CN104308843A - Fire-fighting robot manipulator lifting and rotating device - Google Patents
Fire-fighting robot manipulator lifting and rotating device Download PDFInfo
- Publication number
- CN104308843A CN104308843A CN201410428532.5A CN201410428532A CN104308843A CN 104308843 A CN104308843 A CN 104308843A CN 201410428532 A CN201410428532 A CN 201410428532A CN 104308843 A CN104308843 A CN 104308843A
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- connecting rod
- gear
- hinged
- bevel gear
- roller
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Abstract
A fire-fighting robot manipulator lifting and rotating device consists of a robot-specific battery, a straight spur gear, a driving bevel gear, a driven bevel gear, a pin shaft, a gear ring, a rotating bottom plate, cylinder barrels, cylinder pistons, rollers, connecting rods, a mechanical arm installing plate, a bevel gear bracket, a large base, a main transmission shaft, universal wheel fixing components and universal wheels, wherein the robot-specific battery transmits power to the pin shaft through the main transmission shaft, the driving bevel gear and the driven bevel gear; the pin shaft is fixedly connected with the straight spur gear; the straight spur gear is engaged with the gear ring; the gear ring is fixedly connected with the large base; four universal wheel mechanisms are installed below the rotating base; the cylinder piston is hinged to the rollers; the rollers are hinged to the upper ends of the connecting rods at determined positions; the lower ends of the connecting rods are hinged to the large base; the two connecting rods are hinged to middle positions thereof. The fire-fighting robot manipulator lifting and rotating device has the beneficial effects as follows: the fire-fighting robot manipulator lifting and rotating device can lift a robot manipulator under the precondition of no lifting rail, and can rotate for 360 degrees through engagement of the gear and the gear ring.
Description
Technical field
The present invention relates to a kind of manipulator lift rotating equipment, specifically apply straight spur gear and gear ring, bevel-gear sett, two overlap a kind of manipulator lifting rotation equipment be made up of the sliding-block linkage etc. of air cylinder driven, the invention belongs to industrial robot field.
Background technology
Fire, once occur, is just difficult to control, will brings the loss that cannot retrieve to victim.Iff rescuing the wounded by fire fighter and controlling the intensity of a fire, larger casualties may be brought.In the modern life, the control of fire is in the urgent need to a kind of fire-fighting robot, and this robot should have flexibly that arm is to carry out troubleshooting with auxiliary control fire, but such device is also little in the market.
Summary of the invention
For above-mentioned deficiency, the invention provides a kind of fire-fighting robot manipulator lift rotating equipment.
The present invention is achieved by the following technical solutions: a kind of fire-fighting robot manipulator lifting and whirligig are by robot reserve battery, straight spur gear, rotating bottom board, bearing pin, gear ring, cylinder barrel, cylinder plug, roller, first connecting rod, second connecting rod, third connecting rod, double leval jib, mechanical arm installing plate, large base plate, bevel gear support, final drive shaft, drive bevel gear, driven wheel of differential, universal wheel, universal wheel firmware composition, a kind of fire-fighting robot manipulator lifting degree whirligig is by robot reserve battery, straight spur gear, drive bevel gear, driven wheel of differential, bearing pin, gear ring, rotating bottom board, cylinder barrel, cylinder plug, roller, connecting rod, mechanical arm installing plate, bevel gear support, large base, final drive shaft, universal wheel firmware, universal wheel composition, battery is connected with final drive shaft, drive bevel gear engages with driven wheel of differential, driven wheel of differential is fixedly connected with bearing pin, bearing pin is fixedly connected with straight spur gear, straight spur gear engages with gear ring, gear ring is fixedly connected with rotating bottom board, installs four universal wheel mechanisms under rotating base, and on cylinder piston head and rotating bottom board, roller is hinged, in the track of roller on rotating bottom board, roller and first connecting rod hinged, first connecting rod upper end and mechanical arm installing plate hinged, second connecting rod lower end and rotating bottom board hinged, the roller of second connecting rod upper end and mechanical arm installing plate is hinged, first connecting rod and second connecting rod hinged in middle part.
The usefulness of this invention is: this device can be used as the lifting of fire-fighting robot last arm and whirligig, and this device can carry out the lifting of arm under without the prerequisite of ascending track, and can carry out the rotation of 360 degree on this basis.
Accompanying drawing explanation
Accompanying drawing 1: axonometric drawing of the present invention,
Accompanying drawing 2: left view of the present invention.
In figure: 1, mechanical arm installing plate, 2, roller one, 3, first connecting rod, 4, cylinder barrel one, 5, cylinder piston one, 6, roller two, 7, second connecting rod, 8, universal wheel fixture, 9, universal wheel one, 10, gear ring, 11, cylindrical gear shaft, 12, driven wheel of differential, 13, roller gear shaft supporting frame, 14, straight spur gear, 15, cylinder barrel two, 16, cylinder piston two, 17, rotating bottom board, 18, large base plate, 19, third connecting rod 20, double leval jib, 21, roller three, 22, roller four, 23, swivel pin, 24, universal wheel mechanism two, 25, robot reserve battery, 26, universal wheel mechanism three, 27, final drive shaft, 28, drive bevel gear, 29, universal wheel mechanism four.
Detailed description of the invention
A kind of fire-fighting robot arm lifting and 360 degree of whirligigs, by mechanical arm installing plate 1, roller 1, first connecting rod 3, cylinder barrel 1, cylinder piston 1, roller 26, second connecting rod 7, universal wheel fixture 8, universal wheel 1, gear ring 10, cylindrical gear shaft 11, driven wheel of differential 12, roller gear shaft supporting frame 13, straight spur gear 14, cylinder barrel 2 15, cylinder piston 2 16, rotating bottom board 17, large base plate 18, third connecting rod 19, double leval jib 20, roller 3 21, roller 4 22, swivel pin 23, 24, universal wheel mechanism 2 24, robot reserve battery 25, universal wheel mechanism 3 26, final drive shaft 27, drive bevel gear 28, universal wheel mechanism 4 29 forms, robot reserve battery 25 is connected with final drive shaft 27, drive bevel gear 28 engages with driven wheel of differential 12, between driven wheel of differential 12 with cylindrical gear shaft 11, key is connected, cylindrical gear shaft 11 is fixedly connected with the straight spur gear 14 on rotating bottom board, straight spur gear 14 engages with gear ring 9, gear ring 9 is fixedly connected with rotating bottom board 17, rotating bottom board 17 lower surface is hinged with universal wheel firmware 8 and universal wheel 8, cylinder piston 1 and cylinder barrel 1 form cylinder mechanism, cylinder piston 1 is hinged with roller 26, in the track of roller 26 on base, roller 6 is hinged with second connecting rod 7, second connecting rod 7 and mechanical arm installing plate 1 are determining that position is hinged, first connecting rod 2 is hinged with base, first connecting rod and second connecting rod hinged in middle part, then to get on the right track roller 1 interior hinged for first connecting rod and mechanical arm installing plate 1, such elevating mechanism respectively has one in the both sides of mechanical arm installing plate.
When this device works, rotated by battery-operated pivot pin, pivot pin drives cylindrical gear rotary, then engage with gear ring, and then driven rotary base plate carries out 360 degree of rotations; When cylinder promotion roller travels forward, drive two connecting rods vertical gradually, thus make mechanical arm installing plate complete rising movement.
For the ordinary skill in the art, according to instruction of the present invention, when not departing from principle of the present invention and spirit, the change carried out embodiment, amendment, replacement and modification still fall within protection scope of the present invention.
Claims (1)
1. the lifting of fire-fighting robot manipulator and a whirligig, is characterized in that: be by robot reserve battery, straight spur gear, rotating bottom board, bearing pin, gear ring, cylinder barrel, cylinder plug, roller, first connecting rod, second connecting rod, third connecting rod, double leval jib, mechanical arm installing plate, large base plate, bevel gear support, final drive shaft, drive bevel gear, driven wheel of differential, universal wheel, universal wheel firmware composition, a kind of fire-fighting robot manipulator lifting degree whirligig is by robot reserve battery, straight spur gear, drive bevel gear, driven wheel of differential, bearing pin, gear ring, rotating bottom board, cylinder barrel, cylinder plug, roller, connecting rod, mechanical arm installing plate, bevel gear support, large base, final drive shaft, universal wheel firmware, universal wheel composition, battery is connected with final drive shaft, drive bevel gear engages with driven wheel of differential, driven wheel of differential is fixedly connected with bearing pin, bearing pin is fixedly connected with straight spur gear, straight spur gear engages with gear ring, gear ring is fixedly connected with rotating bottom board, installs four universal wheel mechanisms under rotating base, and on cylinder piston head and rotating bottom board, roller is hinged, in the track of roller on rotating bottom board, roller and first connecting rod hinged, first connecting rod upper end and mechanical arm installing plate hinged, second connecting rod lower end and rotating bottom board hinged, the roller of second connecting rod upper end and mechanical arm installing plate is hinged, first connecting rod and second connecting rod hinged in middle part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410428532.5A CN104308843A (en) | 2014-08-27 | 2014-08-27 | Fire-fighting robot manipulator lifting and rotating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410428532.5A CN104308843A (en) | 2014-08-27 | 2014-08-27 | Fire-fighting robot manipulator lifting and rotating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104308843A true CN104308843A (en) | 2015-01-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410428532.5A Pending CN104308843A (en) | 2014-08-27 | 2014-08-27 | Fire-fighting robot manipulator lifting and rotating device |
Country Status (1)
| Country | Link |
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| CN (1) | CN104308843A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922249A (en) * | 2016-06-23 | 2016-09-07 | 马鞍山马钢表面工程技术有限公司 | Blank taking manipulator of annular heating furnace |
| CN107378972A (en) * | 2017-09-08 | 2017-11-24 | 孟庆仕 | A kind of home-services robot |
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
| CN108748262A (en) * | 2018-05-28 | 2018-11-06 | 安徽沃屹智能装备有限公司 | A kind of mechanical arm safety device |
| CN109397328A (en) * | 2018-12-13 | 2019-03-01 | 哈尔滨理工大学 | A kind of novel anthropomorphous machine's arm shoulder joint |
| CN110923054A (en) * | 2019-11-29 | 2020-03-27 | 和县久盛调味品有限责任公司 | Sesame stir-frying and Makang removing device and method for sesame oil production |
| WO2021238192A1 (en) * | 2020-05-26 | 2021-12-02 | 昆山双桦自动化科技有限公司 | Liftable base for robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003252580A (en) * | 2002-03-05 | 2003-09-10 | Chuzaburo Ichiyoshi | Moving lifter for heavy material |
| KR20110090075A (en) * | 2010-02-02 | 2011-08-10 | 한상천 | Table lift |
| CN202245926U (en) * | 2011-09-30 | 2012-05-30 | 济南华北升降平台制造有限公司 | Full-automatic and multi-functional lifting maintenance vehicle |
| CN202367751U (en) * | 2011-12-21 | 2012-08-08 | 中国科学院沈阳自动化研究所 | End effector of mechanical arm |
| CN203077249U (en) * | 2013-01-28 | 2013-07-24 | 新乡职业技术学院 | Fully automatic lifting rotating platform |
| CN203222449U (en) * | 2013-03-25 | 2013-10-02 | 徐正祥 | Rotary ascending and descending conveying device |
| CN203295128U (en) * | 2013-05-13 | 2013-11-20 | 江苏力维物流机械有限公司 | 360-degree revolving elevator |
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2014
- 2014-08-27 CN CN201410428532.5A patent/CN104308843A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003252580A (en) * | 2002-03-05 | 2003-09-10 | Chuzaburo Ichiyoshi | Moving lifter for heavy material |
| KR20110090075A (en) * | 2010-02-02 | 2011-08-10 | 한상천 | Table lift |
| CN202245926U (en) * | 2011-09-30 | 2012-05-30 | 济南华北升降平台制造有限公司 | Full-automatic and multi-functional lifting maintenance vehicle |
| CN202367751U (en) * | 2011-12-21 | 2012-08-08 | 中国科学院沈阳自动化研究所 | End effector of mechanical arm |
| CN203077249U (en) * | 2013-01-28 | 2013-07-24 | 新乡职业技术学院 | Fully automatic lifting rotating platform |
| CN203222449U (en) * | 2013-03-25 | 2013-10-02 | 徐正祥 | Rotary ascending and descending conveying device |
| CN203295128U (en) * | 2013-05-13 | 2013-11-20 | 江苏力维物流机械有限公司 | 360-degree revolving elevator |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922249A (en) * | 2016-06-23 | 2016-09-07 | 马鞍山马钢表面工程技术有限公司 | Blank taking manipulator of annular heating furnace |
| CN107378972A (en) * | 2017-09-08 | 2017-11-24 | 孟庆仕 | A kind of home-services robot |
| CN108748262A (en) * | 2018-05-28 | 2018-11-06 | 安徽沃屹智能装备有限公司 | A kind of mechanical arm safety device |
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
| CN109397328A (en) * | 2018-12-13 | 2019-03-01 | 哈尔滨理工大学 | A kind of novel anthropomorphous machine's arm shoulder joint |
| CN110923054A (en) * | 2019-11-29 | 2020-03-27 | 和县久盛调味品有限责任公司 | Sesame stir-frying and Makang removing device and method for sesame oil production |
| CN110923054B (en) * | 2019-11-29 | 2022-08-19 | 和县久盛调味品有限责任公司 | Sesame seed oil production sesame seed stir-frying chaff removing device and method |
| WO2021238192A1 (en) * | 2020-05-26 | 2021-12-02 | 昆山双桦自动化科技有限公司 | Liftable base for robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150128 |