 19 finally drive revolving dial 16 and supporting structure 17 is finished spinning movement.Rotary braking retainer 20 is installed between hollow vertical shaft 18 and the firm banking 12, and the rotation of its operation time limit system waist mechanism 1 is carried out safety arrestment to it.
As shown in Figure 4, described first push rod 3, second push rod 5, the 3rd push rod 7, the 4th push rod 10 all adopt identical structure, comprising: push-rod electric machine 21, trapezoidal screw 22, feed screw nut 23, outer sleeve 24, lead 25.Push-rod electric machine 21 uses AC servo motor, is installed on the outer sleeve 24.Trapezoidal screw 22 is installed on the output shaft of push-rod electric machine 21, guarantees safety by the mechanical self-latching characteristic.Lead 25 is fixed on the feed screw nut 23, realizes linear reciprocating motion at the driving lower edge of push-rod electric machine 21 outer sleeve 24.
As shown in Figure 5, described linkage 8 comprises: first connecting rod 26, second connecting rod 27.One end of first connecting rod 26 adopts the pin mode to be connected with an end of second connecting rod 27, and adopts coaxial connection the 3rd push rod 7 of same pin.The other end of first connecting rod 26 adopts the pin mode to be connected with forearm 6, and the other end of second connecting rod 27 adopts the pin mode to be connected with middle arm 4.The effect of linkage 8 is to amplify the luffing angle scope of forearm 6 with respect to middle arm 4.
As shown in Figure 2, described Wrist mechanism 9 comprises: wrist framework 28, wrist rotating motor 29.Wrist rotating motor 29 is fixed in the wrist framework 28, can drive outer equipped put paw 11 and turn round.
Described waist motor 13, push-rod electric machine 21 etc. all adopt AC servo motor.
Manipulator operates on it by external control deviceses such as computer or control sticks.Externally under the controlling of control appliance, waist motor 13 rotates the rotation of the revolving dial 16 that drives waist mechanism 1, thereby the integral body of big arm 2, first push rod 3, middle arm 4, second push rod 5, forearm 6, the 3rd push rod 7, linkage 8, Wrist mechanism 9, the 4th push rod 10 and paw 11 is followed rotation, realizes the integral body revolution of large-sized redundant mechanical arm.The push-rod electric machine 21 of first push rod 3 rotates the round rectilinear motion of the outer sleeve 24 of realizing first push rod 3, drives big arm 2 and carries out elevating movement with respect to waist mechanism 1.The push-rod electric machine 21 of second push rod 5 rotates the round rectilinear motion of the outer sleeve 24 of realizing second push rod 5, and arm 4 carries out elevating movement with respect to big arm 2 in the drive.The push-rod electric machine 21 of the 3rd push rod 7 rotates the round rectilinear motion of the outer sleeve 24 of realizing the 3rd push rod 7, drives forearm 6 by linkage 8 and carries out elevating movement with respect to middle arm 4.The push-rod electric machine 21 of the 4th push rod 10 rotates the round rectilinear motion of the outer sleeve 24 of realizing the 4th push rod 10.Wrist rotating motor 29 rotating bands of Wrist mechanism 9 are started pawl 11 and are realized revolution.By above-mentioned waist rotate, each elevating movement and the rotating series connection of wrist cooperate the three-dimensional space motion of realizing manipulator and to the extracting of object, carrying etc.Whole course of action can be realized by the external control devices pre-programmed, also can realize by manual manipulation.
Claims (8)
1; A kind of large-sized redundant mechanical arm for handling explosive and rescue; Comprise: waist mechanism; Big arm; First push rod; Middle arm; Second push rod; Forearm; The 3rd push rod; Linkage; Wrist mechanism; The 4th push rod; Paw; It is characterized in that; One end of big arm connects waist mechanism; First push rod connects waist mechanism and big arm; Big arm is realized the elevating movement with respect to waist mechanism under the effect of first push rod; One end of middle arm connects the other end of big arm; Second push rod connects big arm and middle arm; Middle arm is realized the elevating movement with respect to big arm under the effect of second push rod; The other end of arm during one end of forearm connects; Linkage connects forearm and middle arm; Arm and linkage during the 3rd push rod connects; Forearm is realized the elevating movement with respect to middle arm under the effect of the 3rd push rod and linkage; Wrist mechanism connects the other end of forearm; The 4th push rod connects forearm and Wrist mechanism; Wrist mechanism is realized the elevating movement with respect to forearm under the effect of the 4th push rod; Paw is connected to Wrist mechanism; Under Wrist mechanism drives, turn round with respect to Wrist mechanism, comprise altogether 7 frees degree of paw.
2, the large-sized redundant mechanical arm that is used for handling explosive and rescue according to claim 1, it is characterized in that, described waist mechanism comprises: firm banking, the waist motor, pinion, floating bearing, revolving dial, supporting structure, the hollow vertical shaft, gear wheel, the rotary braking retainer, the waist motor is installed in firm banking inside, pinion is installed on the output shaft of waist motor, supporting structure is fixed on the revolving dial top, what hollow vertical shaft and gear wheel were coaxial is fixed on below the revolving dial, revolving dial is connected on the firm banking by floating bearing, can turn round with respect to firm banking, the rotary braking retainer is installed between hollow vertical shaft and the firm banking, the rotation of restriction waist mechanism is carried out safety arrestment to it.
3, the large-sized redundant mechanical arm that is used for handling explosive and rescue according to claim 2 is characterized in that, described waist motor is an AC servo motor.
4, the large-sized redundant mechanical arm that is used for handling explosive and rescue according to claim 1, it is characterized in that, described first push rod, second push rod, the 3rd push rod and the 4th push rod all adopt identical structure, comprise: push-rod electric machine, trapezoidal screw, feed screw nut, lead, outer sleeve, push-rod electric machine is installed on the outer sleeve, trapezoidal screw is installed on the output shaft of push-rod electric machine, guarantee safety by the mechanical self-latching characteristic, lead is fixed on the feed screw nut, realizes linear reciprocating motion at the driving lower edge of push-rod electric machine outer sleeve.
5, the large-sized redundant mechanical arm that is used for handling explosive and rescue according to claim 4 is characterized in that, described push-rod electric machine is an AC servo motor.
6, the large-sized redundant mechanical arm that is used for handling explosive and rescue according to claim 1 is characterized in that, the cascaded structure of described big arm, middle arm, forearm, Wrist mechanism, paw, and its arm exhibition is less than or equal to 5 meters.
7, the large-sized redundant mechanical arm that is used for handling explosive and rescue according to claim 1, it is characterized in that described linkage comprises: first connecting rod, second connecting rod, one end of first connecting rod adopts the pin mode to be connected with an end of second connecting rod, and adopt coaxial connection the 3rd push rod of same pin, the other end of first connecting rod adopts the pin mode to be connected with forearm, the other end of second connecting rod adopts the pin mode to be connected with middle arm, and linkage amplifies the luffing angle scope of forearm with respect to middle arm.
8, the large-sized redundant mechanical arm that is used for handling explosive and rescue according to claim 1 is characterized in that, described Wrist mechanism comprises: wrist framework, wrist rotating motor, wrist rotating motor are fixed in the wrist framework, drive equippedly to put paw and turn round outward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810037413A CN100588507C (en) | 2008-05-15 | 2008-05-15 | Large-sized redundant mechanical arm for handling explosive and rescue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810037413A CN100588507C (en) | 2008-05-15 | 2008-05-15 | Large-sized redundant mechanical arm for handling explosive and rescue |
Publications (2)
| Publication Number | Publication Date |
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| CN101274430A true CN101274430A (en) | 2008-10-01 |
| CN100588507C CN100588507C (en) | 2010-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200810037413A Expired - Fee Related CN100588507C (en) | 2008-05-15 | 2008-05-15 | Large-sized redundant mechanical arm for handling explosive and rescue |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890718A (en) * | 2010-06-01 | 2010-11-24 | 中山大学 | Initialization method for redundant manipulator motion planning |
| CN102133754A (en) * | 2010-12-31 | 2011-07-27 | 山西华鑫电气有限公司 | Heavy explosion-proof manipulator |
| CN102490174A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Mechanical arm with frame-type extension arm |
| CN102490171A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Robot for disposing dangerous goods and ammunition |
| CN102837306A (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod manipulator |
| CN104669245A (en) * | 2015-01-09 | 2015-06-03 | 广西大学 | Four-degree-of-freedom articulated stepping motor driven teaching manipulator |
| CN104723359A (en) * | 2013-12-20 | 2015-06-24 | 广西大学 | Movable manipulator base |
| CN105196288A (en) * | 2015-09-28 | 2015-12-30 | 三门峡市天康成套设备有限责任公司 | Blindage vehicle capable of achieving active explosion removal |
| CN106139472A (en) * | 2016-06-28 | 2016-11-23 | 安徽扫宝智能科技有限公司 | A kind of electric station automatization fire-fighting robot three freedom degree manipulator |
| CN106170370A (en) * | 2013-11-19 | 2016-11-30 | 普罗特克萨安全有限公司 | The robotic vehicle remotely controlled |
| CN109571433A (en) * | 2018-11-30 | 2019-04-05 | 北京海风智能科技有限责任公司 | A kind of mechanical arm of 4DOF movement |
| CN109822556A (en) * | 2019-04-17 | 2019-05-31 | 桂林电子科技大学信息科技学院 | Industry mechanical arm based on PLC control |
| CN111174656A (en) * | 2020-01-13 | 2020-05-19 | 北京理工艾尔安全科技有限公司 | Intelligent explosion-proof explosion-discharging disposal platform |
| CN111977575A (en) * | 2020-09-27 | 2020-11-24 | 浙江鼎力机械股份有限公司 | Glass mounting and adjusting device suitable for aerial work platform truck |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4030378A (en) * | 1976-03-11 | 1977-06-21 | United Technologies Corporation | Redundant pushrod-to-bellcrank connection |
-
2008
- 2008-05-15 CN CN200810037413A patent/CN100588507C/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890718A (en) * | 2010-06-01 | 2010-11-24 | 中山大学 | Initialization method for redundant manipulator motion planning |
| CN102133754A (en) * | 2010-12-31 | 2011-07-27 | 山西华鑫电气有限公司 | Heavy explosion-proof manipulator |
| CN102837306A (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod manipulator |
| CN102490174A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Mechanical arm with frame-type extension arm |
| CN102490171A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Robot for disposing dangerous goods and ammunition |
| CN106170370A (en) * | 2013-11-19 | 2016-11-30 | 普罗特克萨安全有限公司 | The robotic vehicle remotely controlled |
| CN104723359A (en) * | 2013-12-20 | 2015-06-24 | 广西大学 | Movable manipulator base |
| CN104669245A (en) * | 2015-01-09 | 2015-06-03 | 广西大学 | Four-degree-of-freedom articulated stepping motor driven teaching manipulator |
| CN105196288A (en) * | 2015-09-28 | 2015-12-30 | 三门峡市天康成套设备有限责任公司 | Blindage vehicle capable of achieving active explosion removal |
| CN106139472A (en) * | 2016-06-28 | 2016-11-23 | 安徽扫宝智能科技有限公司 | A kind of electric station automatization fire-fighting robot three freedom degree manipulator |
| CN106139472B (en) * | 2016-06-28 | 2019-04-26 | 新昌县联航机械有限公司 | A kind of power generation station automatic fire-fighting robot three freedom degree manipulator |
| CN109571433A (en) * | 2018-11-30 | 2019-04-05 | 北京海风智能科技有限责任公司 | A kind of mechanical arm of 4DOF movement |
| CN109822556A (en) * | 2019-04-17 | 2019-05-31 | 桂林电子科技大学信息科技学院 | Industry mechanical arm based on PLC control |
| CN111174656A (en) * | 2020-01-13 | 2020-05-19 | 北京理工艾尔安全科技有限公司 | Intelligent explosion-proof explosion-discharging disposal platform |
| CN111977575A (en) * | 2020-09-27 | 2020-11-24 | 浙江鼎力机械股份有限公司 | Glass mounting and adjusting device suitable for aerial work platform truck |
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| Publication number | Publication date |
|---|---|
| CN100588507C (en) | 2010-02-10 |
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