CN201900646U - Wireless explosion-removal rescue robot - Google Patents
Wireless explosion-removal rescue robot Download PDFInfo
- Publication number
- CN201900646U CN201900646U CN2010206559204U CN201020655920U CN201900646U CN 201900646 U CN201900646 U CN 201900646U CN 2010206559204 U CN2010206559204 U CN 2010206559204U CN 201020655920 U CN201020655920 U CN 201020655920U CN 201900646 U CN201900646 U CN 201900646U
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- clamping hand
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- caliper
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Abstract
The utility model relates to a wireless explosion-removal rescue robot, which belongs to a rescue robot and consists of a chassis, a base joint, elbow joints, wrist joints, upper arms, forearms and clamping hands. The chassis is provided with four wheels which are driven symmetrically and independently, the base joint is provided with a rotary pair and a swing pair, each elbow joint is provided with a swing pair, each wrist joint is provided with a rotary pair and a swing pair, each upper arm is connected between the base joint and the corresponding elbow joint, each forearm is connected between the corresponding elbow joint and the corresponding wrist joint, each clamping hand is connected with the corresponding wrist joint, and the rotary pairs and the swing pairs of the joints and independent driving connecting rods of the clamping hands are respectively driven to move by a stepping motor. The robot can move to a place at which people cannot safely arrive when in danger. By the aid of matching actions of mechanical arms and the chassis, the wireless explosion-removal rescue robot can realize operation functions of grabbing, placing, tightening, opening and closing, water spraying and the like.
Description
Technical field
The utility model belongs to a kind of rescue robot.
Background technology
Existing handling explosive and rescue robot volume is big, weight big, action is owed flexibly, the scope of application is little, most AC servo motor that adopts; Range of movement is subjected to environmental factor and power line length restriction; Be not suitable for moving at tiny area; Powerless for little job space.
Summary of the invention
The utility model provides a kind of wireless handling explosive and rescue robot, and existing handling explosive and rescue robot volume is big, weight big, problem is flexibly owed in action to solve.
The technical scheme that the utility model is taked is: have four symmetries and the energy chassis of wheel driven separately, have a rotary pair and the base portion joint that swing is secondary, be connected the bearing between chassis and the base portion joint, it is secondary to have swing, have rotary pair and the secondary wrist joint of swing, connect big arm between base portion joint and the ancon joint, be connected the forearm between ancon joint and the wrist joint, the clamping hand that is connected with the wrist joint; Clamping hand structure is, clamping hand first firm banking and clamping hand second firm banking are separately fixed at clamping hand housing both sides, the 7th motor is fixed on the clamping hand housing, the eight treating observances orchid links to each other with spline with the main shaft of the 7th motor, second drive link is fixed on the swing pair that forms second drive link on the eight treating observances orchid, the 8th motor is fixed on the clamping hand housing, use flange to link to each other first drive link and form the swing pair of first drive link with the 8th electric machine main shaft, with clamping hand first caliper, clamping hand second caliper is fixed together and forms clamping hand left caliper, by two and clamping hand first caliper, the fixing clamping hand right caliper body that forms of the clamping hand vice body of the clamping hand second caliper symmetry, third connecting rod, the 5th connecting rod one end and clamping hand left caliper carry out matched in clearance with bolt, third connecting rod, the other end of the 5th connecting rod and clamping hand housing carry out matched in clearance by second pad with bolt, with with second drive link, first pad, clamping hand left caliper carries out matched in clearance with bolt, the 4th connecting rod, clamping hand right caliper body and the corresponding connecting rod of the 4th connecting rod carry out matched in clearance with bolt, the 4th connecting rod, carry out matched in clearance with the other end and the clamping hand housing of the corresponding connecting rod of the 4th connecting rod with bolt, shimming and carry out matched in clearance between first drive link and the clamping hand right caliper body with bolt, form the link motion mechanism of clamping hand, the motion of the drive link of the rotary pair in each joint and swing pair and clamping hand is driven by a stepper motor respectively.
A kind of embodiment of the utility model is: the wrist joint is fixed on the forearm left arm body by the 5th motor, the 5th flange links to each other with spline with the 5th electric machine main shaft, the 6th flange is fixed on the forearm right arm body; forearm left arm body and forearm right arm body are separately fixed at the pillar two ends; the wrist joint housing is fixed on first flange; wrist joint housing and the 6th flange carry out matched in clearance with bolt and form the swing pair in wrist joint; the 6th motor is fixed on the wrist joint housing; the 7th flange is connected with spline with the main shaft of the 6th motor, clamping hand first firm banking; clamping hand second firm banking is connected with the 7th flange and forms the rotary pair in wrist joint.
The motion of the drive link of the rotary pair in each joint and swing pair and clamping hand is driven by a stepper motor respectively.
This robot utilization multi-joint manipulator arm carries out various operations, finish extracting, put, separation, switch, tighten, elemental motion such as water spray, and by with the cooperation and the coordination on movable chassis, realize certain operation function.
Advantage of the present utility model is novel structure, its arm is the tunable action under computer control, cooperatively interact, this robot adopts the copy man arm structure, length suitably reduces to guarantee to work under little space environment, and explosive-removal robot arm frame for movement and intelligent carriage compact conformation, volume is little, in light weight, the joint is flexible, intensity is big, convenient disassembly, and is safe and reliable, motor lines, pickup wire are arranged regular, and drive connection is short and sweet.In addition, it also has the characteristics of robot six degree of freedom, promptly range of movement big, keep away that the barrier ability is strong, controllability strong, be widely used, operation consumption is low.Entire machine people device adopts the 12V DC power supply, provides lead accumulator for oneself.
Description of drawings:
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the right view of Fig. 1;
Fig. 3 is the structural representation of dolly chassis;
Fig. 4 is a base portion articulation structure schematic diagram;
Fig. 5 is ancon joint and big arm, forearm syndeton schematic diagram;
Fig. 6 is the structural representation in wrist joint;
Fig. 7 is the structural representation of clamping hand;
Fig. 8 is the installation diagram of clamping hand;
Fig. 9 is the mechanical arm corner schematic diagram of the wireless explosion-proof rescue robot of the present invention.
The specific embodiment
Consult Fig. 1, Fig. 2, has four symmetries and the energy chassis 1 of wheel driven separately, have a rotary pair and the base portion joint 3 that swing is secondary, be connected the bearing 2 between chassis and the base portion joint 3, has 5 of a swing pair, have rotary pair and the secondary wrist joint 7 of swing, connect big arm 4 between base portion joint 3 and the ancon joint 5, be connected the forearm 6 between ancon joint 5 and the wrist joint 7, the clamping hand 8 that is connected with wrist joint 7;
Consult Fig. 3, chassis 1 is made up of the damping and slide-prevention tire 104 on car body 101, first motor 102, wheel 103, the wheel; First motor 102 is installed on the car body 101, the main shaft of first motor 102 links to each other with wheel 103 usefulness splines, damping and slide-prevention tire 104 usefulness bolts link to each other with wheel 103, and the moving runner symmetry of its excess-three drive is installed on the car body 101, and bearing 2 is fixed on the car body 101.
Consult Fig. 4, base portion joint 3 is made up of motor bearing 301, second motor 302, first flange 303, base portion joint housing 304, the 3rd motor 305, second flange 306, clutch shaft bearing 307, first catch 308; Second motor 302 is installed on the motor bearing 301, the main shaft of second motor 302 links to each other with first flange, 303 usefulness splines, motor bearing 301 is fixed on the bearing 201, base portion joint housing 304 is fixed on first flange 303 and forms the rotary pair in base portion joint 3, the 3rd motor 305 is fixed on the base portion joint housing 304, second flange 306 links to each other with spline with the 3rd motor 305 main shafts, big arm right arm body 402 is fixed by bolts on second flange 306, axle sleeve on clutch shaft bearing 307 and the big arm left arm body 401 carries out matched in clearance, with first catch 308, clutch shaft bearing 307 is fixed by bolts on the base portion joint housing 304 and forms the swing pair in base portion joint 3, and big arm left arm body 401 and big arm right arm body 402 are separately fixed at first pillar, 403 two ends.
Consult Fig. 5, ancon joint 5 is made up of the 4th motor 501, the 3rd flange 502, the 4th flange 503, the 3rd pillar 504; Elbow changes joint 5 and is fixed on the forearm left arm body 601 by the 4th motor 501, the 3rd flange 502 links to each other with spline with the main shaft of the 4th motor 501, big arm left arm body 401 is fixed on the 3rd flange 502, the 4th flange 503 is fixed on the forearm right arm body 602; forearm right arm body 602 is separately fixed at the 3rd pillar 504 two ends with forearm left arm body 601; big arm right arm body 402 and the 4th flange 503 carry out matched in clearance and form the swing pair in ancon joint 5, and with second pillar 404 big arm left arm body 401 and big arm right arm body 402 are fixed together.
Consult Fig. 6, wrist joint 7 is made up of the 5th motor 701, the 5th flange 702, the 6th flange 703, the 4th pillar 704, wrist joint housing 705, the 6th motor 706, the 7th flange 707; Wrist joint 7 is fixed on the wrist joint housing 705 by the 6th motor 706, the 7th flange 707 is connected with spline with the main shaft of the 6th motor 706, and clamping hand first firm banking 810 is fixed on the rotary pair that forms wrist joint 7 on the 7th flange 707 with clamping hand second firm banking 811; The 5th motor 701 is fixed on the forearm left arm body 601, the 5th flange 702 links to each other with spline with the 5th motor 701 main shafts, the 6th flange 703 is fixed on the forearm right arm body 602; forearm left arm body 601 is separately fixed at the 4th pillar 704 two ends with forearm right arm body 602; wrist joint housing 705 is fixed on the 5th flange 702, and wrist joint housing 705 and the 6th flange 703 usefulness bolts carry out matched in clearance and form the swing pair in wrist joint 7.
Consult Fig. 7, Fig. 8, clamping hand 8 structures are: clamping hand first firm banking 810 is separately fixed at clamping hand housing 801 both sides with clamping hand second firm banking 811, the 7th motor 802 is fixed on the clamping hand housing 801, eight treating observances orchid 812 links to each other with spline with the main shaft of the 7th motor 802, second drive link 805 is fixed on the swing pair that forms second drive link 805 on the eight treating observances orchid 812, the 8th motor 803 is fixed on the clamping hand housing 801, first drive link, 804 usefulness flanges are linked to each other with the 8th motor 803 main shafts form the swing pair of first drive link 804, with clamping hand first caliper 816, clamping hand second caliper 817 is fixed together and forms clamping hand left caliper 808, by two and clamping hand first caliper 816, the fixing clamping hand right caliper body 809 that forms of the clamping hand vice body of clamping hand second caliper 817 symmetries, third connecting rod 806, the 5th connecting rod 815 1 ends and clamping hand left caliper 808 usefulness bolts carry out matched in clearance, third connecting rod 806, the other end of the 5th connecting rod 815 and clamping hand housing 801 carry out matched in clearance by second pad, 814 usefulness bolts, with with second drive link 805, first pad 813, clamping hand left caliper 808 usefulness bolts carry out matched in clearance, the 4th connecting rod 807, clamping hand right caliper body 809 and the corresponding connecting rod of the 4th connecting rod carry out matched in clearance with bolt, the 4th connecting rod 807, carry out matched in clearance with the other end and the clamping hand housing 801 usefulness bolts of the corresponding connecting rod of the 4th connecting rod, shimming and carry out matched in clearance between first drive link 804 and the clamping hand right caliper body 809 with bolt, form the link motion mechanism of clamping hand, the motion of the drive link of the rotary pair in each joint and swing pair and clamping hand is driven by a stepper motor respectively.
Consult Fig. 9, there are two frees degree in this robot arm base joint, wrist joint, and all there is the swing pair of one degree of freedom in other joints, and its range of movement is between-90 ° to 90 °, base joint motions angular range is at-108 ° to+108 °, and the gyration scope is a week.By each joint rotation pair of motor direct-drive, increase free degree intensity and can strengthen the spatial operation ability, reduce appearance and size, enlarge job area; Clamping hand stepper motor drives two paws and carries out on-off action by direct drive link transmission.Multi-joint manipulator arm portion of the present invention is installed on the chassis, but the wheel of four symmetries and independent rotation is installed on its chassis, is driven by four stepper motors respectively, and speed difference is finished and turned between each wheel of utilization, and the radius of gyration is little, the flexibility height.
Claims (2)
1. wireless handling explosive and rescue robot, has four symmetries and the energy chassis of wheel driven separately, have a rotary pair and the base portion joint that swing is secondary, be connected the bearing between chassis and the base portion joint, it is secondary to have swing, have rotary pair and the secondary wrist joint of swing, connect big arm between base portion joint and the ancon joint, be connected the forearm between ancon joint and the wrist joint, the clamping hand that is connected with the wrist joint; It is characterized in that clamping hand structure is, clamping hand first firm banking and clamping hand second firm banking are separately fixed at clamping hand housing both sides, the 7th motor is fixed on the clamping hand housing, the eight treating observances orchid links to each other with spline with the main shaft of the 7th motor, second drive link is fixed on the swing pair that forms second drive link on the eight treating observances orchid, the 8th motor is fixed on the clamping hand housing, use flange to link to each other first drive link and form the swing pair of first drive link with the 8th electric machine main shaft, with clamping hand first caliper, clamping hand second caliper is fixed together and forms clamping hand left caliper, by two and clamping hand first caliper, the fixing clamping hand right caliper body that forms of the clamping hand vice body of the clamping hand second caliper symmetry, third connecting rod, the 5th connecting rod one end and clamping hand left caliper carry out matched in clearance with bolt, third connecting rod, the other end of the 5th connecting rod and clamping hand housing carry out matched in clearance by second pad with bolt, with with second drive link, first pad, clamping hand left caliper carries out matched in clearance with bolt, the 4th connecting rod, clamping hand right caliper body and the corresponding connecting rod of the 4th connecting rod carry out matched in clearance with bolt, the 4th connecting rod, carry out matched in clearance with the other end and the clamping hand housing of the corresponding connecting rod of the 4th connecting rod with bolt, shimming and carry out matched in clearance with bolt between first drive link and the clamping hand right caliper body forms the link motion mechanism of clamping hand.
2. require 1 described wireless handling explosive and rescue robot according to power, it is characterized in that: the wrist joint is fixed on the forearm left arm body by the 5th motor, the 5th flange links to each other with spline with the 5th electric machine main shaft, the 6th flange is fixed on the forearm right arm body; forearm left arm body and forearm right arm body are separately fixed at the pillar two ends; the wrist joint housing is fixed on first flange; wrist joint housing and the 6th flange carry out matched in clearance with bolt and form the swing pair in wrist joint; the 6th motor is fixed on the wrist joint housing; the 7th flange is connected with spline with the main shaft of the 6th motor, clamping hand first firm banking; clamping hand second firm banking is connected with the 7th flange and forms the rotary pair in wrist joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206559204U CN201900646U (en) | 2010-12-13 | 2010-12-13 | Wireless explosion-removal rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206559204U CN201900646U (en) | 2010-12-13 | 2010-12-13 | Wireless explosion-removal rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201900646U true CN201900646U (en) | 2011-07-20 |
Family
ID=44271250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206559204U Expired - Fee Related CN201900646U (en) | 2010-12-13 | 2010-12-13 | Wireless explosion-removal rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201900646U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513987A (en) * | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN105269585A (en) * | 2015-11-04 | 2016-01-27 | 苍南县格瑶电子有限公司 | Manipulator |
| CN105459095A (en) * | 2016-01-26 | 2016-04-06 | 安徽理工大学 | Three-freedom-degree series-parallel omni-directional mobile transfer robot |
-
2010
- 2010-12-13 CN CN2010206559204U patent/CN201900646U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513987A (en) * | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN102513987B (en) * | 2011-12-26 | 2014-04-09 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN105269585A (en) * | 2015-11-04 | 2016-01-27 | 苍南县格瑶电子有限公司 | Manipulator |
| CN105459095A (en) * | 2016-01-26 | 2016-04-06 | 安徽理工大学 | Three-freedom-degree series-parallel omni-directional mobile transfer robot |
| CN105459095B (en) * | 2016-01-26 | 2019-03-15 | 安徽理工大学 | Three-freedom-degree hybrid formula Omni-mobile transfer robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110720 Termination date: 20131213 |