CN203077284U - Rescue robot - Google Patents
Rescue robot Download PDFInfo
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- CN203077284U CN203077284U CN 201320068203 CN201320068203U CN203077284U CN 203077284 U CN203077284 U CN 203077284U CN 201320068203 CN201320068203 CN 201320068203 CN 201320068203 U CN201320068203 U CN 201320068203U CN 203077284 U CN203077284 U CN 203077284U
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- fixed
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- gear
- clamping plate
- elevating lever
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Abstract
The utility model relates to a rescue robot which comprises a chassis, a telescopic arm mechanism and a mechanical clamping device, wherein the mechanical clamping device consists of a grabbing mechanism and a turning mechanism; the grabbing mechanism is fixed at the lower end of a lifting rod in the turning mechanism; the turning mechanism is connected with a guide rail connection sleeve in the telescopic arm mechanism through the lifting rod; and the telescopic arm mechanism is fixed on the chassis. The rescue robot provided by the utility model has the beneficial effects that (1) the structure is simple, the operation is simple and convenient, the operation is stable and flexible, and the working efficiency is high; and (2) the mechanical clamping device can extend back and forth and go up and down and rotate in 360 degrees, and can be collected to a vehicle body; the grabbing range involves a quadrangle body of 30-130mm and a cylindrical article of (phi)50-100mm; the clamping device can grab an object at any angle through the turning mechanism; and by adding a thrust bearing, the gap in connection is eliminated, and the turning is smoother and more stable.
Description
Technical field
The utility model relates to the robot field, mainly is a kind of rescue robot that is used on the industrial circle.
Background technology
Many in recent years industrial enterprises all adopt a dead lift when transporting goods, the labour cost of ubiquity carrying is somewhat expensive like this, also has unsafe factor, and efficient is not high in handling process; Therefore, multi-subject knowledges such as Robotics, carrying action technology are organically blended, development is challenging frontier of robotics research with the rescue robot that exploitation is used for searching and carry.
Summary of the invention
The purpose of this utility model is to overcome the deficiency that prior art exists, and steadily and surely and flexibly rescue robot of a kind of simple in structure, easy and simple to handle, operation is provided.
The purpose of this utility model is finished by following technical solution, it comprises chassis, telescopic arm mechanism and mechanical gripper, described mechanical gripper is made up of handgrip mechanism and steering mechanism, the elevating lever lower end in the steering mechanism is fixed in this handgrip mechanism, this steering mechanism links to each other by the in-house guide rail adapter sleeve of elevating lever and described telescopic arm, and telescopic arm mechanism is fixed on the described chassis; Described telescopic arm mechanism comprises support disk, support bar, Connection Block, rail plate and guide rail adapter sleeve, this telescopic arm mechanism is fixed on the chassis by support disk, support bar be fixed in support disk in the heart, be fixed with Connection Block on the support disk, and be positioned at the front end of support bar; Be connected with tripod on this Connection Block.
As preferably, described rail plate is fixed in two U type grooves, and one of them is fixed in these two U type grooves on the top of support bar, and another is fixed on the end of tripod; Be with a guide rail adapter sleeve in this rail plate, this guide rail adapter sleeve is provided with tooth bar, and this tooth bar is meshed with gear on the motor driving shaft.
As preferably, described handgrip mechanism comprises first clamping plate, second clamping plate, first motor cabinet and is positioned at first motor on first motor cabinet, also comprise handgrip flat board, gear wheel, pinion and screw rod, described first motor cabinet is fixed on the handgrip flat board, the motor shaft and the gear wheel of described first motor are fixedly linked, this gear wheel is meshed with pinion, and pinion is fixed on the described screw rod, and this screw rod is connected on the both sides of handgrip flat board by screw.
As preferably, described first clamping plate and second clamping plate are the circular arch type, and offer some through holes on the end face, post in the inboard of these first clamping plate and second clamping plate to increase the rubber that grasps at frictional force; Described first clamping plate are stiff end, and are fixed in the side of described handgrip flat board by screw; Second clamping plate are movable end, and are placed on the described screw rod by the screw thread mode of spinning.
As preferably, the front end of described handgrip flat board is a grasping end, offers the arc groove that is used to block three district's objective bodies on this grasping end, and the arc groove and first clamping plate, second clamping plate are common forms a catching block.
As preferably, described steering mechanism is made up of elevating lever, first gear, second gear, thrust bearing and second motor, and described elevating lever is the elevating lever of embedded tooth bar, and fixes with the rear end of handgrip flat board, offer keyway on the elevating lever, and match with key and to be connected.
As preferably, the embedded tooth bar on the described elevating lever is meshed with the 3rd gear on the driving shaft of the 3rd motor, and the 3rd motor is fixed on second motor cabinet, and second motor cabinet is fixed in guide rail adapter sleeve downside; Elevating lever is placed in the lifter sleeve, and lifter sleeve is fixed with one second gear outward, and second gear and thrust bearing fix.
As preferably, described second gear is meshed with first gear, and first gear links to each other with the motor shaft of second motor, and this second motor is fixed in the electric motor protecting cover, and this electric motor protecting cover is fixed on the guide rail adapter sleeve.
The beneficial effects of the utility model are: 1, simple in structure, easy and simple to handle, operation is sane and flexibly, high efficiency, 2, mechanical gripper can be elastic, free lifting, can 360 ° rotation and folding and unfolding on car body, and the extracting scope is the tetragonal body that do not wait of 30-130MM and the cylindrical object of Φ 50-100mm; By steering mechanism, can make the arbitrarily angled extracting object of this clamper, the gap on connecting has been eliminated in the adding of thrust bearing, allow turn to more smooth and easy, more steady.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is that the B of Fig. 1 is to structural representation.
Fig. 3 is a handgrip of the present utility model mechanism plan structure schematic diagram.
Fig. 4 is the handgrip master of a mechanism TV structure schematic diagram of the present utility model.
Fig. 5 is a handgrip mechanism side TV structure schematic diagram of the present utility model.
Fig. 6 is a steering mechanism of the present utility model structural representation.
Fig. 7 is that the A of Fig. 6 is to structural representation.
Label in the accompanying drawing is respectively: 1, chassis; 2, telescopic arm mechanism, 3, mechanical gripper, 4, first motor, 5, the handgrip flat board, 6, gear wheel, 7, pinion, 8, screw rod, 9, through hole, 10, rubber, 11, elevating lever, 12, first gear, 13, second gear, 14, thrust bearing, 15, second motor, 16, key, 17, the 3rd motor, 18, the 3rd gear, 19, second motor cabinet, 20, the guide rail adapter sleeve, 21, support disk, 22, support bar, 23, Connection Block, 24, rail plate, 25, lifter sleeve, 26, tripod, 27, U type groove, 28, tooth bar, 29, gear, 30, motor, 31, handgrip mechanism, 32, steering mechanism, 33, the electric motor protecting cover; 34, first clamping plate, 35, second clamping plate, 36, first motor cabinet, 51, arc groove, 111, embedded tooth bar, 112, keyway.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done detailed introduction: shown in accompanying drawing 1,2, the utility model comprises chassis 1, telescopic arm mechanism 2 and mechanical gripper 3, described mechanical gripper 3 is made up of handgrip mechanism 31 and steering mechanism 32, elevating lever 11 lower ends in the steering mechanism 32 are fixed in this handgrip mechanism 31, this steering mechanism 32 links to each other with guide rail adapter sleeve 20 in the described telescopic arm mechanism 2 by elevating lever 11, and telescopic arm mechanism 2 is fixed on the described chassis 1; Described telescopic arm mechanism 2 comprises support disk 21, support bar 22, Connection Block 23, rail plate 24 and guide rail adapter sleeve 20, this telescopic arm mechanism 2 is fixed on the chassis 1 by support disk 21, support bar 22 be fixed in support disk 21 in the heart, be fixed with Connection Block 23 on the support disk 21, and be positioned at the front end of support bar 22; Be connected with tripod 26 on this Connection Block 23.Then add that tripod 26 increases its stability, can withstand the load of all directions.In the tripod installation process, with rail plate 24 jack-up 1-3mm upwards, because it make progress under situation about not stressing, can be to pressing down at stressed situation lower slider guide rail 24, rail plate 24 level by chance when stressed, otherwise can let droop, influence is operated.Described rail plate 24 is fixed in two U type grooves 27, and one of them is fixed in this two U type grooves 27 on the top of support bar 22, and another is fixed on the end of tripod 26; Be with a guide rail adapter sleeve 20 in this rail plate 24, this guide rail adapter sleeve 20 is provided with tooth bar 28, and this tooth bar 28 is meshed with gear 29 on motor 30 driving shafts.
Shown in accompanying drawing 3,4,5, described handgrip mechanism 31 comprises first clamping plate 34, second clamping plate 35, first motor cabinet 36 and is positioned at first motor 4 on first motor cabinet, also comprise handgrip flat board 5, gear wheel 6, pinion 7 and screw rod 8, described first motor cabinet 36 is fixed on the handgrip flat board 5, the motor shaft of described first motor 4 and gear wheel 6 are fixedly linked, this gear wheel 6 is meshed with pinion 7, pinion 7 is fixed on the described screw rod 8, and this screw rod 8 is connected on the both sides of handgrip flat board 5 by screw.Described first clamping plate 34 and second clamping plate 35 are the circular arch type, and offer some through holes 9 on the end face, post in the inboard of these first clamping plate 34 and second clamping plate 35 to increase the rubber 10 that grasps at frictional force; Via design on the clamping plate has not only alleviated weight, and simultaneously also more attractive in appearance, its inwall posts rubber 10, can increase extracting frictional force.Described first clamping plate 34 are stiff end, and are fixed in the side of described handgrip flat board 5 by screw; Second clamping plate 35 are movable end, and are placed on the described screw rod 8 by the screw thread mode of spinning.The front end of described handgrip flat board 5 is a grasping end, offers the arc groove 51 that is used to block three district's objective bodies on this grasping end, the arc groove 51 and first clamping plate 34, catching block of second clamping plate, 35 common compositions.Its extracting scope is 30-130mm, and big extracting scope makes that the extracting process is simpler and easy.
Shown in accompanying drawing 6,7, described steering mechanism 32 is made up of elevating lever 11, first gear 12, second gear 13, thrust bearing 14 and second motor 15, described elevating lever 11 is the elevating lever of embedded tooth bar 111, and fix with the rear end of handgrip flat board 5, offer keyway 112 on the elevating lever 11, and matching with key 16 is connected, like this can transmission, also can slide.Embedded tooth bar 111 on the described elevating lever 11 is meshed with the 3rd gear 18 on the driving shaft of the 3rd motor 17, and the 3rd motor 17 is fixed on second motor cabinet 19, and second motor cabinet 19 is fixed in guide rail adapter sleeve 20 downsides; Elevating lever 11 is placed in the lifter sleeve 25, and lifter sleeve 25 outer one second gear, 13, the second gears 13 that are fixed with fix with thrust bearing 14; The gap on connecting has been eliminated in the adding of thrust bearing 14, allow turn to more smooth and easy, more steady.Described second gear 13 is meshed with first gear 12, and first gear 12 links to each other with the motor shaft of second motor 15, and this second motor 15 is fixed in the electric motor protecting cover 33, and this electric motor protecting cover 33 is fixed on the guide rail adapter sleeve 20.
Operation principle of the present utility model is:
When clamper grasped object, first motor 4 drove gear wheel 6, and gear wheel 6 is meshed with pinion 7, and pinion 7 is fixed on the described screw rod 8, so can rotate by drive screw 8; Screw rod 8 links to each other by the screw thread mode of spinning with second clamping plate 35, the therefore rotation of first motor 4, and second clamping plate 35 are grip objects or unclamp object slowly.
When clamper is wanted oscilaltion, because of the 3rd gear 18 on the driving shaft of the embedded tooth bar 111 of elevating lever 11 and the 3rd motor 17 is meshed,, the 3rd motor 17 rotates when driving the 3rd gear 18, can upper and lower lifting thereby drive elevating lever 11.
When clamper is wanted 360 ° of rotations, drive 13 rotations of second gear by first gear 12, because of second gear 13 fixes with lifter sleeve 25, and elevating lever 11 is placed in the lifter sleeve 25, so when second motor 15 drove 12 rotations of first gear, elevating lever 11 also can and then rotate.
The utility model is not limited to above-mentioned embodiment; no matter on its shape or material formation, do any variation; every employing structural design provided by the utility model all is a kind of distortion of the present utility model, all should think within the utility model protection domain.
Claims (8)
1. rescue robot, comprise chassis (1), telescopic arm mechanism (2) and mechanical gripper (3), it is characterized in that: described mechanical gripper (3) is made up of handgrip mechanism (31) and steering mechanism (32), elevating lever (11) lower end in the steering mechanism (32) is fixed in this handgrip mechanism (31), this steering mechanism (32) links to each other by the interior guide rail adapter sleeve (20) of elevating lever (11) and described telescopic arm mechanism (2), and telescopic arm mechanism (2) is fixed on the described chassis (1); Described telescopic arm mechanism (2) comprises support disk (21), support bar (22), Connection Block (23), rail plate (24) and guide rail adapter sleeve (20), this telescopic arm mechanism (2) is fixed on the chassis (1) by support disk (21), support bar (22) be fixed in support disk (21) in the heart, be fixed with Connection Block (23) on the support disk (21), and be positioned at the front end of support bar (22); Be connected with tripod (26) on this Connection Block (23).
2. rescue robot according to claim 1, it is characterized in that: described rail plate (24) is fixed in two U type grooves (27), one of them is fixed in these two U type grooves (27) on the top of support bar (22), and another is fixed on the end of tripod (26); Be with a guide rail adapter sleeve (20) in this rail plate (24), this guide rail adapter sleeve (20) is provided with tooth bar (28), and this tooth bar (28) is meshed with gear (29) on motor (30) driving shaft.
3. rescue robot according to claim 1, it is characterized in that: described handgrip mechanism (31) comprises first clamping plate (34), second clamping plate (35), first motor cabinet (36), and be positioned at first motor (4) on first motor cabinet, also comprise handgrip flat board (5), gear wheel (6), pinion (7) and screw rod (8), described first motor cabinet (36) is fixed on the handgrip flat board (5), the motor shaft of described first motor (4) and gear wheel (6) are fixedly linked, this gear wheel (6) is meshed with pinion (7), pinion (7) is fixed on the described screw rod (8), and this screw rod (8) is connected on the both sides of handgrip flat board (5) by screw.
4. rescue robot according to claim 3, it is characterized in that: described first clamping plate (34) and second clamping plate (35) are the circular arch type, and offer some through holes (9) on the end face, post in the inboard of these first clamping plate (34) and second clamping plate (35) and can increase the rubber (10) that grasps at frictional force; Described first clamping plate (34) are stiff end, and are fixed in the side of described handgrip flat board (5) by screw; Second clamping plate (35) are movable end, and are placed on the described screw rod (8) by the screw thread mode of spinning.
5. according to claim 3 or 4 described rescue robots, it is characterized in that: the front end of described handgrip flat board (5) is a grasping end, offer the arc groove (51) that is used to block three district's objective bodies on this grasping end, arc groove (51) is formed a catching block jointly with first clamping plate (34), second clamping plate (35).
6. rescue robot according to claim 1, it is characterized in that: described steering mechanism (32) is made up of elevating lever (11), first gear (12), second gear (13), thrust bearing (14) and second motor (15), described elevating lever (11) is the elevating lever of embedded tooth bar (111), and fix with the rear end of handgrip flat board (5), offer keyway (112) on the elevating lever (11), and match with key (16) and to be connected.
7. rescue robot according to claim 6, it is characterized in that: the embedded tooth bar (111) on the described elevating lever (11) is meshed with the 3rd gear (18) on the driving shaft of the 3rd motor (17), the 3rd motor (17) is fixed on second motor cabinet (19), and second motor cabinet (19) is fixed in guide rail adapter sleeve (20) downside; Elevating lever (11) is placed in the lifter sleeve (25), outer one second gear (13) that is fixed with of lifter sleeve (25), and second gear (13) fixes with thrust bearing (14).
8. rescue robot according to claim 7; it is characterized in that: described second gear (13) is meshed with first gear (12); first gear (12) links to each other with the motor shaft of second motor (15); this second motor (15) is fixed in the electric motor protecting cover (33), and this electric motor protecting cover (33) is fixed on the guide rail adapter sleeve (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320068203 CN203077284U (en) | 2013-02-05 | 2013-02-05 | Rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320068203 CN203077284U (en) | 2013-02-05 | 2013-02-05 | Rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203077284U true CN203077284U (en) | 2013-07-24 |
Family
ID=48823156
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320068203 Expired - Fee Related CN203077284U (en) | 2013-02-05 | 2013-02-05 | Rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203077284U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128740A (en) * | 2013-02-05 | 2013-06-05 | 浙江机电职业技术学院 | Rescue robot |
| CN103358312A (en) * | 2013-07-29 | 2013-10-23 | 华南农业大学 | End effector and application thereof |
| CN114619458A (en) * | 2022-03-24 | 2022-06-14 | 武昌理工学院 | Multifunctional rescue device suitable for limited space |
-
2013
- 2013-02-05 CN CN 201320068203 patent/CN203077284U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128740A (en) * | 2013-02-05 | 2013-06-05 | 浙江机电职业技术学院 | Rescue robot |
| CN103358312A (en) * | 2013-07-29 | 2013-10-23 | 华南农业大学 | End effector and application thereof |
| CN114619458A (en) * | 2022-03-24 | 2022-06-14 | 武昌理工学院 | Multifunctional rescue device suitable for limited space |
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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: 20130724 Termination date: 20140205 |