CN108858123A - Scout car based on computer control - Google Patents
Scout car based on computer control Download PDFInfo
- Publication number
- CN108858123A CN108858123A CN201811002832.1A CN201811002832A CN108858123A CN 108858123 A CN108858123 A CN 108858123A CN 201811002832 A CN201811002832 A CN 201811002832A CN 108858123 A CN108858123 A CN 108858123A
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- Prior art keywords
- shaft
- driving motor
- car body
- camera
- arm section
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Classifications
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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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- 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
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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
- B25J5/06—Manipulators combined with a control cab for the operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of scout cars based on computer control, including car body and set running gear, manipulator, camera, microprocessor and data link on the car body；The manipulator includes clamp hand for clamping object and the mechanical arm moved in space for controlling clamp hand, and one end of the mechanical arm is connected to car body, the other end is connected to clamp hand；The data link connect with camera and microprocessor respectively and reaches the image data that camera is shot to host computer in real time；The camera is installed on the car body by steering engine holder, and the steering engine holder can at least drive camera to rotate in the horizontal and vertical directions；Due to being additionally arranged steering engine holder, camera can flexible rotating, to effectively expand the scope of reconnaissance of scout car.
Description
Technical field
The present invention relates to computer controls and the field of scouting more particularly to a kind of scout car based on computer control.
Background technique
The one kind of scout car as mobile device is mainly used in fight against terrorism and violence, explosive, chemical defence, hazardous material detection, disaster
The fields such as rescue, therefore scout car is usually used in such as massif, meadow, in disaster field non-structure environment.Scout car generallys use
Remote computer is controlled, and operator can monitor the environment of scout car surrounding by computer, and by scout car
Manipulator carries out sampling or troubleshooting to the object on direction of travel.The essential component of scout car is exactly camera, with reality
When acquisition surrounding environment image data and be sent to computer.However, camera is usually only secured to the front end of scout car, lead
Cause scout car that can not monitor the space above it and it is necessary to other directions, scope of reconnaissance could be monitored by rotating scout car
It is obvious insufficient.
Summary of the invention
In view of this, expanding scout car the purpose of the present invention is to provide a kind of scout car based on computer control
Scope of reconnaissance.
The scout car based on computer control of the invention, including car body and set running gear on the car body, manipulator,
Camera, microprocessor and data link；The manipulator includes clamp hand for clamping object and exists for controlling clamp hand
The mechanical arm moved in space, one end of the mechanical arm is connected to car body, the other end is connected to clamp hand；The data link
It is connect respectively with camera and microprocessor and reaches the image data that camera is shot to host computer in real time；It is described to take the photograph
It is installed on the car body as head passes through steering engine holder, the steering engine holder can at least drive camera to turn in the horizontal and vertical directions
It is dynamic；The steering engine holder includes rotate steering wheel, turntable, pitch-control motor and mounting rack, the output axis connection of the rotate steering wheel
In turntable bottom and turntable can be driven to rotate in the horizontal direction, the pitch-control motor and mounting rack are each attached to turntable
Top, the interior U-typed frame being equipped with for fixing camera of the mounting rack, the output shaft and U-typed frame of the pitch-control motor connect
It connects and U-typed frame can be driven to rotate in the vertical direction；The rotate steering wheel, pitch-control motor are connected with microprocessor respectively.
As further improvement to above-mentioned technical proposal, the running gear includes four sprocket wheels for being located at vehicle bottom
Formula creeper undercarriage；Each sprocket-type creeper undercarriage include movable motor, the main shaft being connected with movable motor,
The chain belt driving wheel being mounted on main shaft, the chain belt driving wheel are equipped with triangle mechanism frame, the triangle mechanism frame
Two angles are respectively equipped with a driven wheel, and the chain belt driving wheel is located at another angle of triangle mechanism frame；Institute
It states chain belt driving wheel and two driven wheels is equipped with a crawler belt；The movable motor is connected with microprocessor.
As further improvement to above-mentioned technical proposal, the running gear further includes two and is located at car body two sides
Rubber wheel, each rubber wheel is located between two sprocket-type creepers undercarriage.
As further improvement to above-mentioned technical proposal, the car body is equipped with the temperature for real-time detection environment temperature
Spend sensor and the humidity sensor for real-time detection ambient humidity, the temperature sensor and humidity sensor with micro- place
Device is managed to be connected.
As further improvement to above-mentioned technical proposal, the car body is equipped with for measuring car body and surrounding barrier
Between distance ultrasonic rangefinder, the ultrasonic rangefinder is connected with microprocessor.
As further improvement to above-mentioned technical proposal, control box, institute are detachably attached on the car body
It states and is symmetrically arranged with two mechanical arms on control box, two clamp hands are separately positioned on the end of two mechanical arms；Micro- place
Reason device, data link are mounted in control box.
As further improvement to above-mentioned technical proposal, the mechanical arm include the first arm section being successively hinged and connected,
Second arm section and third arm section；The head end of the first arm section passes through shaft I and control box rotation connection, the shaft I and drive
Dynamic motor I, which is connected and is driven by driving motor I, to be rotated；The head end of the second arm section is connected by shaft II and the rotation of the first arm section
It connects, the shaft II, which is connected with driving motor II and is driven by driving motor II, to be rotated, and the shaft II is parallel to shaft I and sets
It sets；The head end of the third arm section is rotatablely connected by shaft III and the second arm section, and the shaft III is connected with driving motor III
And driven and rotated by driving motor III, the shaft III is arranged perpendicular to shaft II；The third arm section passes through shaft IV and folder
Palmistry connects, and the shaft IV, which is connected with the driving motor IV being fixed in third arm section and is driven by driving motor IV, to be rotated, institute
Shaft IV is stated to be arranged both perpendicular to shaft II and shaft III；The driving motor I, driving motor II, driving motor III and drive
Dynamic motor IV is connected with microprocessor respectively.
As further improvement to above-mentioned technical proposal, the clamp hand include fixed station, geosynclinal block, fixed plate, clamping jaw and
Y-shaped drive rod, the fixed station and driving motor IV are sequentially connected；The fixed plate is connected by geosynclinal block with fixed station；Two
A clamping jaw is symmetrical arranged, and each clamping jaw includes pawl head, drive rocker and driven rocking bar, the drive rocker with from shaking
Bar is arranged in parallel, the drive rocker and one end of driven rocking bar is hinged and connected with pawl head, the other end and fixed plate are hinged and connected；
The Y-shaped drive rod is made of a vertical pole and two symmetrical branch bars, and the geosynclinal block is equipped with for accommodating vertical pole simultaneously
For the sliding slot of vertical pole sliding；The output end of the driving motor V is sequentially connected with vertical pole and vertical pole is driven to slide along the chute；Institute
It states vertical pole and is pierced by from fixed plate and is connected afterwards with two branch bars, the branch bar is equipped with slideway, and the bottom surface of the drive rocker is equipped with
Traveller, the traveller are set in slideway, so that two drive rockers can open during the linear slide of two branch bars respectively
It opens or draws close；The driving motor V is connected with microprocessor.
By above disclosure, the scout car of the invention based on computer control has following advantageous effects：
Due to being additionally arranged steering engine holder, camera can flexible rotating, to effectively expand the scope of reconnaissance of scout car；Staff is logical
Computer remote or local control scout car are crossed, interactive substantivity is enhanced.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the principle of the present invention block diagram；
Fig. 3 is the structural schematic diagram of manipulator of the invention；
Fig. 4 is the structural schematic diagram of manipulator clamp hand of the present invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, in the following with reference to the drawings and specific embodiments
The present invention is described in further detail.
As shown in Figures 1 to 4：The scout car based on computer control of the present embodiment, including car body 1 and it is located at car body 1
On running gear, manipulator, camera 4, microprocessor 5 and data link 6；The manipulator includes for clamping object
Clamp hand 2 and the mechanical arm 3 that is moved in space for controlling clamp hand 2, one end of the mechanical arm 3 be connected to car body 1, another
End is connected to clamp hand 2；The figure that the data link 6 connect with camera 4 and microprocessor 5 respectively and shoots camera 4
As data are reached in real time to host computer 7；The camera 4 is mounted on car body 1 by steering engine holder, the steering engine holder
At least camera 4 can be driven to rotate in the horizontal and vertical directions.
Running gear can be wheeled, crawler type or other structures for driving car body 1 to be moved；Manipulator energy
Enough realize such as samples, grabs object, detecting at the operation；ATmega16A or other existing single-chip microcontrollers for example can be used in microprocessor 5；
Data link 6 may be, for example, WiFi module, and data link 6 is communicated by Serial Port Line with microprocessor 5；Camera 4 can
Using HD720P camera, it is connected by USB interface with data link 6；Car body 1 is equipped with for supplying to each electrical component
The power supply of electricity, power supply is preferably battery；Steering engine holder uses the structure of more steering engines, and camera 4 can be driven horizontal and vertical
Side is rotated up；Due to being additionally arranged steering engine holder, camera 4 can flexible rotating, to effectively expand the scouting model of scout car
It encloses；Host computer 7 receives the data from data link 6, and can issue manipulation command to microprocessor 5, and work people
Member enhances interactive substantivity by computer remote or local control scout car.
In the present embodiment, the steering engine holder includes rotate steering wheel 81, turntable 82, pitch-control motor 83 and mounting rack 84,
The output shaft of the rotate steering wheel 81 is connected to 82 bottom of turntable and turntable 82 can be driven to rotate in the horizontal direction, described
Pitch-control motor 83 and mounting rack 84 are each attached to 82 top of turntable, are equipped in the mounting rack 84 for fixing camera 4 "
U " type frame 85, the output shaft of the pitch-control motor 83 with " U " type frame 85 connect and can drive " U " type frame 85 turns in the vertical direction
It is dynamic；The rotate steering wheel 81, pitch-control motor 83 are connected with microprocessor 5 respectively.The output shaft of rotate steering wheel 81 is perpendicular to level
Face, rotate steering wheel 81 may be implemented to rotate within the scope of 360 ° of turntable 82；Pitch-control motor 83 then passes through " U " type frame 85 drive take the photograph
As first 4 swing up and down pitching, thereby realizes the rotation of camera 4 and swing the operating of two freedom degrees；Rotate steering wheel 81
Pivoting angle data, pitch-control motor 83 pitch angle data reach microprocessor 5 in real time and be delivered to host computer
7, staff can adjust the rotation angle of rotate steering wheel 81 and the pitch angle of pitch-control motor 83 in real time, with accurate adjustment camera shooting
First 4 position.
In the present embodiment, the running gear includes four sprocket-type creepers undercarriage for being located at 1 bottom of car body；It is each
Main shaft (not shown), the peace that the sprocket-type creeper undercarriage includes movable motor 91, is connected with movable motor 91
Chain belt driving wheel 92 on main shaft, the chain belt driving wheel 92 are equipped with triangle mechanism frame 93, the triangle mechanism
Two angles of frame 93 are respectively equipped with a driven wheel 94, and the chain belt driving wheel 92 is located at the another of triangle mechanism frame 93
A angle；The chain belt driving wheel 92 and two driven wheels 94 are equipped with a crawler belt 95；The movable motor 91 and Wei Chu
Device 5 is managed to be connected；Sprocket-type creeper undercarriage can cope with more complicated non-structure environment, guarantee the smooth of movement；Walking electricity
Machine 91 is located in car body 1, and driving spindle rotation, main shaft drives chain belt driving wheel 92 to rotate, and chain belt driving wheel 92 passes through crawler belt
95 driving another two driven wheels 94 rotate, to realize the walking of car body 1；Triangle mechanism frame 93 is preferably right angled triangle knot
Structure, wherein chain belt driving wheel 92 is located at the top of two driven wheels 94；Each sprocket-type creeper undercarriage independently drives, staff
The revolving speed of each movable motor 91 is adjusted by host computer 7, is achieved in the walking and steering of scout car.
In the present embodiment, the running gear further includes two rubber wheels 96 for being located at 1 two sides of car body, each described
Rubber wheel 96 is located between two sprocket-type creepers undercarriage；Rubber wheel 96 is passive type wheel, is carried out with sprocket-type
Movement with walking mechanism and move；The ride comfort of running gear walking can be improved in rubber wheel 96, while also having vibration-damping function,
Reduce shake degree when walking.
In the present embodiment, the car body 1 is equipped with for the temperature sensor 10 of real-time detection environment temperature and for real
When detect ambient humidity humidity sensor 11, the temperature sensor 10 and humidity sensor 11 are connected with microprocessor 5；
The temperature and humidity data that microprocessor 5 will acquire are sent to data link 6 through serial communication, recycle data link 6
Be sent to host computer 7 so that staff it can be seen that ambient enviroment data of the Temperature and Humidity module.
In the present embodiment, the car body 1 is equipped with the ultrasound for measuring distance between car body 1 and surrounding barrier
Away from device 12, the ultrasonic rangefinder 12 is connected with microprocessor 5；Ultrasonic rangefinder 12 can find out surrounding distribution of obstacles shape
Condition, in order to which scout car carries out obstacle detouring；Ultrasonic rangefinder can for example be separately positioned on four of 1 front, rear, left and right of car body
Side.
In the present embodiment, it is detachably attached to control box 13 on the car body 1, is symmetrically set on the control box 13
There are two mechanical arm 3, two clamp hands 2 are separately positioned on the end of two mechanical arms 3；The microprocessor 5, data transmission
Device 6 is mounted in control box 13；Two mechanical arms 3 are respectively provided at the left and right side of control box 13；Two mechanical arms 3 are conducive to
The balance of car body 1, and be provided with two can mutually matched clamp hand 2, elongate or large volume of object can be carried out
It picks up.
In the present embodiment, the mechanical arm 3 includes the first arm section 31, the second arm section 32 and the third arm being successively hinged and connected
Section 33；The head end of the first arm section 31 is rotatablely connected by shaft I and control box 13, shaft I and I 31b of driving motor
It is connected and is driven by I 31b of driving motor and is rotated；The head end of the second arm section 32 is connected by shaft II and the rotation of the first arm section 31
It connects, the shaft II, which is connected with II 32b of driving motor and is driven by II 32b of driving motor, to be rotated, and the shaft II, which is parallel to, to be turned
Axis I is arranged；The head end of the third arm section 33 is rotatablely connected by III 33a of shaft and the second arm section 32, III 33a of shaft and
III 33b of driving motor, which is connected and is driven by III 33b of driving motor, to be rotated, and III 33a of shaft is arranged perpendicular to shaft II；It is described
Third arm section 33 is connected by shaft IV34a with clamp hand 2, the shaft IV34a and the driving electricity being fixed in third arm section 33
Machine IV34b, which is connected and is driven by driving motor IV34b, to be rotated, and the shaft IV34a is both perpendicular to III 33a of shaft II and shaft
Setting；I 31b of driving motor, II 32b of driving motor, driving motor III 33b and driving motor IV34b with microprocessor 5
It is connected.
First arm section 31, the second arm section 32 and third arm section 33 are in long plate shape, the length of each arm section can as needed and
If；Shaft I is connected with the output shaft of I 31b of driving motor, or directly can be the output shaft of I 31b of driving motor；Driving
I 31b of motor is mounted on the first arm section 31 and control box 13, and under the action of I 31b of driving motor, the first arm section 31 can be done
Lower pitching movement；Shaft II is connected with the output shaft of II 32b of driving motor, or directly can be II 32b of driving motor
Output shaft；II 32b of driving motor is mounted in the first arm section 31 and the second arm section 32, under the action of II 32b of driving motor, the
Two arm sections 32 can do pitching movement up and down；III 33a of shaft is connected with the output shaft of III 33b of driving motor, or directly
It is the output shaft of III 33b of driving motor；III 33b of driving motor is mounted in the second arm section 32 and third arm section 33, in driving electricity
Under the action of III 33b of machine, third arm section 33 can swing；The output shaft phase of shaft IV34a and driving motor IV34b
It even, or directly can be the output shaft of driving motor IV34b；Driving motor IV34b is mounted in third arm section 33, is being driven
Under the action of dynamic motor IV34b, clamp hand 2 is whole to be rotated；The movement model of clamp hand 2 can be promoted using the above structure
It encloses, enables the flexible movement of clamp hand 2.
In the present embodiment, the clamp hand 2 includes fixed station 21, geosynclinal block 22, fixed plate 23, clamping jaw and Y-shaped drive rod, institute
It states fixed station 21 and driving motor IV34b is sequentially connected；The fixed plate 23 is connected by geosynclinal block 22 with fixed station 21；Two institutes
It states clamping jaw to be symmetrical arranged, each clamping jaw includes pawl head 241, drive rocker 242 and driven rocking bar 243, the drive rocker 242
It is arranged in parallel with driven rocking bar 243, the drive rocker 242 is hinged and connected, separately with one end of driven rocking bar 243 and pawl head 241
One end is hinged and connected with fixed plate 23；The Y-shaped drive rod is made of a vertical pole 251 and two symmetrical branch bars 252,
The geosynclinal block 22 is equipped with the sliding slot for accommodating vertical pole 251 and sliding for vertical pole 251；Driving motor V 26 is located at fixed station 21
On, the output end of the driving motor V 26 is sequentially connected with vertical pole 251 and vertical pole 251 is driven to slide along the chute；The vertical pole
251 be pierced by from fixed plate 23 after be connected with two branch bars 252, the branch bar 252 is equipped with slideway 252a, the drive rocker
242 bottom surface is equipped with traveller 242a, and the traveller 242a is set in slideway 252a, so that two drive rockers 242 can be distinguished
It opens or draws close during the linear slide of two branch bars 252；The driving motor V 26 is connected with microprocessor.
When driving motor IV34b is acted, fixed station 21 is rotated, to drive the rotation of entire clamp hand 2；Geosynclinal block 22 is in long block
Shape, sliding slot are straight groove structure；Driving motor V 26 can for example pass through screw mechanism or other transmission mechanisms and 251 phase of vertical pole
Even, driving vertical pole 251 slides；It can be control effectively to the movement of clamping jaw by above structure, Y-shaped drive rod is inwardly (i.e.
Towards the direction of mechanical arm) it is mobile when, two clamping jaws move toward one another, and clamp to foreign matter；When Y-shaped drive rod moves outwardly,
The object clamped is decontroled in two clamping jaw counter motions.
Finally, it is stated that applying herein, a specific example illustrates the principle and implementation of the invention, with
The explanation of upper embodiment is merely used to help understand the core idea of the present invention, without departing from the principles of the present invention, also
Can several improvements and modifications are made to the present invention, these improvement and modification are also fallen within the scope of the present invention.
Claims (8)
1. a kind of scout car based on computer control including car body and sets running gear, manipulator, camera shooting on the car body
Head, microprocessor and data link；The manipulator includes clamp hand for clamping object and for controlling clamp hand in space
The mechanical arm of middle movement, one end of the mechanical arm is connected to car body, the other end is connected to clamp hand；The data link difference
It is connect with camera and microprocessor and reaches the image data that camera is shot to host computer in real time；Its feature exists
In：The camera is installed on the car body by steering engine holder, and the steering engine holder can at least drive camera horizontal and perpendicular
Histogram is rotated up；The steering engine holder includes rotate steering wheel, turntable, pitch-control motor and mounting rack, the rotate steering wheel
Output shaft is connected to turntable bottom and turntable can be driven to rotate in the horizontal direction, and the pitch-control motor and mounting rack are solid
Be scheduled at the top of turntable, be equipped with the U-typed frame for fixing camera in the mounting rack, the output shaft of the pitch-control motor with
U-typed frame connects and U-typed frame can be driven to rotate in the vertical direction；The rotate steering wheel, pitch-control motor respectively with micro process
Device is connected.
2. the scout car according to claim 1 based on computer control, it is characterised in that：The running gear includes four
A sprocket-type creeper undercarriage positioned at vehicle bottom；Each sprocket-type creeper undercarriage include movable motor,
The main shaft being connected with movable motor, the chain belt driving wheel being mounted on main shaft, the chain belt driving wheel are equipped with triangle mechanism
Frame, two angles of the triangle mechanism frame are respectively equipped with a driven wheel, and the chain belt driving wheel is located at triangle machine
Another angle of framework；The chain belt driving wheel and two driven wheels are equipped with a crawler belt；The movable motor with it is micro-
Processor is connected.
3. the scout car according to claim 2 based on computer control, it is characterised in that：The running gear further includes
Two are located at the rubber wheel of car body two sides, each rubber wheel be located at two sprocket-type creepers undercarriage it
Between.
4. the scout car according to any one of claims 1 to 3 based on computer control, it is characterised in that：The car body
It is equipped with the humidity sensor for the temperature sensor of real-time detection environment temperature and for real-time detection ambient humidity, it is described
Temperature sensor and humidity sensor are connected with microprocessor.
5. the scout car according to claim 4 based on computer control, it is characterised in that：The car body is equipped with and is used for
The ultrasonic rangefinder of distance between car body and surrounding barrier is measured, the ultrasonic rangefinder is connected with microprocessor.
6. the scout car according to any one of claims 1 to 3 based on computer control, it is characterised in that：The car body
On be detachably attached to control box, be symmetrically arranged with two mechanical arms on the control box, two clamp hands are set respectively
It sets in the end of two mechanical arms；The microprocessor, data link are mounted in control box.
7. the scout car according to claim 6 based on computer control, it is characterised in that：The mechanical arm includes successively
The first arm section, the second arm section and the third arm section being hinged and connected；The head end of the first arm section passes through shaft I and control box rotation
Connection, the shaft I, which is connected with driving motor I and is driven by driving motor I, to be rotated；The head end of the second arm section passes through shaft
II and first arm section be rotatablely connected, the shaft II be connected with driving motor II and by driving motor II driving rotation, described turn
Axis II is parallel to the setting of shaft I；The head end of the third arm section is rotatablely connected by shaft III and the second arm section, the shaft III
It is connected with driving motor III and is driven by driving motor III and rotated, the shaft III is arranged perpendicular to shaft II；The third arm
Section is connected by shaft IV with clamp hand, and the shaft IV is connected with the driving motor IV being fixed in third arm section and by driving electricity
Machine IV driving rotation, the shaft IV are arranged both perpendicular to shaft II and shaft III；The driving motor I, driving motor II,
Driving motor III and driving motor IV are connected with microprocessor respectively.
8. the scout car according to claim 7 based on computer control, it is characterised in that：The clamp hand includes fixing
Platform, geosynclinal block, fixed plate, clamping jaw and Y-shaped drive rod, the fixed station and driving motor IV are sequentially connected；The fixed plate is logical
Geosynclinal block is crossed to be connected with fixed station；Two clamping jaws are symmetrical arranged, and each clamping jaw includes pawl head, drive rocker and from shaking
Bar, the drive rocker are arranged in parallel with driven rocking bar, one end of the drive rocker and driven rocking bar and pawl head be hinged and connected,
The other end is hinged and connected with fixed plate；The Y-shaped drive rod is made of a vertical pole and two symmetrical branch bars, the slot
Block is equipped with for accommodating vertical pole and for the sliding slot of vertical pole sliding；The output end and vertical pole of the driving motor V are sequentially connected simultaneously
Driving vertical pole slides along the chute；The vertical pole is pierced by from fixed plate to be connected with two branch bars afterwards, and the branch bar is equipped with slideway, institute
The bottom surface for stating drive rocker is equipped with traveller, and the traveller is set in slideway, so that two drive rockers can be respectively in two branches
It opens or draws close during the linear slide of bar；The driving motor V is connected with microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811002832.1A CN108858123A (en) | 2018-08-30 | 2018-08-30 | Scout car based on computer control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811002832.1A CN108858123A (en) | 2018-08-30 | 2018-08-30 | Scout car based on computer control |
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| Publication Number | Publication Date |
|---|---|
| CN108858123A true CN108858123A (en) | 2018-11-23 |
Family
ID=64322735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811002832.1A Pending CN108858123A (en) | 2018-08-30 | 2018-08-30 | Scout car based on computer control |
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| CN (1) | CN108858123A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909969A (en) * | 2019-01-25 | 2019-06-21 | 刘山平 | A kind of intelligent robot |
| CN111152235A (en) * | 2020-01-17 | 2020-05-15 | 深圳信息职业技术学院 | Mobile multi-arm cooperative detection robot |
| CN113858543A (en) * | 2021-09-08 | 2021-12-31 | 贝隆精密科技股份有限公司 | Double-acting clamping jig with shearing function |
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