CN108127690B - Physical insulation mechanical arm with motor - Google Patents
Physical insulation mechanical arm with motor Download PDFInfo
- Publication number
- CN108127690B CN108127690B CN201711124220.5A CN201711124220A CN108127690B CN 108127690 B CN108127690 B CN 108127690B CN 201711124220 A CN201711124220 A CN 201711124220A CN 108127690 B CN108127690 B CN 108127690B
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- welded
- arm
- wrist
- clamped
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000009413 insulation Methods 0.000 title claims description 8
- 210000000707 wrist Anatomy 0.000 claims abstract description 61
- 210000000078 claw Anatomy 0.000 claims abstract description 56
- 230000008602 contraction Effects 0.000 claims abstract description 17
- 230000001681 protective effect Effects 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 210000003437 trachea Anatomy 0.000 claims 1
- 230000002349 favourable effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Abstract
The invention belongs to the field of mechanical arms, and particularly relates to a physically insulated mechanical arm with a motor. A physically insulated charged mechanical arm comprises a power supply, an air pipe and a conventional mechanical arm, and further comprises: the mechanical claw is screwed with the rotating wrist; the rotary wrist part is clamped with the insulating arm; the control module is electrically connected with the power supply; the driving module is electrically connected with the control module; the insulating arm is screwed with the conventional mechanical arm; the sensor module is electrically connected with the control module; the gripper includes: the front end is connected with the rear end in a shaft way; the rear end is coupled with the rotating shaft; the rotating shaft is clamped with the fixing piece; the contraction air bag is arranged at the joint of the front end and the rear end and is connected with the driving module through an air pipe; the protective air bag is arranged at the tail end of the front end and is connected with the driving module through an air pipe; the pressure half box is welded with the fixing piece; the fixed lock catch is welded with the fixed piece; the air bag is folded, is arranged between the self-pressing half box and the rear end and is connected with the driving module through an air pipe; a fixing piece screwed with the rotary wrist.
Description
Technical Field
The invention belongs to the field of mechanical arms, and particularly relates to a physically insulated mechanical arm with a motor.
Background
At present, high-voltage operation of a plurality of cable wiring needs manual work to be completed, the danger coefficient is very large, electric shock danger easily occurs in high-voltage wire operation, and the mechanical arm cannot be used for well controlling the mechanical arm and the mechanical claw due to the influence of a magnetic field generated by high-voltage electricity during operation of the mechanical arm, and meanwhile, the danger of finally destroying equipment due to electric conduction exists.
Disclosure of Invention
In order to solve the unsafe problem, the invention provides a safe, stable and highly controllable physically-insulated dotted mechanical arm.
In order to achieve the above object, the technical solution is that a physically insulated mechanical arm with electric motor comprises a power supply, an air pipe and a conventional mechanical arm, and further comprises: the mechanical claw is screwed with the rotating wrist; the rotary wrist part is clamped with the insulating arm; the control module is electrically connected with the power supply; the driving module is electrically connected with the control module; the insulating arm is screwed with the conventional mechanical arm; the sensor module is electrically connected with the control module; the gripper includes: the front end is connected with the rear end in a shaft way; the rear end is coupled with the rotating shaft; the rotating shaft is clamped with the fixing piece; the contraction air bag is arranged at the joint of the front end and the rear end and is connected with the driving module through an air pipe; the protective air bag is arranged at the tail end of the front end and is connected with the driving module through an air pipe; the pressure half box is welded with the fixing piece; the fixed lock catch is welded with the fixed piece; the air bag is folded, is arranged between the self-pressing half box and the rear end and is connected with the driving module through an air pipe; a fixing piece screwed with the rotary wrist. The folding of the mechanical claw is controlled by an air bag, wherein when the wire is gripped by the protective air bag, the protective air bag is inflated to compress the wire in order to prevent slipping; the contractive air bag utilizes the elasticity of rubber materials, when the contractive air bag is inflated, the contractive air bag is expanded, the front end of the mechanical claw is expanded under the action of elastic force, when the air of the contractive air bag is pumped out, the contractive air bag retracts, and the elastic force is that the front end of the mechanical claw is closed; the foldable air bag is used for controlling the rear end of the mechanical claw and is arranged between the pressure half box and the rear end of the mechanical claw, when the mechanical claw is inflated, the foldable air bag can be expanded around, but because of the constraint of the pressure half box, the foldable air bag can be expanded towards the rear end only, and the rear end is folded under the action of the foldable air bag; and finally, the mechanical claw completes closing and opening under the action of the folded air bag and the contracted air bag. The rotation wrist provides a rotation degree of freedom for the mechanical claw, and the combination of the rotation wrist and the insulation arm can enable the mechanical claw to complete rotation of any angle.
Preferably, the rotation wrist portion includes: the first rotating shaft is screwed with the fixing piece; the second rotating shaft is clamped with the first rotating shaft; the third rotating shaft is clamped with the second rotating shaft; the fourth rotating shaft is clamped with the third rotating shaft and is clamped with the insulating arm; and a plurality of bellows connected between the first rotating shaft and the second rotating shaft, between the second rotating shaft and the third rotating shaft, and between the third rotating shaft and the fourth rotating shaft. 4 cooperation between the rotation axis, accomplish the minimum rotation degree of gripper, 4 rotation axes mutually support and can accomplish a 360 basic rotations, are favorable to in the engineering implementation, and the gripper accomplishes the rotation action.
Preferably, the insulating arm includes: the support column is sleeved with the insulating arm; the supporting bag is arranged in the insulating arm and is connected with the supporting column in a propping manner; a lower gear rotating shaft engaged with the rotating wrist; the reset rod is clamped with the lower tooth rotating shaft; the stretching bag is connected with the lower tooth rotating shaft and the rotating wrist in a jacking way; the reverse stretching bag is connected with the reset rod in a propping way. The support columns, the lower tooth rotating shafts, the support bags, the stretching bags and the reverse stretching bags of the insulating arms are matched to complete rotation degree resetting of the rotary wrist, so that the mechanical claw can rotate by more than 360 degrees; the working mode is that the supporting bag is inflated firstly to extend the supporting column, the fixing buckle clamped to the mechanical claw is used for fixing the current position of the mechanical claw, then the stretching bag is inflated, the reverse stretching bag is deflated to separate the lower tooth rotating shaft from the wrist, and the rotating angle of the wrist is reset; after the reset is accomplished, stretch and draw the bag gassing, reverse stretch and draw the bag to inflate, will descend tooth pivot and rotatory wrist meshing, simultaneously because after rotatory wrist rotation degree resets, tooth portion has the condition of unable alignment when meshing with lower tooth pivot, has increased the release link structure.
Preferably, the driving module includes: the plurality of cylinders are electrically connected with the control module; and the motor is electrically connected with the control module.
Preferably, the sensor module includes: the camera is electrically connected with the control module; the key is electrically connected with the control module; and the infrared locator is electrically connected with the control module. The device is arranged at the joint of the rear part of the insulating arm and the conventional mechanical arm and is used for observing the working condition of the mechanical claw; the infrared locator improves the gripper grabbing precision.
Preferably, the fourth rotation shaft includes: a first upper engagement piece welded to the rotary shaft; a second upper engagement piece welded to the rotary shaft; the rotating shaft is welded with the gear; and the gear is meshed with the lower tooth rotating shaft.
Preferably, the lower tooth rotating shaft includes: a plurality of sharp teeth welded with the bottom plate; the bottom plate is welded with the limiting rod; the displacement groove is formed on the bottom plate and is clamped with the reset rod; the limiting rod is welded on the bottom plate and is sleeved with the elastic rope; the elastic rope is sleeved with the reset rod. After the rotation wrist is reset by the rotation degree, if the two teeth are not aligned, the two teeth can be occluded under the action of the stretching bag and the reverse stretching bag, and meanwhile, because the reset rod is clamped on the lower tooth rotating shaft, the lower tooth rotating shaft can rotate towards the fixed direction, and meanwhile, the elastic rope is stretched; therefore, the problem that the gear shaft is forcibly meshed or not firmly meshed after reset can be solved, when the gear shaft is reset next time, the two gears are separated, the elastic rope retracts under the action of the reset rod, and finally the reset of the lower gear rotating shaft is completed.
Preferably, the second rotation shaft includes: a first upper engagement piece welded to the rotary shaft; a second upper engagement piece welded to the rotary shaft; a first lower engagement piece welded to the rotary shaft; and a second lower engagement piece welded to the rotary shaft.
Preferably, the second third rotation shaft has 2 upper and lower snap pieces in addition to the first and fourth rotation shafts; the middle of the lower clamping sheet of the first rotating shaft and the middle of the upper clamping sheet of the second rotating shaft are connected with the telescopic bags, when the rotating shaft rotates, the two telescopic bags contract, the corresponding two telescopic bags expand to push the rotating shaft to rotate, and finally the mechanical claw is driven to rotate; when the rotation degree of the reset rotary wrist is reset, the inflated expansion bag contracts, the contracted expansion bag is inflated, and the rotation degree reset is completed.
The beneficial effects created by the invention are as follows: (1) the folding of the mechanical claw is controlled by an air bag, wherein when the wire is gripped by the protective air bag, the protective air bag is inflated to compress the wire in order to prevent slipping; the contractive air bag utilizes the elasticity of rubber materials, when the contractive air bag is inflated, the contractive air bag is expanded, the front end of the mechanical claw is expanded under the action of elastic force, when the air of the contractive air bag is pumped out, the contractive air bag retracts, and the elastic force is that the front end of the mechanical claw is closed; the foldable air bag is used for controlling the rear end of the mechanical claw and is arranged between the pressure half box and the rear end of the mechanical claw, when the mechanical claw is inflated, the foldable air bag can be expanded around, but because of the constraint of the pressure half box, the foldable air bag can be expanded towards the rear end only, and the rear end is folded under the action of the foldable air bag; and finally, the mechanical claw completes closing and opening under the action of the folded air bag and the contracted air bag. The rotation wrist provides a rotation degree of freedom for the mechanical claw, and the combination of the rotation wrist and the insulation arm can enable the mechanical claw to complete rotation of any angle. (2) 4 cooperation between the rotation axis, accomplish the minimum rotation degree of gripper, 4 rotation axes mutually support and can accomplish a 360 basic rotations, are favorable to in the engineering implementation, and the gripper accomplishes the rotation action. (3) The support columns, the lower tooth rotating shafts, the support bags, the stretching bags and the reverse stretching bags of the insulating arms are matched to complete rotation degree resetting of the rotary wrist, so that the mechanical claw can rotate by more than 360 degrees; the working mode is that the supporting bag is inflated firstly to extend the supporting column, the fixing buckle clamped to the mechanical claw is used for fixing the current position of the mechanical claw, then the stretching bag is inflated, the reverse stretching bag is deflated to separate the lower tooth rotating shaft from the wrist, and the rotating angle of the wrist is reset; after the reset is accomplished, stretch and draw the bag gassing, reverse stretch and draw the bag to inflate, will descend tooth pivot and rotatory wrist meshing, simultaneously because after rotatory wrist rotation degree resets, tooth portion has the condition of unable alignment when meshing with lower tooth pivot, has increased the release link structure. (3) After the rotation wrist is reset by the rotation degree, if the two teeth are not aligned, the two teeth can be occluded under the action of the stretching bag and the reverse stretching bag, and meanwhile, because the reset rod is clamped on the lower tooth rotating shaft, the lower tooth rotating shaft can rotate towards the fixed direction, and meanwhile, the elastic rope is stretched; therefore, the problem that the gear shaft is forcibly meshed or not firmly meshed after reset can be solved, when the gear shaft is reset next time, the two gears are separated, the elastic rope retracts under the action of the reset rod, and finally the reset of the lower gear rotating shaft is completed. (4) The second third rotation shaft has 2 upper and lower snap pieces in addition to the first and fourth rotation shafts; the middle of the lower clamping sheet of the first rotating shaft and the middle of the upper clamping sheet of the second rotating shaft are connected with the telescopic bags, when the rotating shaft rotates, the two telescopic bags contract, the corresponding two telescopic bags expand to push the rotating shaft to rotate, and finally the mechanical claw is driven to rotate; when the rotation degree of the reset rotary wrist is reset, the inflated expansion bag contracts, the contracted expansion bag is inflated, and the rotation degree reset is completed.
Drawings
FIG. 1: physical insulation type structural schematic diagram with mechanical arm
FIG. 2: schematic view of rotary wrist
FIG. 3: bottom structure diagram of lower tooth rotating shaft
In the figure: 1. the protection air bag, 2, the contraction air bag, 3, the folding air bag, 4, the rotating wrist, 5, a fourth rotating shaft, 6, the front end, 7, the rear end, 8, the pressure half box, 9, the rotating shaft, 10, the fixing piece, 11, the fixing buckle, 12, the supporting column, 13, the lower tooth rotating shaft, 14, the stretching and pulling bag, 15, the reset rod, 16, the reverse stretching and pulling bag, 17, the first lower clamping sheet, 18, the second lower clamping sheet, 19, the first upper clamping sheet, 20, the second upper clamping sheet, 21, the limiting rod, 22 and the elastic rope.
Detailed Description
Examples
In order to achieve the above object, the technical solution is that a physically insulated mechanical arm with electric motor comprises a power supply, an air pipe and a conventional mechanical arm, and further comprises: a gripper screwed to the rotary wrist 4; the rotary wrist part 4 is clamped with the insulating arm; the control module is electrically connected with the power supply; the driving module is electrically connected with the control module; the insulating arm is screwed with the conventional mechanical arm; the sensor module is electrically connected with the control module; the gripper includes: a front end 6, which is coupled to a rear end 7; a rear end 7 coupled to the rotary shaft; a rotating shaft clamped with the fixing piece 10; the contraction air bag 2 is arranged at the joint of the front end 6 and the rear end 7 and is connected with the driving module through an air pipe; the protective air bag 1 is arranged at the tail end of the front end 6 and is connected with the driving module through an air pipe; the pressure half box 8 is welded with the fixing piece 10; the fixed lock catch is welded with the fixed plate 10; the folding air bag 3 is arranged between the self-pressing half box and the rear end 7 and is connected with the driving module through an air pipe; a fixing piece 10 screwed with the rotation wrist 4. The folding of the mechanical claw is controlled by an air bag, wherein when the protective air bag 1 grips the electric wire, the protective air bag 1 is inflated to compress the wire in order to prevent slipping; the contraction air bag 2 utilizes the elasticity of a rubber material, when the contraction air bag 2 is inflated, the contraction air bag 2 is expanded, the front end 6 of the mechanical claw is expanded under the action of elastic force, when the gas of the contraction air bag 2 is pumped out, the contraction air bag 2 retracts, and the elastic force is that the front end 6 of the mechanical claw is closed; the foldable air bag 3 is used for controlling the rear end 7 of the mechanical claw and is arranged between the pressure half-box 8 and the rear end 7 of the mechanical claw, when the foldable air bag 3 is inflated, the foldable air bag 3 can be expanded around, but due to the constraint of the pressure half-box 8, the foldable air bag 3 can only be expanded towards the rear end 7, and the rear end 7 is contracted under the action of the foldable air bag 3; finally, the mechanical claw completes the closing and the opening under the action of the folding air bag 3 and the contraction air bag 2. The rotation wrist 4 provides a rotation freedom degree for the mechanical claw, and the combination of the rotation wrist 4 and the insulation arm can enable the mechanical claw to complete any angle rotation.
The rotation wrist 4 includes: a first rotating shaft screwed with the fixing piece 10; the second rotating shaft is clamped with the first rotating shaft; the third rotating shaft is clamped with the second rotating shaft; the fourth rotating shaft 5 is clamped with the third rotating shaft and is clamped with the insulating arm; and a plurality of bellows connected between the first rotation shaft and the second rotation shaft, between the second rotation shaft and the third rotation shaft, and between the third rotation shaft and the fourth rotation shaft 5. 4 cooperation between the rotation axis, accomplish the minimum rotation degree of gripper, 4 rotation axes mutually support and can accomplish a 360 basic rotations, are favorable to in the engineering implementation, and the gripper accomplishes the rotation action.
The insulating arm includes: the support column 12 is sleeved with the insulating arm; the supporting bag is arranged in the insulating arm and is connected with the supporting column 12 in a jacking way; a lower gear rotating shaft 13 engaged with the rotating wrist 4; the reset rod 15 is clamped with the lower tooth rotating shaft 13; a stretching bag 14 which is connected with the lower tooth rotating shaft 13 and the rotating wrist 4 in a propping way; the reverse stretching bag 16 is connected with the reset rod 15 in an abutting mode. The support column 12, the lower tooth rotating shaft 13, the support bag, the stretching bag 14 and the reverse stretching bag 16 of the insulating arm are matched to complete rotation degree resetting of the rotary wrist, so that the mechanical claw can rotate by more than 360 degrees; the working mode is that the supporting bag is inflated firstly, so that the supporting column 12 extends out, the fixing buckle 11 clamped to the mechanical claw is clamped to complete the position fixing of the current mechanical claw, then the stretching bag 14 is inflated, the reverse stretching bag 16 is deflated, so that the lower tooth rotating shaft 13 is separated from the wrist, and the rotating angle of the wrist is reset; after the reset is completed, the stretching bag 14 is deflated, the reverse stretching bag 16 is inflated, the lower tooth rotating shaft 13 is meshed with the rotating wrist 4, and meanwhile, the reset rod 15 structure is added because the tooth part cannot be aligned when the rotating wrist 4 is meshed with the lower tooth rotating shaft 13 after the rotation degree of the rotating wrist 4 is reset. The driving module comprises: the plurality of cylinders are electrically connected with the control module; and the motor is electrically connected with the control module.
The sensor module includes: the camera is electrically connected with the control module; the key is electrically connected with the control module; and the infrared locator is electrically connected with the control module. The device is arranged at the joint of the rear part of the insulating arm and the conventional mechanical arm and is used for observing the working condition of the mechanical claw; the infrared locator improves the gripper grabbing precision.
The fourth rotation shaft 5 includes: a first upper engagement piece 19 welded to the rotary shaft; a second upper engagement piece 20 welded to the rotary shaft; the rotating shaft is welded with the gear; and the gear is meshed with the lower tooth rotating shaft 13.
The lower tooth rotating shaft 13 includes: a plurality of sharp teeth welded with the bottom plate; the bottom plate is welded with the limiting rod 21; the displacement groove is formed in the bottom plate and is clamped with the reset rod 15; the limiting rod 21 is welded on the bottom plate and is sleeved with the elastic rope 22; the elastic rope 22 is sleeved with the reset rod 15. After the rotation wrist 4 is reset in rotation degree, if the two teeth are not aligned, the two teeth are engaged under the action of the stretching bag 14 and the reverse stretching bag 16, and meanwhile, because the reset rod 15 is clamped on the lower tooth rotating shaft 13, the lower tooth rotating shaft 13 rotates towards the fixed direction, and meanwhile, the elastic rope 22 is stretched; therefore, the problem that the gear shafts are meshed forcibly or not firmly after reset can be solved, when the gear shafts are reset next time, the two gears are separated, the elastic rope 22 retracts under the action of the reset rod 15, and finally the reset of the lower gear rotating shaft 13 is completed.
The second rotation shaft includes: a first upper engagement piece 19 welded to the rotary shaft; a second upper engagement piece 20 welded to the rotary shaft; a first lower engagement piece 17 welded to the rotary shaft; and a second lower engagement piece 18 welded to the rotary shaft.
The second third rotation shaft has 2 upper and lower snap pieces in addition to the first and fourth rotation shafts 5; the middle of the lower clamping sheet of the first rotating shaft and the middle of the upper clamping sheet of the second rotating shaft are connected with the telescopic bags, when the rotating shaft rotates, the two telescopic bags contract, the corresponding two telescopic bags expand to push the rotating shaft to rotate, and finally the mechanical claw is driven to rotate; when the rotation degree of the reset rotation wrist 4 is reset, the inflated bellows contracts, and the contracted bellows inflates to complete the rotation degree reset.
The folding of the mechanical claw is controlled by an air bag, wherein when the protective air bag 1 grips the electric wire, the protective air bag 1 is inflated to compress the wire in order to prevent slipping; the contraction air bag 2 utilizes the elasticity of a rubber material, when the contraction air bag 2 is inflated, the contraction air bag 2 is expanded, the front end 6 of the mechanical claw is expanded under the action of elastic force, when the gas of the contraction air bag 2 is pumped out, the contraction air bag 2 retracts, and the elastic force is that the front end 6 of the mechanical claw is closed; the foldable air bag 3 is used for controlling the rear end 7 of the mechanical claw and is arranged between the pressure half-box 8 and the rear end 7 of the mechanical claw, when the foldable air bag 3 is inflated, the foldable air bag 3 can be expanded around, but due to the constraint of the pressure half-box 8, the foldable air bag 3 can only be expanded towards the rear end 7, and the rear end 7 is contracted under the action of the foldable air bag 3; finally, the mechanical claw completes the closing and the opening under the action of the folding air bag 3 and the contraction air bag 2. The rotation wrist 4 provides a rotation freedom degree for the mechanical claw, and the combination of the rotation wrist 4 and the insulation arm can enable the mechanical claw to complete any angle rotation. 4 cooperation between the rotation axis, accomplish the minimum rotation degree of gripper, 4 rotation axes mutually support and can accomplish a 360 basic rotations, are favorable to in the engineering implementation, and the gripper accomplishes the rotation action. The support column 12, the lower tooth rotating shaft 13, the support bag, the stretching bag 14 and the reverse stretching bag 16 of the insulating arm are matched to complete rotation degree resetting of the rotary wrist, so that the mechanical claw can rotate by more than 360 degrees; the working mode is that the supporting bag is inflated firstly, so that the supporting column 12 extends out, the fixing buckle 11 clamped to the mechanical claw is clamped to complete the position fixing of the current mechanical claw, then the stretching bag 14 is inflated, the reverse stretching bag 16 is deflated, so that the lower tooth rotating shaft 13 is separated from the wrist, and the rotating angle of the wrist is reset; after the reset is completed, the stretching bag 14 is deflated, the reverse stretching bag 16 is inflated, the lower tooth rotating shaft 13 is meshed with the rotating wrist 4, and meanwhile, the reset rod 15 structure is added because the tooth part cannot be aligned when the rotating wrist 4 is meshed with the lower tooth rotating shaft 13 after the rotation degree of the rotating wrist 4 is reset. After the rotation wrist 4 is reset in rotation degree, if the two teeth are not aligned, the two teeth are engaged under the action of the stretching bag 14 and the reverse stretching bag 16, and meanwhile, because the reset rod 15 is clamped on the lower tooth rotating shaft 13, the lower tooth rotating shaft 13 rotates towards the fixed direction, and meanwhile, the elastic rope 22 is stretched; therefore, the problem that the gear shafts are meshed forcibly or not firmly after reset can be solved, when the gear shafts are reset next time, the two gears are separated, the elastic rope 22 retracts under the action of the reset rod 15, and finally the reset of the lower gear rotating shaft 13 is completed. The second third rotation shaft has 2 upper and lower snap pieces in addition to the first and fourth rotation shafts 5; the middle of the lower clamping sheet of the first rotating shaft and the middle of the upper clamping sheet of the second rotating shaft are connected with the telescopic bags, when the rotating shaft rotates, the two telescopic bags contract, the corresponding two telescopic bags expand to push the rotating shaft to rotate, and finally the mechanical claw is driven to rotate; when the rotation degree of the reset rotation wrist 4 is reset, the inflated bellows contracts, and the contracted bellows inflates to complete the rotation degree reset.
Claims (7)
1. The utility model provides a physical insulation's electrified mechanical arm, includes power, trachea and conventional arm, its characterized in that still includes:
the mechanical claw is screwed with the rotating wrist;
the rotary wrist part is clamped with the insulating arm;
the control module is electrically connected with the power supply;
the driving module is electrically connected with the control module;
the insulating arm is screwed with the conventional mechanical arm;
the sensor module is electrically connected with the control module;
the gripper includes:
the front end is connected with the rear end in a shaft way;
the rear end is coupled with the rotating shaft;
the rotating shaft is clamped with the fixing piece;
the contraction air bag is arranged at the joint of the front end and the rear end and is connected with the driving module through an air pipe;
the protective air bag is arranged at the tail end of the front end and is connected with the driving module through an air pipe;
the pressure half box is welded with the fixing piece;
the fixed lock catch is welded with the fixed piece;
the air bag is folded, is arranged between the self-pressure half box and the rear end and is connected with the driving module through an air pipe;
a fixing piece screwed with the rotating wrist;
the rotation wrist portion includes:
the first rotating shaft is screwed with the fixing piece;
the second rotating shaft is clamped with the first rotating shaft;
the third rotating shaft is clamped with the second rotating shaft;
the fourth rotating shaft is clamped with the third rotating shaft and is clamped with the insulating arm;
and a plurality of bellows connected between the first rotating shaft and the second rotating shaft, between the second rotating shaft and the third rotating shaft, and between the third rotating shaft and the fourth rotating shaft.
2. The physically insulated, mechanically armed arm according to claim 1, wherein said insulated arm comprises:
the support column is sleeved with the insulating arm;
the supporting bag is arranged in the insulating arm and is connected with the supporting column in a propping manner;
a lower gear rotating shaft engaged with the rotating wrist;
the reset rod is clamped with the lower tooth rotating shaft;
the stretching bag is connected with the lower tooth rotating shaft and the rotating wrist in a jacking way;
the reverse stretching bag is connected with the reset rod in a propping way.
3. The physically isolated robotic arm of claim 1, wherein said drive module comprises:
the plurality of cylinders are electrically connected with the control module;
and the motor is electrically connected with the control module.
4. The physically isolated robotic arm of claim 1, wherein said sensor module comprises:
the camera is electrically connected with the control module;
the key is electrically connected with the control module;
and the infrared locator is electrically connected with the control module.
5. A physically isolated robotic arm as claimed in claim 1, wherein said fourth axis of rotation comprises:
a first upper engagement piece welded to the rotary shaft;
a second upper engagement piece welded to the rotary shaft;
the rotating shaft is welded with the gear;
and the gear is meshed with the lower tooth rotating shaft.
6. The physically isolated robotic arm of claim 2, wherein said lower toothed shaft comprises:
a plurality of sharp teeth welded with the bottom plate;
the bottom plate is welded with the limiting rod;
the displacement groove is formed on the bottom plate and is clamped with the reset rod;
the limiting rod is welded on the bottom plate and is sleeved with the elastic rope;
the elastic rope is sleeved with the reset rod.
7. A physically isolated robotic arm as claimed in claim 1, wherein said second axis of rotation comprises:
a first upper engagement piece welded to the rotary shaft;
a second upper engagement piece welded to the rotary shaft;
a first lower engagement piece welded to the rotary shaft;
and a second lower engagement piece welded to the rotary shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711124220.5A CN108127690B (en) | 2017-11-14 | 2017-11-14 | Physical insulation mechanical arm with motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711124220.5A CN108127690B (en) | 2017-11-14 | 2017-11-14 | Physical insulation mechanical arm with motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108127690A CN108127690A (en) | 2018-06-08 |
| CN108127690B true CN108127690B (en) | 2020-06-05 |
Family
ID=62388679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711124220.5A Active CN108127690B (en) | 2017-11-14 | 2017-11-14 | Physical insulation mechanical arm with motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108127690B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146629B (en) * | 2021-04-14 | 2023-07-07 | 杭州职业技术学院 | Accurate control system and control device of manipulator |
| CN113118110B (en) * | 2021-04-20 | 2022-03-29 | 深圳市利兴隆机电设备有限公司 | New forms of energy motor casing self-cleaning machine |
| CN116488047B (en) * | 2023-06-21 | 2023-09-12 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004358568A (en) * | 2003-06-02 | 2004-12-24 | Fuji Heavy Ind Ltd | Gripping device |
| JP2014200853A (en) * | 2013-04-01 | 2014-10-27 | トヨタ自動車株式会社 | Robot hand and operation control method for the same |
| CN104823731A (en) * | 2015-05-27 | 2015-08-12 | 武汉大学 | Branch pruning robot for overhead high-voltage transmission line live working |
| CN205469362U (en) * | 2016-02-05 | 2016-08-17 | 国家电网公司 | Transformer station inspection robot with pole -climbing function |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN107139201A (en) * | 2017-07-13 | 2017-09-08 | 苏州甫腾智能科技有限公司 | A kind of automation equipment part clamping mechanism |
| CN107214701A (en) * | 2017-06-12 | 2017-09-29 | 南京理工大学 | A kind of livewire work mechanical arm automatic obstacle avoiding paths planning method based on motion primitive storehouse |
-
2017
- 2017-11-14 CN CN201711124220.5A patent/CN108127690B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004358568A (en) * | 2003-06-02 | 2004-12-24 | Fuji Heavy Ind Ltd | Gripping device |
| JP2014200853A (en) * | 2013-04-01 | 2014-10-27 | トヨタ自動車株式会社 | Robot hand and operation control method for the same |
| CN104823731A (en) * | 2015-05-27 | 2015-08-12 | 武汉大学 | Branch pruning robot for overhead high-voltage transmission line live working |
| CN205469362U (en) * | 2016-02-05 | 2016-08-17 | 国家电网公司 | Transformer station inspection robot with pole -climbing function |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN107214701A (en) * | 2017-06-12 | 2017-09-29 | 南京理工大学 | A kind of livewire work mechanical arm automatic obstacle avoiding paths planning method based on motion primitive storehouse |
| CN107139201A (en) * | 2017-07-13 | 2017-09-08 | 苏州甫腾智能科技有限公司 | A kind of automation equipment part clamping mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108127690A (en) | 2018-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108127690B (en) | Physical insulation mechanical arm with motor | |
| CN208681596U (en) | A kind of concertina type composite machine arm | |
| CN107199573A (en) | A kind of production line clamping workpiece manipulator | |
| CN105563514B (en) | A kind of robot device | |
| CN104015197A (en) | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system | |
| CN107035630A (en) | A kind of intelligent machine device for being used to clean blade of wind-driven generator | |
| CN103056882B (en) | Inchworm gait imitation climbing robot | |
| CN107877534A (en) | A kind of robot chela | |
| CN206455672U (en) | A kind of urban SOS robot | |
| CN110466637A (en) | Single shaft-driven four feet all directions climbing robot and its control method | |
| CN209448696U (en) | Folding solar power generator, emergency power supply system and mobile power vehicle | |
| CN102756376A (en) | Finger device for underactuated robot adapting along with shapes automatically | |
| CN108284441A (en) | A kind of small-sized machine arm end clamping device | |
| CN110253606A (en) | A kind of software handgrip of imitative origami structure | |
| CN108633476A (en) | Electric expansion self-induction type tree fructufy device for picking | |
| CN107953321A (en) | A kind of adjustable plane mechanical arm of the electronic clamping jaw of band | |
| CN206455651U (en) | A kind of crawler type rescue robot | |
| CN203902715U (en) | Full-pneumatic vacuum adsorption type wall-climbing robot | |
| CN202702248U (en) | Finger device for shape-following self-adapting underactuated robot | |
| CN108189071A (en) | A kind of electronic clamping jaw | |
| CN205325674U (en) | Bionical arm of scrambleing and operating | |
| CN201989148U (en) | Telecontrol rescue and fire-fighting robot arm | |
| CN107186705A (en) | Snakelike mobile chain and walking fuselage and Power System Intelligent arch maintenance robot | |
| CN113650695B (en) | Rigid-flexible coupled climbing robot | |
| CN102920568B (en) | Bending joint of finger rehabilitation device based on double pneumatic flexible actuators |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |