CN108544513A - A kind of manipulator for explosion eliminating with poison gas detection and venom pumping function - Google Patents
A kind of manipulator for explosion eliminating with poison gas detection and venom pumping function Download PDFInfo
- Publication number
- CN108544513A CN108544513A CN201810709364.5A CN201810709364A CN108544513A CN 108544513 A CN108544513 A CN 108544513A CN 201810709364 A CN201810709364 A CN 201810709364A CN 108544513 A CN108544513 A CN 108544513A
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- CN
- China
- Prior art keywords
- manipulator
- hand
- composite joint
- venom
- functional
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- 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
- B25J15/0019—End effectors other than grippers
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of manipulator for explosion eliminating with poison gas detection and venom pumping function, belong to robot field, including mechanical arm assembly, horizontal revolving stage, gas detector, video camera, motor, micro pump, fluid reservoir, headlamp and Manipulator Controller etc..It is mainly used for the fields such as fire-fighting, explosive, rescue.The manipulator, which not only has hand to grab Multifunctional main shaft, can install expansion module, and poison gas detection and venom pumping function are increased on the basis of traditional manipulator, realize the effect of the compound three kinds of above functions of a manipulator.In addition the data of chemical detector kit use image transmitting mode, can quickly be transmitted different detection datas.The urgent demand of relevant industries is met, the cost of client is reduced.
Description
Technical field
The present invention relates to a kind of manipulator for explosion eliminating with poison gas detection and venom pumping function, belong to robot field.
Background technology
The present invention relates to a kind of manipulator for explosion eliminating with poison gas detection and venom pumping function, main application and fire-fighting,
The fields such as emergency management and rescue.Current global explosive-removal robot does not have poison gas detecting function and venom pumping function.
When encountering such situation, need that three or more robots is used to complete task simultaneously.And between traditional chemical detector kit and host
Intrinsic communication coding formula data transmission, often so that toxic vapor detection system is very incompatible, accessory is not general mutually.Specifically such as
Under：The special poison gas detection management mainframe program R＆D cycle is long, and detector replaces trouble, sensor communication protocol development progress
Slowly.And up to ten thousand kinds of detector kind, cause detector poor universality, the inherent defects such as host purchase cost height not to meet quickly
Emergency disaster relief requirement.
Invention content
In view of the above-mentioned problems of the prior art, in view of the above existing problems in the prior art, the present invention provides one kind
Manipulator for explosion eliminating with poison gas detection and venom pumping function.Including mechanical arm assembly, horizontal revolving stage, gas detector, take the photograph
Camera, motor, micro pump, fluid reservoir, headlamp and Manipulator Controller etc..It is mainly used for the necks such as fire-fighting, explosive, rescue
Domain.The manipulator, which not only has hand to grab Multifunctional main shaft, can install expansion module, and be increased on the basis of traditional manipulator
Poison gas detects and venom pumping function, realizes the effect of the compound three kinds of above functions of a manipulator.In addition chemical detector kit
Data use image transmitting mode, quickly different detection datas can be transmitted.It is urgent to meet relevant industries
Demand reduces the cost of client.
To achieve the goals above, the technical solution adopted by the present invention is：One kind is with poison gas detection and venom pumping work(
The manipulator for explosion eliminating of energy, including mechanical arm assembly and horizontal revolving stage further include the turntable motor being mounted in horizontal revolving stage, motor
Driver and the multi-functional principal arm on horizontal revolving stage；Principal arm speed reducer and principal arm pitching are installed inside multi-functional principal arm
Motor and Manipulator Controller, multi-functional principal arm surface are equipped with chemical detector kit and camera mount；Pacify on camera mount
Equipped with video camera；The horizontal revolving stage is equipped with pedestal runing rest for being fixedly mounted on robot chassis；Pedestal rotates
Liquid storage bottle is installed on holder；The inside of the multi-functional principal arm is equipped with micro pump, and principal arm end head is equipped with electronic push away
Bar pushes the activity of the second large arm；The other end of electric pushrod is connected with the second large arm；It installs at the end position of second large arm
There are mechanical arm assembly, end tail portion position that the other end of electric pushrod is installed；In second large arm and mechanical arm assembly
Between multi-functional composite joint is installed；Composite joint turntable is installed on multi-functional composite joint；It is installed on composite joint turntable
There are turntable motor and motor driver, outside to be set with composite joint electric cabinet.
Preferably, the multi-functional principal arm is additionally provided with outlet hole；Instrument on the camera and chemical detector kit
The display surface progress of disk is staggered relatively,；The micro pump water inlet pipe is connected to mechanical arm assembly, and micro pump water outlet connects
It is connected to liquid storage bottle；The micro pump is peristaltic pump.
Preferably, the liquid storage bottle passes through the micro pump in piping connection to multi-functional principal arm；Pedestal runing rest
Side video camera and headlamp are installed；There is mounting hole below horizontal revolving stage.
Preferably, the composite joint turntable is fixedly arranged on the second large arm upper end, and being equipped with hand in composite joint turntable grabs
Multifunctional main shaft, and hand can be made to grab Multifunctional main shaft rotation；One end that hand grabs Multifunctional main shaft is installed with mechanical arm assembly；Hand
The other end for grabbing Multifunctional main shaft stretches out composite joint turntable；Composite joint turntable is equipped with turntable motor and motor driving
Device, outside suit composite joint electric cabinet, constitutes multi-functional composite joint；Composite joint electric cabinet is installed with multiple sockets, photograph
Bright lamp, video camera；Socket for mechanical arm assembly electrical connection and hand grab the electrical of plug-in module in Multifunctional main shaft and connect
It connects.
Preferably, the mechanical arm assembly is grabbed by hand grabs seat with hand and forms, and hand grabs hand built in seat and grabs electric rotating machine and hand
Folding motor is grabbed, hand grabs the underlying headlamp of seat, video camera；Hand grabs seat and catches string holes draw plug and multi-functional compound pass by hand
The socket of section is connected.
The beneficial effects of the invention are as follows：The manipulator, which not only has hand to grab Multifunctional main shaft, can install expansion module, and
Poison gas detection and venom pumping function are increased on the basis of traditional manipulator, realize compound three kinds an of manipulator or more work(
The effect of energy.In addition the data of chemical detector kit use image transmitting mode, can quickly pass different detection datas
It is defeated.The urgent demand of relevant industries is met, the cost of client is reduced.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the structural representation front view of the present invention；
Fig. 3 is the structure schematic rear view of the present invention；
Fig. 4 is the mechanical arm assembly sectional view of the present invention；
Fig. 5 is the manipulator large arm sectional view of the present invention；
Fig. 6 is the structure top view of the present invention.
In figure：108, video camera, 5108, camera mount, 501, horizontal revolving stage, 509, pedestal runing rest, 510, peace
Fill hole, 514, liquid storage bottle, 521, multi-functional principal arm, 522, principal arm pitching motor, 523, principal arm speed reducer, 528, outlet hole,
541, the second large arm, 542, electric pushrod, 551, multi-functional composite joint, 552, composite joint turntable, 5511, composite joint electricity
Control case, 558, socket, 580, mechanical arm assembly, 582, hand grab Multifunctional main shaft, 583, hand grab seat, 5831, hand grab electric rotating machine,
5832, hand grabs folding motor, 585, hand catch string holes, 590, Manipulator Controller, 591, motor driver, 593, turntable electricity
Machine, 594, micro pump, 596, headlamp, 599, chemical detector kit, 5991, instrument board.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by accompanying drawings and embodiments, to this
Invention is further elaborated.However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention,
The range being not intended to restrict the invention.
Unless otherwise defined, all technical terms and scientific terms used herein are led with the technology for belonging to the present invention
The normally understood meaning of technical staff in domain is identical, and used term is intended merely to retouch in the description of the invention herein
State the purpose of specific embodiment, it is not intended that in the limitation present invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of explosive machine with poison gas detection and venom pumping function
Tool hand, including mechanical arm assembly 580 and horizontal revolving stage 501 further include the turntable motor 593 being mounted in horizontal revolving stage 501, electricity
Machine driver 591 and the multi-functional principal arm 521 on horizontal revolving stage 501；Principal arm is installed inside multi-functional principal arm 521 to subtract
Fast machine 523 and principal arm pitching motor 522 and Manipulator Controller 590,521 surface of multi-functional principal arm are equipped with chemical detector kit
599 and camera mount 5108；Video camera 108 is installed on camera mount 5108；The horizontal revolving stage 501 is equipped with pedestal
Runing rest 509 is for being fixedly mounted on robot chassis；Liquid storage bottle 514 is installed on pedestal runing rest 509；Described
The inside of multi-functional principal arm 521 is equipped with micro pump 594, and principal arm end head is equipped with electric pushrod 542, pushes the second large arm
541 activity；The other end of electric pushrod 542 is connected with the second large arm 541；The end position of second large arm 541 is equipped with
Mechanical arm assembly 580, end tail portion position are equipped with electric pushrod 542；In second large arm 541 and mechanical arm assembly 580
Between multi-functional composite joint 551 is installed；Composite joint turntable 552 is installed on multi-functional composite joint 551；Composite joint turns
Turntable motor 593 and motor driver 591 are installed, outside is set with composite joint electric cabinet 5511 on platform 552.
The multi-functional principal arm 521 is additionally provided with outlet hole 528；On the camera 108 and chemical detector kit 599
The display surface progress of instrument board 5991 is staggered relatively,；594 water inlet pipe of micro pump is connected to mechanical arm assembly 580, micro-
594 water outlet of type water pump is connected to liquid storage bottle 514；The micro pump 594 is peristaltic pump.
The liquid storage bottle 514 passes through the micro pump 594 in piping connection to multi-functional principal arm 521；Pedestal rotation branch
The side of frame 509 is equipped with video camera 108 and headlamp 596；There is mounting hole 510 in 501 lower section of horizontal revolving stage.
The composite joint turntable 552 is fixedly arranged on 541 upper end of the second large arm, and hand is equipped in composite joint turntable 552
Grab Multifunctional main shaft 582；One end that hand grabs Multifunctional main shaft 582 is installed with mechanical arm assembly 580；Hand grabs Multifunctional main shaft 582
Other end stretch out composite joint turntable 552；Composite joint turntable 552 is equipped with turntable motor 593 and motor driver
591, outside suit composite joint electric cabinet 5511 constitutes multi-functional composite joint 551；Composite joint electric cabinet 5511 is installed with
Multiple sockets 558, headlamp 596, video camera 108；Socket 558 for mechanical arm assembly 580 electrical connection and hand grab it is more
The electrical connection of plug-in module on function main shaft 582.
The mechanical arm assembly 580 by hand grab 582 and hand grab seat 583 and form, hand grab seat 583 built in hand grab electric rotating machine
5831 and hand grab folding motor 5832, hand grabs 583 underlying headlamp 596 of seat, video camera 108；Hand grabs seat 583 and catches line by hand
585 draw plug of hole is connected with the socket 558 of multi-functional composite joint 551.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (5)
1. a kind of manipulator for explosion eliminating with poison gas detection and venom pumping function, including mechanical arm assembly（580）Turn with level
Platform（501）, which is characterized in that further include being mounted on horizontal revolving stage（501）Interior turntable motor（593）, motor driver（591）
With mounted on horizontal revolving stage（501）On multi-functional principal arm（521）；Multi-functional principal arm（521）Inside is equipped with principal arm speed reducer
（523）With principal arm pitching motor（522）And Manipulator Controller（590）, multi-functional principal arm（521）Surface is equipped with poison gas detection
Device（599）And camera mount（5108）；Camera mount（5108）On video camera is installed（108）；The horizontal revolving stage
（501）Equipped with pedestal runing rest（509）For being fixedly mounted on robot chassis；Pedestal runing rest（509）Upper installation
There is liquid storage bottle（514）；The multi-functional principal arm（521）Inside micro pump is installed（594）, principal arm end head is equipped with electricity
Dynamic push rod（542）, push the activity of the second large arm (541)；Electric pushrod（542）Other end be connected with the second large arm
(541)；Second large arm（541）End position mechanical arm assembly is installed（580）, end tail portion position is equipped with electric pushrod
（542）；Second large arm（541）With mechanical arm assembly（580）Centre multi-functional composite joint is installed（551）；It is more
Function and service joint（551）On composite joint turntable is installed（552）；Composite joint turntable（552）On turntable motor is installed
（593）And motor driver（591）, outside is set with composite joint electric cabinet（5511）.
2. a kind of manipulator for explosion eliminating with poison gas detection and venom pumping function according to claim 1, feature exist
In the multi-functional principal arm（521）It is additionally provided with outlet hole（528）；The camera（108）With chemical detector kit（599）
On instrument board（5991）Display surface carry out it is staggered relatively,；The micro pump（594）Water inlet pipe is connected to manipulator group
Part（580）, micro pump（594）Water outlet is connected to liquid storage bottle（514）；The micro pump（594）For peristaltic pump.
3. a kind of manipulator for explosion eliminating with poison gas detection and venom pumping function according to claim 1, feature exist
In the liquid storage bottle（514）Pass through piping connection to multi-functional principal arm（521）On micro pump（594）；Pedestal rotation branch
Frame（509）Side video camera is installed（108）And headlamp（596）；Horizontal revolving stage（501）There is mounting hole in lower section（510）.
4. a kind of manipulator for explosion eliminating with poison gas detection and venom pumping function according to claim 1, feature exist
In the composite joint turntable（552）It is fixedly arranged on the second large arm (541) upper end, composite joint turntable（552）Hand is inside installed
Grab Multifunctional main shaft（582）；Hand grabs Multifunctional main shaft（582）One end be installed with mechanical arm assembly（580）；Hand grabs multi-functional master
Axis（582）Other end stretch out composite joint turntable（552）；Composite joint turntable（552）Be equipped with turntable motor (593) and
Motor driver（591）, outside suit composite joint electric cabinet（5511）, constitute multi-functional composite joint（551）；Composite joint
Electric cabinet（5511）It is installed with multiple sockets（558）, headlamp（596）, video camera（108）；Socket（558）For with manipulator
Component（580）Electrical connection and hand grab Multifunctional main shaft（582）The electrical connection of upper plug-in module.
5. a kind of manipulator for explosion eliminating with poison gas detection and venom pumping function according to claim 1, feature exist
In the mechanical arm assembly（580）It is grabbed by hand（582）Seat is grabbed with hand（583）Composition, hand grab seat（583）Built-in hand grabs rotation
Motor（5831）Folding motor is grabbed with hand（5832）, hand grabs seat（583）Underlying headlamp（596）, video camera（108）；Hand grabs seat
（583）String holes is caught by hand（585）Draw plug and multi-functional composite joint（551）Socket（558）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709364.5A CN108544513A (en) | 2018-07-02 | 2018-07-02 | A kind of manipulator for explosion eliminating with poison gas detection and venom pumping function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709364.5A CN108544513A (en) | 2018-07-02 | 2018-07-02 | A kind of manipulator for explosion eliminating with poison gas detection and venom pumping function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108544513A true CN108544513A (en) | 2018-09-18 |
Family
ID=63493237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810709364.5A Withdrawn CN108544513A (en) | 2018-07-02 | 2018-07-02 | A kind of manipulator for explosion eliminating with poison gas detection and venom pumping function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108544513A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549539A (en) * | 2019-09-26 | 2021-03-26 | 广州黑格智造信息科技有限公司 | Automatic 3D printing production line and production method |
| CN112549547A (en) * | 2019-09-26 | 2021-03-26 | 广州黑格智造信息科技有限公司 | Equipment for feeding and discharging |
-
2018
- 2018-07-02 CN CN201810709364.5A patent/CN108544513A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549539A (en) * | 2019-09-26 | 2021-03-26 | 广州黑格智造信息科技有限公司 | Automatic 3D printing production line and production method |
| CN112549547A (en) * | 2019-09-26 | 2021-03-26 | 广州黑格智造信息科技有限公司 | Equipment for feeding and discharging |
| CN112549547B (en) * | 2019-09-26 | 2022-09-02 | 广州黑格智造信息科技有限公司 | Equipment for feeding and discharging |
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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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180918 |
|
| WW01 | Invention patent application withdrawn after publication |