CN108748076A - A kind of automatic Jie Duan water robot - Google Patents
A kind of automatic Jie Duan water robot Download PDFInfo
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- CN108748076A CN108748076A CN201810644497.9A CN201810644497A CN108748076A CN 108748076 A CN108748076 A CN 108748076A CN 201810644497 A CN201810644497 A CN 201810644497A CN 108748076 A CN108748076 A CN 108748076A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The present invention provides a kind of automatic Jie Duan water robot, including control cabinet, upper fuselage sections, lower fuselage sections, mechanical arm section, auxiliary arm section, mobile fuselage sections.Upper fuselage sections include：Upper fuselage, shoulder vertical shift block, shoulder extension guide rail, sub-arm lift rail etc.；Lower fuselage sections include：Upper machine rotary shaft, lower fuselage etc.；Walking fuselage sections include：Walking fuselage, turning wheel, steering motor, traveling wheel etc.；Auxiliary arm section include：Sub-arm connector, the first sub-arm, fixed jaw, movable claw etc.；Mechanical arm section includes：First shoulder blocks, large arm block, forearm block, claw etc..It uses a upper fuselage to connect two mechanical arms and a sub-arm, water-accepting basin is placed below tap by two mechanical arm cooperations, the claw of sub-arm clamps water tap, clamping jaw motor rotates claw, carry out switch water operation, basin is carried near personnel, is toppled over basin carrying after use, completes entirely to connect end water operation.
Description
Technical field
The present invention relates to life auxiliary robot technical field, more particularly to a kind of automatic Jie Duan water robot.
Background technology
With the substantial increase in the whole world and China's people with mobility problems's quantity, nowadays in people with mobility problems's life
Carry an object relies primarily on other people and helps to complete, such as connects foot-washing water and hold and arrive oneself underfooting, is toppled over after washing, these
Other people assist completing need of work, for more convenient people with mobility problems, and need to design a kind of connect automatically and hold water dispenser device
People.At present a kind of storage carrying is disclosed about the design of handling device, such as number of patent application CN201520949001.0
Robot, which devises a kind of device carried to storage substance, but is only capable of carrying substance, without
Other auxiliary operations can be carried out, and are not to be designed for people with mobility problems；Such as patent No. CN201620625627.0
A kind of water receiving robot is disclosed, robot can be made to carry out water receiving action automatically, but can not realize that end hydrodynamic(al) is made, and not needle
To people with mobility problems.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of automatic Jie Duan water robot, a upper fuselage is used to connect two
Mechanical arm and a sub-arm, mechanical arm can be moved up and down along the lift rail of upper fuselage, and sub-arm can be along auxiliary
Arm lift rail moves up and down, and upper fuselage can be rotated relative to lower fuselage, walking fuselage can in ground running and turning,
Water-accepting basin is placed below tap by two mechanical arm cooperations, and the claw of sub-arm clamps water tap, and clamping jaw motor turns
Pawl portion carries out switch water operation, after water fills, basin is carried near personnel, after use, basin is removed
It is transported to appointed place to be toppled over, completes entirely to connect end water operation.
Technical solution used in the present invention is：A kind of automatic Jie Duan water robot, including control cabinet, upper fuselage sections,
Lower fuselage sections, walking fuselage sections, auxiliary arm section, mechanical arm section；Upper fuselage sections include：Upper fuselage, arm are promoted
It is guide rail, shoulder vertical shift block, shoulder extension guide rail, shoulder extension lead screw, arm enhancing screw, sub-arm lift rail, auxiliary
It helps arm enhancing screw, promote motor coupler, arm promotion motor, shoulder extension motor；Lower fuselage sections include：Upper machine rotation
Axis, upper and lower bevel gear, upper machine electric rotating machine, lower fuselage；Walking fuselage sections include：Walk fuselage, turning wheel, turning wheel shaft,
Translational block, translating rack, tooth sector, steering motor, movable motor, shaft coupling, traveling wheel；Auxiliary arm section include：Auxiliary
Arm connector, the first turning motor, the first sub-arm, the second turning motor, the second sub-arm, third turning motor, third are auxiliary
It helps arm, the 4th turning motor, clamping jaw motor cabinet, clamping jaw motor, clamping guide-rail, clamp lead screw, clamping motor, fixed jaw, activity
Pawl；Mechanical arm section includes：First shoulder blocks, the second shoulder blocks, large arm block, forearm block, wrist block, claw, shoulder electric rotating
Machine, shoulder bevel gear, first gear axis, large arm motor, large arm horizontal gear, arm bevel gear, second gear axis, forearm electricity are mechanical, electrical
Cylinder, buffer spring, wrist motor, wrist motor rack, pawl motor；It is characterized in that：Control cabinet is fixedly mounted on fuselage；Institute
The arm lift rail for the upper fuselage sections stated is respectively and fixedly installed to sub-arm lift rail both ends on fuselage, and arm carries
Lifting motor is fixedly mounted on fuselage bottom, and arm promotes motor and passes through respectively with arm enhancing screw and sub-arm enhancing screw
It promotes motor coupler to be fixedly mounted, be matched by feed screw nut between shoulder vertical shift block and arm enhancing screw, shoulder
Portion's telescope motor is fixed on shoulder vertical shift block, and shoulder extension lead screw is fixedly mounted on the motor shaft of shoulder extension motor
On, shoulder vertical shift block is rotatablely connected with shoulder extension lead screw by bearing, and shoulder or more is fixedly mounted in shoulder extension guide rail
On movable block；
The mechanical arm section, the shoulder extension guide rail other end are slidably mounted in the first shoulder blocks, and shoulder extension guide rail is logical
The limit of the first shoulder blocks of clamp spring pair is crossed, the first shoulder blocks are combined together by feed screw nut and shoulder extension lead screw, the first shoulder
Portion's block is rotatablely connected with the second shoulder blocks by first gear axis, and first gear axis is fixedly mounted in the second shoulder blocks, shoulder cone
Gear is fixedly mounted with first gear axis, another shoulder bevel gear is fixedly mounted on the motor shaft of shoulder electric rotating machine, two
Shoulder bevel gear is meshed, and shoulder electric rotating machine is fixedly mounted in the second shoulder blocks, and large arm motor is fixedly mounted on the second shoulder blocks
On, large arm horizontal gear is fixedly mounted on the motor shaft of large arm motor, another large arm horizontal gear is fixedly mounted on large arm
On block, the large arm horizontal gear on large arm block is rotatably installed on the gear shaft in the second shoulder blocks；Large arm block is logical with forearm block
The rotation connection of second gear axis is crossed, arm bevel gear is fixedly mounted on second gear axis, and second gear axis is fixedly mounted on forearm
On block, another arm bevel gear is fixedly mounted on forearm motor, and forearm motor is fixedly mounted on forearm block, described four
Electric cylinders are respectively and fixedly installed on forearm block, and the electric cylinders other end is fixedly mounted on wrist motor rack, and buffer spring one end is fixed
On forearm block, the other end is fixedly mounted on wrist motor rack, and the wrist motor rack is fixedly mounted on wrist block
On, wrist motor is fixedly mounted on wrist motor rack, the motor shaft of wrist motor be fixedly mounted on on wrist block, pawl motor
Motor shaft be fixedly mounted on wrist block, pawl motor is installed on claw.
The sub-arm connector of the auxiliary arm section is coordinated by feed screw nut and sub-arm enhancing screw, sub-arm
Connector is slidably mounted in sub-arm lift rail, and the first turning motor is fixedly mounted on sub-arm connector, first time
The motor shaft of rotating motor is fixedly mounted on the first sub-arm, and the first sub-arm other end is installed with the second turning motor,
The motor shaft of second turning motor is fixedly mounted on the second sub-arm, and the other end of the second sub-arm is installed with third and returns
Rotating motor, case is fixed on the motor shaft of third turning motor has third sub-arm, the other end of third sub-arm to be fixedly mounted
There are the motor shaft of the 4th turning motor, the 4th turning motor to be fixedly mounted on clamping jaw motor cabinet, it is fixed below clamping jaw motor cabinet
Clamping jaw motor is installed, is installed with fixed jaw on the motor shaft of clamping jaw motor, be provided with above fixed jaw clamping guide-rail and
Lead screw is clamped, clamping motor is installed on fixed jaw, the motor shaft of clamping motor is fixedly installed togather with lead screw is clamped,
Moveable jaw is mounted on clamping guide-rail, and movable claw is coordinated by feed screw nut with lead screw is clamped.
The upper machine electric rotating machine of the lower fuselage sections is fixedly mounted on lower fuselage, and upper and lower bevel gear is fixedly mounted on
On the motor shaft of upper machine electric rotating machine, another bevel gear is fixedly mounted in machine rotary shaft, upper machine rotary shaft one end with it is upper
Fuselage is fixedly mounted, and the other end is rotatably installed in by bearing on lower fuselage.
The steering motor of the walking fuselage sections is fixedly mounted on vehicle with walking machine, and tooth sector, which is fixedly mounted on, to be turned
To on the motor shaft of motor, tooth sector engages connection with translating rack using gear, and translating rack is fixedly mounted with translational block,
Turning wheel shaft is rotatablely connected with translational block by bearing, and turning wheel is rotatablely connected with turning wheel shaft using bearing, and movable motor is solid
With vehicle with walking machine, the motor shaft of movable motor is fixedly connected with traveling wheel by shaft coupling for Dingan County.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：
1. mechanical arm section can be moved up and down along arm lift rail, robot is allow to complete to carry enhancing action.
2. the first shoulder blocks of mechanical arm section and the second shoulder blocks, the second shoulder blocks and large arm block, large arm block and forearm
Block, wrist motor rack and wrist block may be implemented to rotate, and enough degree of freedom are provided for end water.
3. the sub-arm connector of auxiliary arm section can be moved up and down along sub-arm enhancing screw, arm section is assisted
Each motor can be with independent operating so that sub-arm can possess enough degree of freedom.
4. it is flexible more steady that electric cylinders make claw that can make with elastic a distance, buffer spring, buffering is played
Effect.
5. fuselage can be rotated relative to lower fuselage on, and steering motor may be implemented by controlling the translation of translational block
The turning walking of robot is realized in the steering of tire.
Description of the drawings
Fig. 1 is the integral installation distribution structure schematic diagram of the present invention.
Fig. 2 is the whole cross-sectional view of the present invention.
Fig. 3 is the mechanical arm part-structure schematic diagram of the present invention.
Fig. 4 is the structural schematic diagram of the auxiliary arm section of the present invention.
Fig. 5 is the lower fuselage sections diagrammatic cross-section of the present invention.
Fig. 6 is the walking fuselage sections partial cutaway schematic of the present invention.
Drawing reference numeral：1- control cabinets；The upper fuselages of 2-；3- arm lift rails；4- shoulder vertical shift blocks；5- shoulder extensions
Guide rail；6- shoulder extension lead screws；The first shoulder blocks of 7-；The second shoulder blocks of 8-；9- large arm blocks；10- forearm blocks；11- wrist blocks；
12- claws；13- shoulder electric rotating machines；14- shoulder bevel gears；15- first gear axis；16- large arm motors；17- large arm horizontal teeths
Wheel；18- arm bevel gears；19- second gear axis；20- forearm motors；21- electric cylinders；22- buffer springs；23- wrist motors；24-
Wrist motor rack；25- pawl motors；26- arm enhancing screws；27- sub-arm lift rails；28- sub-arm enhancing screws；29-
Promote motor coupler；30- arms promote motor；The upper machine rotary shafts of 31-；32- or more bevel gears；The upper machine electric rotating machines of 33-；
Fuselage under 34-；35- walking fuselages；36- turning wheels；37- turning wheel shafts；38- translational blocks；39- translating racks；40- turns to tooth
Wheel；41- steering motors；42- movable motors；43- shaft couplings；44- sub-arm connectors；The first turning motors of 45-；46- first
Sub-arm；The second turning motors of 47-；The second sub-arms of 48-；49- third turning motors；50- third sub-arms；51- the 4th time
Rotating motor；52- clamping jaw motor cabinets；53- clamping jaw motors；54- clamping guide-rails；55- clamps lead screw；56- clamping motors；57- is fixed
Pawl；58- movable claws；59- traveling wheels；60- shoulder extension motors.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of automatic Jie Duan water robot, including control cabinet 1, upper fuselage
Partly, lower fuselage sections, walking fuselage sections, auxiliary arm section, mechanical arm section；Upper fuselage sections include：Upper fuselage 2, hand
Arm lift rail 3, shoulder vertical shift block 4, shoulder extension guide rail 5, shoulder extension lead screw 6, arm enhancing screw 26, sub-arm
Lift rail 27, sub-arm enhancing screw 28 promote motor coupler 29, arm promotion motor 30, shoulder extension motor 60；Under
Fuselage sections include：Upper machine rotary shaft 31, upper and lower bevel gear 32, upper machine electric rotating machine 33, lower fuselage 34；Walking fuselage sections packet
It includes：Walk fuselage 35, turning wheel 36, turning wheel shaft 37, translational block 38, translating rack 39, tooth sector 40, steering motor 41,
Movable motor 42, shaft coupling 43, traveling wheel 59；Auxiliary arm section include：Sub-arm connector 44, the first turning motor 45,
One sub-arm 46, the second turning motor 47, the second sub-arm 48, third turning motor 49, the revolution electricity of third sub-arm the 50, the 4th
Machine 51, clamping jaw motor 53, clamping guide-rail 54, clamps lead screw 55, clamping motor 56, fixed jaw 57, movable claw at clamping jaw motor cabinet 52
58；Mechanical arm section includes：First shoulder blocks 7, the second shoulder blocks 8, large arm block 9, forearm block 10, wrist block 11, claw 12, shoulder
Portion's electric rotating machine 13, shoulder bevel gear 14, first gear axis 15, large arm motor 16, large arm horizontal gear 17, arm bevel gear 18,
Two gear shafts 19, forearm motor 20, electric cylinders 21, buffer spring 22, wrist motor 23, wrist motor rack 24, pawl motor 25；It is special
Sign is：Control cabinet 1 is fixedly mounted on fuselage 2；The arm lift rail 3 of the upper fuselage sections is promoted with sub-arm
27 both ends of guide rail are respectively and fixedly installed on fuselage 2, and arm promotes motor 30 and is fixedly mounted on 2 bottom of fuselage, and arm carries
Lifting motor 30 is fixedly mounted with arm enhancing screw 26 and sub-arm enhancing screw 28 by promoting motor coupler 29 respectively, shoulder
It is matched by feed screw nut between portion's vertical shift block 4 and arm enhancing screw 26, shoulder extension motor 60 is fixed on shoulder
On vertical shift block 4, shoulder extension lead screw 6 is fixedly mounted on the motor shaft of shoulder extension motor 60, shoulder vertical shift block 4
It is rotatablely connected by bearing with shoulder extension lead screw 6, shoulder extension guide rail 5 is fixedly mounted on shoulder vertical shift block；
The mechanical arm section, 5 other end of shoulder extension guide rail are slidably mounted in the first shoulder blocks 7, shoulder extension guide rail 5
It being limited by the first shoulder blocks of clamp spring pair 7, the first shoulder blocks 7 are combined together by feed screw nut and shoulder extension lead screw 6, the
One shoulder blocks 7 and the second shoulder blocks 8 are rotatablely connected by first gear axis 15, and first gear axis 15 is fixedly mounted on the second shoulder
On block 8, shoulder bevel gear 14 is fixedly mounted with first gear axis 15, another shoulder bevel gear 14 is fixedly mounted on shoulder electric rotating machine
On 13 motor shaft, two shoulder bevel gears 14 are meshed, and shoulder electric rotating machine 13 is fixedly mounted in the second shoulder blocks 8, large arm electricity
Machine 16 is fixedly mounted in the second shoulder blocks 8, and large arm horizontal gear 17 is fixedly mounted on the motor shaft of large arm motor 16, another
A large arm horizontal gear 17 is fixedly mounted on large arm block 9, and the large arm horizontal gear 17 on large arm block 9 is rotatably installed in the second shoulder
On gear shaft on portion's block 8；Large arm block 9 is rotatablely connected with forearm block 10 by second gear axis 19, and arm bevel gear 18 fixes peace
On second gear axis 19, second gear axis 19 is fixedly mounted on forearm block 10, another arm bevel gear 18 is fixedly mounted
On forearm motor 20, forearm motor 20 is fixedly mounted on forearm block 10, and described four electric cylinders 21 are respectively and fixedly installed to
On forearm block 10,21 other end of electric cylinders is fixedly mounted on wrist motor rack 24, and 22 one end of buffer spring is fixedly mounted on forearm
On block 10, the other end is fixedly mounted on wrist motor rack 24, and the wrist motor rack 24 is fixedly mounted on wrist block 11,
Wrist motor 23 is fixedly mounted on wrist motor rack 24, the motor shaft of wrist motor 23 be fixedly mounted on on wrist block 11,
The motor shaft of pawl motor 25 is fixedly mounted on wrist block 11, and pawl motor 25 is installed on claw 12.
The sub-arm connector 44 of the auxiliary arm section is coordinated by feed screw nut and sub-arm enhancing screw 28, auxiliary
Arm connector 44 is helped to be slidably mounted in sub-arm lift rail 27, the first turning motor 45 is fixedly mounted on sub-arm connector
On 44, the motor shaft of the first turning motor 45 is fixedly mounted on the first sub-arm 46, and 46 other end of the first sub-arm fixes peace
Equipped with the second turning motor 47, the motor shaft of the second turning motor 47 is fixedly mounted on the second sub-arm 48, the second sub-arm
48 other end is installed with third turning motor 49, and case is fixed on the motor shaft of third turning motor 49 third auxiliary
Arm 50, the other end of third sub-arm 50 are installed with the motor shaft of the 4th turning motor 51, and the 4th turning motor 51 is fixed
On clamping jaw motor cabinet 52,52 lower section of clamping jaw motor cabinet is installed with clamping jaw motor 53, the motor shaft of clamping jaw motor 53
On be installed with fixed jaw 57,57 top of fixed jaw is provided with clamping guide-rail 54 and clamps lead screw 55, fixed on fixed jaw 57
Clamping motor 56 is installed, the motor shaft of clamping motor 56 is fixedly installed togather with lead screw 55 is clamped, the sliding peace of movable claw 58
On clamping guide-rail 54, movable claw 58 is coordinated by feed screw nut with lead screw 55 is clamped.
The upper machine electric rotating machine 33 of the lower fuselage sections is fixedly mounted on lower fuselage 34, and upper and lower bevel gear 32 is fixed
On the motor shaft of upper machine electric rotating machine 33, another bevel gear 32 is fixedly mounted in machine rotary shaft 31, upper machine rotation
31 one end of shaft is fixedly mounted with upper fuselage 2, and the other end is rotatably installed in by bearing on lower fuselage 34.
The steering motor 41 of the walking fuselage sections is fixedly mounted on walking fuselage 35, and tooth sector 40 fixes peace
On the motor shaft of steering motor 41, tooth sector 40 and translating rack 39 engages connection using gear, translating rack 39 and
Translational block 38 is fixedly mounted, and turning wheel shaft 37 is rotatablely connected with translational block 38 by bearing, and turning wheel 36 is adopted with turning wheel shaft 37
It is rotatablely connected with bearing, movable motor 42 is fixedly mounted on walking fuselage 35, motor shaft and the traveling wheel 59 of movable motor 42
It is fixedly connected by shaft coupling 43.
The operation principle of the present invention：In the use of the present invention, movable motor 42 and steering motor 41 control robot trend
Basin passes through shoulder electric rotating machine 13, large arm motor 16, forearm motor 20, electric cylinders 21, wrist motor 23, pawl motor 25, arm
It promotes motor 30, upper machine electric rotating machine 33 and the control claw 12 of shoulder extension motor 60 and picks up basin, then pass through movable motor
42 and steering motor 41 control robot move towards near tap, pass through the first turning motor 45, the second turning motor 47, third
Turning motor 49, the 4th turning motor 51, clamping jaw motor 53 and clamping motor 56 control fixed jaw 57 and movable claw 58 switchs water
Basin is filled water by tap, and last movable motor 42 and steering motor 41 control robot and basin are transported to destination.
Claims (3)
1. a kind of automatic Jie Duan water robot, including control cabinet（1）, upper fuselage sections, lower fuselage sections, walking fuselage sections,
Assist arm section, mechanical arm section；Upper fuselage sections include：Upper fuselage（2）, arm lift rail（3）, shoulder vertical shift block
（4）, shoulder extension guide rail（5）, shoulder extension lead screw（6）, arm enhancing screw（26）, sub-arm lift rail（27）, auxiliary
Arm enhancing screw（28）, promoted motor coupler（29）, arm promoted motor（30）, shoulder extension motor（60）；Lower main body section
Divide and includes：Upper machine rotary shaft（31）, upper and lower bevel gear（32）, upper machine electric rotating machine（33）, lower fuselage（34）；Walking fuselage sections
Including：Walking fuselage（35）, turning wheel（36）, turning wheel shaft（37）, translational block（38）, translating rack（39）, tooth sector
（40）, steering motor（41）, movable motor（42）, shaft coupling（43）, traveling wheel（59）；Auxiliary arm section include：Sub-arm connects
Fitting（44）, the first turning motor（45）, the first sub-arm（46）, the second turning motor（47）, the second sub-arm（48）, third
Turning motor（49）, third sub-arm（50）, the 4th turning motor（51）, clamping jaw motor cabinet（52）, clamping jaw motor（53）, clamp
Guide rail（54）, clamp lead screw（55）, clamping motor（56）, fixed jaw（57）, movable claw（58）；Mechanical arm section includes：First
Shoulder blocks（7）, the second shoulder blocks（8）, large arm block（9）, forearm block（10）, wrist block（11）, claw（12）, shoulder electric rotating machine
（13）, shoulder bevel gear（14）, first gear axis（15）, large arm motor（16）, large arm horizontal gear（17）, arm bevel gear（18）,
Second gear axis（19）, forearm motor（20）, electric cylinders（21）, buffer spring（22）, wrist motor（23）, wrist motor rack
（24）, pawl motor（25）；It is characterized in that：Control cabinet（1）It is fixedly mounted on fuselage（2）On；The upper fuselage sections
Arm lift rail（3）With sub-arm lift rail（27）Both ends are respectively and fixedly installed to fuselage（2）On, arm promotes motor
（30）It is fixedly mounted on fuselage（2）Bottom, arm promote motor（30）Respectively with arm enhancing screw（26）It is carried with sub-arm
Rise lead screw（28）By promoting motor coupler（29）It is fixedly mounted, shoulder vertical shift block（4）With arm enhancing screw（26）
Between matched by feed screw nut, shoulder extension motor（60）It is fixed on shoulder vertical shift block（4）On, shoulder extension lead screw
（6）It is fixedly mounted on shoulder extension motor（60）Motor shaft on, shoulder vertical shift block（4）With shoulder extension lead screw（6）It is logical
Cross bearing rotation connection, shoulder extension guide rail（5）It is fixedly mounted on shoulder vertical shift block；
The mechanical arm section, shoulder extension guide rail（5）The other end is slidably mounted on the first shoulder blocks（7）On, shoulder extension
Guide rail（5）Pass through the first shoulder blocks of clamp spring pair（7）Limit, the first shoulder blocks（7）Pass through feed screw nut and shoulder extension lead screw（6）
It is combined together, the first shoulder blocks（7）With the second shoulder blocks（8）Pass through first gear axis（15）Rotation connection, first gear axis
（15）It is fixedly mounted on the second shoulder blocks（8）On, shoulder bevel gear（14）With first gear axis（15）It is fixedly mounted, another shoulder cone
Gear（14）It is fixedly mounted on shoulder electric rotating machine（13）Motor shaft on, two shoulder bevel gears（14）It is meshed, shoulder rotation
Motor（13）The second shoulder blocks are fixedly mounted（8）On, large arm motor（16）It is fixedly mounted on the second shoulder blocks（8）On, large arm water
Horizontal gear（17）It is fixedly mounted on large arm motor（16）Motor shaft on, another large arm horizontal gear（17）It is fixedly mounted on big
Arm block（9）On, large arm block（9）On large arm horizontal gear（17）It is rotatably installed in the second shoulder blocks（8）On gear shaft on；Greatly
Arm block（9）With forearm block（10）Pass through second gear axis（19）Rotation connection, arm bevel gear（18）It is fixedly mounted on second gear
Axis（19）On, second gear axis（19）It is fixedly mounted on forearm block（10）On, another arm bevel gear（18）It is fixedly mounted on small
Arm motor（20）On, forearm motor（20）It is fixedly mounted on forearm block（10）On, described four electric cylinders（21）Fixed peace respectively
Mounted in forearm block（10）On, electric cylinders（21）The other end is fixedly mounted on wrist motor rack（24）On, buffer spring（22）One end is solid
Dingan County is mounted in forearm block（10）On, the other end is fixedly mounted on wrist motor rack（24）On, the wrist motor rack（24）Gu
Dingan County is mounted in wrist block（11）On, wrist motor（23）It is fixedly mounted on wrist motor rack（24）On, wrist motor（23）Electricity
Arbor is fixedly mounted on and wrist block（11）On, pawl motor（25）Motor shaft be fixedly mounted on wrist block（11）On, pawl motor
（25）It is installed with claw（12）On；
The sub-arm connector of the auxiliary arm section（44）Pass through feed screw nut and sub-arm enhancing screw（28）Cooperation, it is auxiliary
Help arm connector（44）It is slidably mounted on sub-arm lift rail（27）On, the first turning motor（45）It is fixedly mounted on sub-arm
Connector（44）On, the first turning motor（45）Motor shaft be fixedly mounted on the first sub-arm（46）On, the first sub-arm
（46）The other end is installed with the second turning motor（47）, the second turning motor（47）Motor shaft to be fixedly mounted on second auxiliary
Help arm（48）On, the second sub-arm（48）The other end be installed with third turning motor（49）, third turning motor（49）
Motor shaft on fix case and have third sub-arm（50）, third sub-arm（50）The other end be installed with the 4th revolution electricity
Machine（51）Motor shaft, the 4th turning motor（51）It is fixedly mounted on clamping jaw motor cabinet（52）On, clamping jaw motor cabinet（52）Lower section
It is installed with clamping jaw motor（53）, clamping jaw motor（53）Motor shaft on be installed with fixed jaw（57）, fixed jaw（57）
Top is provided with clamping guide-rail（54）With clamping lead screw（55）, fixed jaw（57）On be installed with clamping motor（56）, clamp
Motor（56）Motor shaft with clamp lead screw（55）It is fixedly installed togather, movable claw（58）It is slidably mounted on clamping guide-rail（54）
On, movable claw（58）Pass through feed screw nut and clamping lead screw（55）Cooperation.
2. a kind of automatic Jie Duan water robot according to claim 1, it is characterised in that：The lower fuselage sections it is upper
Machine electric rotating machine（33）It is fixedly mounted on lower fuselage（34）On, upper and lower bevel gear（32）It is fixedly mounted on machine electric rotating machine（33）
Motor shaft on, another bevel gear（32）It is fixedly mounted on machine rotary shaft（31）On, upper machine rotary shaft（31）One end with it is upper
Fuselage（2）It is fixedly mounted, the other end is rotatably installed in lower fuselage by bearing（34）On.
3. a kind of automatic Jie Duan water robot according to claim 1, it is characterised in that：The walking fuselage sections
Steering motor（41）It is fixedly mounted on walking fuselage（35）On, tooth sector（40）It is fixedly mounted on steering motor（41）Motor
On axis, tooth sector（40）With translating rack（39）It is engaged and is connected using gear, translating rack（39）With translational block（38）It is fixed
Installation, wheel shaft of turning（37）With translational block（38）It is rotatablely connected by bearing, turning wheel（36）With turning wheel shaft（37）Using axis
Hold rotation connection, movable motor（42）It is fixedly mounted on walking fuselage（35）On, movable motor（42）Motor shaft and traveling wheel
（59）Pass through shaft coupling（43）It is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810644497.9A CN108748076B (en) | 2018-06-21 | 2018-06-21 | Automatic connect end water robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810644497.9A CN108748076B (en) | 2018-06-21 | 2018-06-21 | Automatic connect end water robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108748076A true CN108748076A (en) | 2018-11-06 |
| CN108748076B CN108748076B (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810644497.9A Active CN108748076B (en) | 2018-06-21 | 2018-06-21 | Automatic connect end water robot |
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| CN109649610A (en) * | 2018-12-05 | 2019-04-19 | 山东大学 | Adaptive parallel connection folding finger and submarine pipeline robot |
| CN109718514A (en) * | 2018-12-28 | 2019-05-07 | 重庆文理学院 | Intelligent ball collecting robot |
| CN110039272A (en) * | 2019-03-22 | 2019-07-23 | 青岛科技大学 | A kind of equipment of automation dismantling flex cable |
| CN110291880A (en) * | 2019-07-31 | 2019-10-01 | 安徽工程大学 | More arm apple picking robots |
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| CN113977217A (en) * | 2021-09-08 | 2022-01-28 | 陈佳妮 | Desktop computer assembling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109649610A (en) * | 2018-12-05 | 2019-04-19 | 山东大学 | Adaptive parallel connection folding finger and submarine pipeline robot |
| CN109718514A (en) * | 2018-12-28 | 2019-05-07 | 重庆文理学院 | Intelligent ball collecting robot |
| CN110039272A (en) * | 2019-03-22 | 2019-07-23 | 青岛科技大学 | A kind of equipment of automation dismantling flex cable |
| CN110291880A (en) * | 2019-07-31 | 2019-10-01 | 安徽工程大学 | More arm apple picking robots |
| CN110291880B (en) * | 2019-07-31 | 2021-10-22 | 安徽工程大学 | Multi-arm apple picking robot |
| CN110815162A (en) * | 2019-10-30 | 2020-02-21 | 盐城工学院 | Intelligent vehicle carrying mechanical arm grabbing mechanism |
| CN110802572A (en) * | 2019-12-03 | 2020-02-18 | 彭保江 | Intelligent luggage carrying robot |
| CN111719356A (en) * | 2020-06-10 | 2020-09-29 | 安徽博晟亿电力科技有限公司 | Auxiliary positioning device and method for railway construction |
| CN113977217A (en) * | 2021-09-08 | 2022-01-28 | 陈佳妮 | Desktop computer assembling robot |
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