CN109794920A - A kind of bionical restructural rescue robot - Google Patents
A kind of bionical restructural rescue robot Download PDFInfo
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- CN109794920A CN109794920A CN201910145650.8A CN201910145650A CN109794920A CN 109794920 A CN109794920 A CN 109794920A CN 201910145650 A CN201910145650 A CN 201910145650A CN 109794920 A CN109794920 A CN 109794920A
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Abstract
The invention discloses a kind of bionical restructural rescue robots, it include: Form of Bionics Mechanical Legs mobile mechanism, scissors fork elevating mechanism, the double-deck connecting substrate structure and manipulator for rescue mechanism, wherein bionic mechanical leg mechanism is the movement mechanism of robot, for realizing two kinds of motion modes of wheeled and leg formula of robot；Wherein scissors fork elevating mechanism is the mechanism in the connecting substrate of robot upper layer, for going up and down the operation height of manipulator for rescue；Wherein the double-deck connecting substrate structure is used to be fixedly connected four bionic mechanical leg mechanisms of robot, constitutes the main structure of robot；Wherein manipulator for rescue is the mechanism for being used to realize robot function being installed on elevating mechanism.Rescue robot of the invention, mainly solves the problems, such as gas leak, is used for safety shutdown gas valve, and robot of the invention can be realized the rescue function of horizontal or vertical direction changeover valve, and the maximum terrain clearance of valve is 800mm.
Description
Technical field
The present invention relates to bionical reconstruction robot fields, more particularly to a kind of bionical restructural rescue robot.
Background technique
Bionics causes the concern of various countries researcher in the application of robot field, and achieves a large amount of achievements.Mesh
It is preceding to have studied and produced a variety of bio-robots, imitate flying creature robot for example imitative bat robot, fly robot, machine
Device swift, dragonfly robot, imitate for example imitative inchworm-like robot of terrestrial life robot, imitative cockroach odex, machine spider,
Gecko-emulated robot, imitative Earthworm Robot, imitate aquatic organism robot such as octopus tentacle robot, Beijing Institute of Aeronautics machine fish
Robotfish, German machine acaleph, imitate amphibious robot such as machine lobster, machine crab etc..Bionic application makes
Biggish transformation has occurred in research object, content and the measure of robotics, expand and dissipated scientists eyes and
Thought.
Reconstruction robot is a kind of robot that can be reconfigured according to work requirements to its configuration.Module can weigh
There are many forms for construction system, can be divided into dot matrix and non-dot matrix by the organizational form of module, dot matrix robot is usually by same
Kind of module is formed, it is needed for movement and configuration, non-dot matrix robot can with the configuration again in movement, or it is restructural with
Motion stage separates.It can be divided into again by restructural docking form restructural manually and automatic restructural.
In life, can hear the generation of some disasters or dangerous situation often, as explosion of coal mines either earthquake, or
It is the danger such as gas leak, bionics and reconstruction robot is combined together, designs a kind of bionical rescue robot,
In different complex environments, robot can be realized corresponding structure change, and the topography variation of complexity is adapted to this, improve machine
The walking ability of device people, to complete rescue task.
Summary of the invention
In view of the above technical problems, the purpose of the present invention is to provide a kind of bionical restructural rescue robots.
To achieve the above object, the present invention is realized according to following technical scheme:
A kind of bionical restructural rescue robot characterized by comprising four Form of Bionics Mechanical Legs structures, a machinery
Hand structure, a scissors fork elevating mechanism and the double-deck connecting substrate structure；Wherein, the double-deck connecting substrate structure includes upper layer
Connecting substrate (18) and lower layer's connecting substrate (19), the upper layer connecting substrate (18) in the double-deck connecting substrate structure be equipped with 12 it is straight
Diameter is the through-hole of 3mm, and lower layer's connecting substrate (19) is equipped with the through-hole that 8 diameters are 3mm, and upper layer connecting substrate (18) passes through screw
It is connect with the third twin shaft steering engine (21) in Form of Bionics Mechanical Legs structure, lower layer's connecting substrate (19) passes through screw and Form of Bionics Mechanical Legs
In structure third twin shaft steering engine (21) connection, four third twin shaft steering engines (21) be fixed by screws in upper layer connecting substrate and
The main structure of the intermediate composition robot of lower layer's connecting substrate；Aluminum sliding slot (17) in the scissors fork elevating mechanism is equipped with logical
Hole, fixed by bolt and upper layer connecting substrate (18), the electric machine support (16) in scissors fork elevating mechanism is equipped with through-hole, passes through spiral shell
Bolt and upper layer connecting substrate (18) are fixed；The 9th U-shaped frame (35) on robot manipulator structure passes through in bolt and scissors fork elevating mechanism
Acrylic board (10) be fixedly connected.
In above-mentioned technical proposal, the Form of Bionics Mechanical Legs structure further includes a tire (1), the first twin shaft steering engine (4),
Two twin shaft steering engines (7), six the first steering wheels (22), a foot support (3), the first U-shaped frame (5), the second U-shaped frame (6), the 3rd U
Type frame (20), the 4th U-shaped frame (23), first DC speed-reducing (2)；The wherein tire (1) and first direct current
Decelerating motor (2) is by motor axis connection, and being connected by bolt with foot support (3) makes robot have wheel type mobile ability,
First steering wheel (22) is bolted on the inside of the first U-shaped frame (5), the U-shaped frame of third (20) and the 4th U-shaped frame (23)
Two sides, the second U-shaped frame (6) are connect by bolt with the first U-shaped frame (5), the first twin shaft steering engine (4), the second twin shaft steering engine
(7) and third twin shaft steering engine (21) is connected with the first steering wheel (22), and the first steering wheel (22) inner hole is with teeth, the first twin shaft steering engine
(4), the tooth on the second twin shaft steering engine (7) and third twin shaft steering engine (21) and the first steering wheel (22) tooth engagement drive first U-shaped
Frame (5), the U-shaped frame of third (20) and the rotation of the 4th U-shaped frame (23) pass through the first twin shaft steering engine (4) on every leg of robot, the
The rotation of two twin shaft steering engines (7) and third twin shaft steering engine (21), to make robot ambulation.
In above-mentioned technical proposal, the robot manipulator structure include: the first tooth form gripper (29), the second tooth form gripper (27),
First driven gripper (26), the second driven gripper (24), nylon column (28), aluminum support (25), uniaxial steering engine (31), the 4th pair
Axis steering engine (37), the 5th twin shaft steering engine (38), four the second steering wheels (36), the 5th U-shaped frame (30), the 6th U-shaped frame (32), the 7th
U-shaped frame (33), the 8th U-shaped frame (34), the 9th U-shaped frame (35)；The first driven gripper (26) passes through bolt and the 5th U-shaped frame
(30) it connects, the second driven gripper (24) is connect by bolt with the 5th U-shaped frame (30)；The 4th twin shaft steering engine (37) passes through
Screw is fixedly connected with the 5th U-shaped frame (30)；The first tooth form gripper (29) is bolted the second steering wheel (36), and second
The tooth of steering wheel (36) is meshed with the tooth of the 5th twin shaft steering engine (38)；The second tooth form gripper (27) passes through bolt and the 5th U
Type frame (30) connection, and pass through tooth engagement thereon with the first tooth form gripper (29)；Nylon column (28) has screw thread, by thereon
Screw thread interconnect be fixed on aluminum support (25) two sides；Between first tooth form gripper (29) and the first driven gripper (26)
And second be respectively connected with nylon column (28) and aluminum support (25) between tooth form gripper (27) and the second driven gripper (24), makees
For the hand stereochemical structure of robot manipulator structure；When carrying out operation, nylon column (28) increases the hand and valve of robot manipulator structure
Friction；The other side of 5th U-shaped frame (30) is bolted the second steering wheel (36), the tooth of the second steering wheel (36) and uniaxial rudder
Machine (31) engagement, and connect by bolt with uniaxial steering engine (31)；The 6th U-shaped frame is bolted in the single shaft steering engine (31)
(32), the 7th U-shaped frame (33) two sides have been bolted the second steering wheel (36) and have connect again with the 4th twin shaft steering engine (37), and with
6th U-shaped frame (32) is bolted；7th U-shaped frame (33) one end is connect by screw with the 4th twin shaft steering engine (37) another
The 6th U-shaped frame (32) is bolted in end, and the 8th U-shaped frame (34) one end is connect by screw with the 4th twin shaft steering engine (37),
The 9th U-shaped frame (35) is bolted in the other end.
In above-mentioned technical proposal, the scissors fork elevating mechanism further include: aluminum sliding slot (17), the first sliding block (8), second are slided
Block (11), bearing (9), lead screw, feed screw nut (12), shaft coupling (14), the second DC speed-reducing (15), acrylic board
(10)；The aluminum sliding slot (17) is bolted in the connecting substrate of upper layer, and the first sliding block (8) is fixed on aluminum sliding slot
(17) one end, the bearing (9) are mounted on the first sliding block (8), and the second sliding block (11) passes through with the feed screw nut (12)
Bolt is connected, and the lead screw is connected by shaft coupling (14) with the second DC speed-reducing (15), the second DC speed-reducing
(15) it is fixed in the connecting substrate of upper layer by electric machine support (16), the first sliding block (8) is connected with the two sides of the second sliding block (11)
Have acrylic board (10), the top of acrylic board (10) is connect by the 9th U-shaped frame (35) with robot manipulator structure, and acrylic is made
Plate (10) realizes lifting with the movement of the second sliding block (11), to complete the task of the lifting of robot manipulator structure.
Compared with the prior art, the invention has the following advantages:
Structure design is the pith of bionical restructural rescue robot, and the locomitivity and re-configurability of robot are determined
Due to the mechanical structure of robot.The bionical restructural rescue robot can be divided into three parts to design and establish, and be imitative respectively
Raw design, reconfigurable design, rescue system design.The design scheme of robot is to use four-wheel drive on flat road surface, make
The rate travel of robot is high, and when encountering more rugged road surface, robot then can change the structure of itself, and utilization is bionical
Leg walking is across obstacle.Rescue is appointed to twist gas valve, the height of valve is liftoff about 800mm.
The bionical reconstruction robot is combined and is constituted by main part and 4 Form of Bionics Mechanical Legs structures, and main part is
One double sheets combination, inner hollow, for placing the circuit element of robot and the route of placement machine people, every imitative
Raw pedipulator is connected by twin shaft steering engine with main body.The walking-leg of robot has three hip joint, knee joint and ankle-joint joints.
The assembly of DC speed-reducing and wheel is installed, therefore robot can there are two types of motion mode, leg formula moulds on the foot of robot
Formula and wheeled mode.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is robot manipulator structure schematic diagram of the invention；
Fig. 3 is legged walking structural schematic diagram of the present invention；
Figure label are as follows: 1- tire, the first DC speed-reducing of 2-, 3- foot support, 4- the first twin shaft steering engine, the first U of 5-
Type frame, the U-shaped frame of 6- second, 7- the second twin shaft steering engine, the first sliding block of 8-, 9- bearing, 10- acrylic board, the second sliding block of 11-, 12-
Feed screw nut, 13- ball-screw, 14- shaft coupling, the second DC speed-reducing of 15-, 16- electric machine support, 17- aluminum sliding slot,
18- top substrate layer, 19- underlying substrate, the U-shaped frame of 20- third, 21- third twin shaft steering engine, the first steering wheel of 22-, 23- the 4th are U-shaped
Frame, the driven gripper of 24- second, the support of 25- aluminum, the driven gripper of 26- first, 27- the second tooth form gripper, 28- nylon column, 29-
First tooth form gripper, the U-shaped frame of 30- the 5th, 31- single shaft steering engine, the U-shaped frame of 32- the 6th, the U-shaped frame of 33- the 7th, the U-shaped frame of 34- the 8th,
The U-shaped frame of 35- the 9th, the second steering wheel of 36-, the 4th twin shaft steering engine of 37-, the 5th twin shaft steering engine of 38-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term " radial direction ", " axial direction ", "upper", "lower", "top", "bottom",
The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.In the description of the present invention, unless otherwise indicated,
The meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Set ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
It, can also be indirectly connected through an intermediary to be to be connected directly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In conjunction with attached drawing 1, a kind of bionical restructural rescue robot, including four Form of Bionics Mechanical Legs structures, a manipulator
Structure, a scissors fork elevating mechanism and the double-deck connecting substrate structure；The double-deck connecting substrate structure includes upper layer connecting substrate
(18) and lower layer's connecting substrate (19) it is 3mm that, the upper layer connecting substrate (18) in the double-deck connecting substrate structure, which is equipped with 12 diameters,
Through-hole, lower layer's connecting substrate (19) is equipped with the through-hole that 8 diameters are 3mm, upper layer connecting substrate (18) by screw with it is bionical
Third twin shaft steering engine (21) connection in pedipulator structure, lower layer's connecting substrate (19) pass through in screw and Form of Bionics Mechanical Legs structure
Third twin shaft steering engine (21) connection, four third twin shaft steering engines (21) are fixed by screws in upper layer connecting substrate and lower layer and connect
Connect the main structure of the intermediate composition robot of substrate；Aluminum sliding slot (17) in scissors fork elevating mechanism is equipped with through-hole, passes through spiral shell
Bolt and upper layer connecting substrate (18) are fixed, and the electric machine support (16) in scissors fork elevating mechanism is equipped with through-hole, pass through bolt and upper layer
Connecting substrate (18) is fixed；The 9th U-shaped frame (35) on robot manipulator structure passes through the acrylic in bolt and scissors fork elevating mechanism
Plate (10) is fixedly connected.
In the Form of Bionics Mechanical Legs structure, tire (1) is connected simultaneously with the first DC speed-reducing (2) by machine shaft
It is fixedly connected by bolt with foot support (3), makes robot that there are two kinds of motion modes of legged walking and running on wheels；Foot support
It is connect by screw with the first twin shaft steering engine (4), toothed the with axis tooth engagement is installed on two axis of the first twin shaft steering engine (4)
One steering wheel (22), two the first steering wheels are connect by bolt with the first U-shaped frame (5), and the ankle-joint of Form of Bionics Mechanical Legs is constituted；Together
Reason, the second U-shaped frame (6), the second twin shaft steering engine (7), the 4th U-shaped frame (23), two the first steering wheels (22) constitute Form of Bionics Mechanical Legs
Knee joint；Similarly, the U-shaped frame of third (20), third twin shaft steering engine (21), two the first steering wheels (22) constitute Form of Bionics Mechanical Legs knot
The hip joint of structure, the first steering wheel (22) inner hole is with teeth, the first twin shaft steering engine (4), the second twin shaft steering engine (7) and third twin shaft rudder
Tooth and the first steering wheel (22) tooth engagement on machine (21) drive the first U-shaped frame (5), the U-shaped frame of third (20) and the 4th U-shaped frame (23)
Rotation, passes through the first twin shaft steering engine (4), the second twin shaft steering engine (7) and the third twin shaft steering engine (21) on every leg of robot
Rotation, composition described above Form of Bionics Mechanical Legs structure.The third twin shaft steering engine that Form of Bionics Mechanical Legs structure passes through hip joint thereon
(21) it is connected (19) with upper layer connecting substrate (18), lower layer's connecting substrate, forms the main structure of robot.Robot has wheel
Two kinds of motion modes of formula and leg formula, for different landform, robot be can be reconfigured, and convert motion mode.
In the scissors fork elevating mechanism, the second DC speed-reducing (15) is connected by bolt with electric machine support (16)
It connects, electric machine support (16) is bolted on upper layer connecting substrate (18)；Shaft coupling (14) one end by holding screw with
The motor shaft of second DC speed-reducing (15) is fixed, and the other end is connect with lead screw (13)；Aluminum sliding slot (17) is solid by bolt
It is scheduled on upper layer connecting substrate (18), one end of aluminum sliding slot (17) is fixed the first sliding block (8) with bolt, the first sliding block (8)
Center is equipped with bearing (9), is elastic conjunction, and the center of bearing (9) is overlapped with the center of lead screw (13), bearing (9) and
Lead screw (13) is similarly elastic conjunction, and the other end of aluminum sliding slot (17) is equipped with the second sliding block (11), and feed screw nut (12) passes through
Bolt is connect with the second sliding block (11), and acrylic board (10) is bolted on the first sliding block (8) and the second sliding block (11)
Two sides, and be bolted between each other；Lead screw is connected by shaft coupling (14) with the second DC speed-reducing (15), and second
DC speed-reducing (15) drives lead screw (13) rotation by shaft coupling (14), and the second DC speed-reducing (15) passes through motor branch
Frame (16) is fixed on upper layer connecting substrate (18), and lead screw (13) is by driving feed screw nut with the screw pair of feed screw nut (12)
(12) it moves linearly, thus make feed screw nut (12) that the second sliding block (11) to be pushed to move in a straight line in aluminum sliding slot (17),
To make the acrylic board (10) being connect with the first sliding block (8) and the second sliding block (11) can vertical direction move linearly, Ya Ke
The top of power plate (10) is connect by the 9th U-shaped frame (35) with robot manipulator structure, makes acrylic board (10) with the second sliding block
(11) movement and realize lifting, to complete the task of the lifting of robot manipulator structure, constitute the scissor liter of robot above
Descending mechanism, in the function of robot is realized, manipulator mechanism is elevated to suitable working space.
In the robot manipulator structure, the first driven gripper (26) is connect by bolt with the 5th U-shaped frame (30), second from
Start pawl (24) connect with the 5th U-shaped frame (30) by bolt；First tooth form gripper (29) passes through bolt and the second steering wheel (36)
It is connected, the second tooth form gripper (27) is connect by bolt with the 5th U-shaped frame (30), and with the first tooth form gripper (29) by thereon
Tooth engagement, the second steering wheel (36) engaged with the gear shaft on the 5th twin shaft steering engine (38) drive the first tooth form gripper (29) turn
It is dynamic, while driving aluminum support (25), nylon column (28) and the first driven gripper being connected with the first tooth form gripper (29)
(26) it rotating, nylon column (28) has screw thread, the two sides for being fixed on aluminum support (25) are interconnected by screw thread thereon, the
Between one tooth form gripper (29) and the first driven gripper (26) and the second tooth form gripper (27) and the second driven gripper (24) it
Between be respectively connected with nylon column (28) and aluminum support (25) hand stereochemical structure as robot manipulator structure；When carrying out operation,
Nylon column (28) increases the friction of the hand and valve of robot manipulator structure；First tooth form gripper (29) is using tooth thereon by nibbling
Conjunction relationship drives the second tooth form gripper (27) and aluminum connected to it support (25), nylon column (28) and the second driven gripper
(24) it rotates, to realize the opening of the hand of robot manipulator structure and close up；5th U-shaped frame (30) passes through bolt and the second steering wheel
(36) it is connected, the second steering wheel (36) is meshed with the tooth of uniaxial steering engine (31), and is connected by bolt and uniaxial steering engine (31),
The hand of robot manipulator structure is set to realize 360 degree rotation by the rotation of uniaxial steering engine (31)；The other end of uniaxial steering engine (31) connects
The 6th U-shaped frame (32) is connect, the 6th U-shaped frame (32) is bolted the 7th U-shaped frame (33), passes through on the inside of the 7th U-shaped frame (33)
It is bolted two the second steering wheels (36) and the 4th twin shaft steering engine (37), machine is adjusted by the rotation of the 4th twin shaft steering engine (37)
The operating angle of tool hand structure realizes that the valve of rotation vertical direction or horizontal direction, manipulator mechanism pass through the with this
Nine U-shaped framves (35) and bolt are connected with scissors fork elevating mechanism, are elevated to manipulator mechanism suitably by scissors fork elevating mechanism
Operating position.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (4)
1. a kind of bionical restructural rescue robot characterized by comprising four Form of Bionics Mechanical Legs structures, a manipulator
Structure, a scissors fork elevating mechanism and the double-deck connecting substrate structure；Wherein, the double-deck connecting substrate structure includes that upper layer connects
Substrate (18) and lower layer's connecting substrate (19) are connect, the upper layer connecting substrate (18) in the double-deck connecting substrate structure is equipped with 12 diameters
For the through-hole of 3mm, lower layer's connecting substrate (19) is equipped with the through-hole that 8 diameters are 3mm, upper layer connecting substrate (18) by screw with
Third twin shaft steering engine (21) connection in Form of Bionics Mechanical Legs structure, lower layer's connecting substrate (19) pass through screw and Form of Bionics Mechanical Legs knot
Third twin shaft steering engine (21) connection in structure, four third twin shaft steering engines (21) are fixed by screws in upper layer connecting substrate under
The main structure of the intermediate composition robot of layer connecting substrate；Aluminum sliding slot (17) in the scissors fork elevating mechanism is equipped with logical
Hole, fixed by bolt and upper layer connecting substrate (18), the electric machine support (16) in scissors fork elevating mechanism is equipped with through-hole, passes through spiral shell
Bolt and upper layer connecting substrate (18) are fixed；The 9th U-shaped frame (35) on robot manipulator structure passes through in bolt and scissors fork elevating mechanism
Acrylic board (10) be fixedly connected.
2. the bionical restructural rescue robot of one kind according to claim 1, which is characterized in that the Form of Bionics Mechanical Legs knot
Structure further includes a tire (1), the first twin shaft steering engine (4), the second twin shaft steering engine (7), six the first steering wheels (22), a foot branch
Frame (3), the first U-shaped frame (5), the second U-shaped frame (6), the U-shaped frame of third (20), the 4th U-shaped frame (23), first direct current slow down
Motor (2)；Wherein the tire (1) and first DC speed-reducing (2) are by motor axis connection, and pass through bolt and foot
Bracket (3), which is connected, makes robot have wheel type mobile ability, and first steering wheel (22) is bolted on the first U-shaped frame
(5), the inside two sides of the U-shaped frame of third (20) and the 4th U-shaped frame (23), the second U-shaped frame (6) are U-shaped by bolt and first
Frame (5) connection, the first twin shaft steering engine (4), the second twin shaft steering engine (7) and third twin shaft steering engine (21) with the first steering wheel (22)
It is connected, the first steering wheel (22) inner hole is with teeth, the first twin shaft steering engine (4), the second twin shaft steering engine (7) and third twin shaft steering engine (21)
On tooth and the first steering wheel (22) tooth engagement drive the first U-shaped frame (5), the U-shaped frame of third (20) and the rotation of the 4th U-shaped frame (23),
Pass through turning for the first twin shaft steering engine (4) on every leg of robot, the second twin shaft steering engine (7) and third twin shaft steering engine (21)
It is dynamic, to make robot ambulation.
3. the bionical restructural rescue robot of one kind according to claim 1, which is characterized in that the robot manipulator structure packet
It includes: the first tooth form gripper (29), the second tooth form gripper (27), the first driven gripper (26), the second driven gripper (24), nylon column
(28), aluminum support (25), uniaxial steering engine (31), the 4th twin shaft steering engine (37), the 5th twin shaft steering engine (38), four the second steering wheels
(36), the 5th U-shaped frame (30), the 6th U-shaped frame (32), the 7th U-shaped frame (33), the 8th U-shaped frame (34), the 9th U-shaped frame (35)；Institute
It states the first driven gripper (26) to connect by bolt with the 5th U-shaped frame (30), the second driven gripper (24) passes through bolt and the 5th U
Type frame (30) connection；The 4th twin shaft steering engine (37) is fixedly connected by screw with the 5th U-shaped frame (30)；First tooth form
Gripper (29) is bolted the second steering wheel (36), and the tooth of the second steering wheel (36) and the tooth of the 5th twin shaft steering engine (38) are mutually nibbled
It closes；The second tooth form gripper (27) is connect by bolt with the 5th U-shaped frame (30), and passes through it with the first tooth form gripper (29)
On tooth engagement；Nylon column (28) has screw thread, and the two sides for being fixed on aluminum support (25) are interconnected by screw thread thereon；
Between first tooth form gripper (29) and the first driven gripper (26) and the second tooth form gripper (27) and the second driven gripper (24)
Between be respectively connected with nylon column (28) and aluminum support (25), the hand stereochemical structure as robot manipulator structure；Carrying out operation
When, nylon column (28) increases the friction of the hand and valve of robot manipulator structure；The other side of 5th U-shaped frame (30) is connected by bolt
It connects the second steering wheel (36), the tooth of the second steering wheel (36) is engaged with uniaxial steering engine (31), and even by bolt and uniaxial steering engine (31)
It connects；The 6th U-shaped frame (32) is bolted in the single shaft steering engine (31), and the 7th U-shaped frame (33) two sides have been bolted
Second steering wheel (36) is connect with the 4th twin shaft steering engine (37) again, and is bolted with the 6th U-shaped frame (32)；7th U-shaped frame
(33) one end connect the other end with the 4th twin shaft steering engine (37) by screw and the 6th U-shaped frame (32) is bolted, and the 8th is U-shaped
Frame (34) one end is connect by screw with the 4th twin shaft steering engine (37), and the 9th U-shaped frame (35) is bolted in the other end.
4. the bionical restructural rescue robot of one kind according to claim 1, which is characterized in that the scissors fork elevating mechanism
Further include: aluminum sliding slot (17), the first sliding block (8), the second sliding block (11), bearing (9), lead screw, feed screw nut (12), shaft coupling
(14), the second DC speed-reducing (15), acrylic board (10)；The aluminum sliding slot (17) is bolted on upper layer connection
On substrate, the first sliding block (8) is fixed on one end of aluminum sliding slot (17), and the bearing (9) is mounted on the first sliding block (8), the
Two sliding blocks (11) are connected with the feed screw nut (12) by bolt, and the lead screw is subtracted by shaft coupling (14) with the second direct current
Speed motor (15) is connected, and the second DC speed-reducing (15) is fixed in the connecting substrate of upper layer by electric machine support (16), and first
The two sides of sliding block (8) and the second sliding block (11) are connected with acrylic board (10), and the top of acrylic board (10) is U-shaped by the 9th
Frame (35) is connect with robot manipulator structure, so that acrylic board (10) is realized lifting with the movement of the second sliding block (11), thus complete
At the task of the lifting of robot manipulator structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910145650.8A CN109794920A (en) | 2019-02-27 | 2019-02-27 | A kind of bionical restructural rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910145650.8A CN109794920A (en) | 2019-02-27 | 2019-02-27 | A kind of bionical restructural rescue robot |
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| Publication Number | Publication Date |
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| CN109794920A true CN109794920A (en) | 2019-05-24 |
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| CN201910145650.8A Pending CN109794920A (en) | 2019-02-27 | 2019-02-27 | A kind of bionical restructural rescue robot |
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| CN110316365A (en) * | 2019-07-04 | 2019-10-11 | 中原工学院 | A kind of four axis unmanned plane of full-automatic fire-extinguishing |
| CN110450145A (en) * | 2019-08-13 | 2019-11-15 | 广东工业大学 | A kind of biomimetic manipulator based on skeleton identification |
| CN110539326A (en) * | 2019-09-19 | 2019-12-06 | 华侨大学 | Mechanical gripper mechanism of transfer robot |
| CN110815179A (en) * | 2019-10-30 | 2020-02-21 | 盐城工学院 | Intelligent vehicle control system carrying mechanical arm |
| CN111844073A (en) * | 2020-07-22 | 2020-10-30 | 燕山大学 | Rigid-flexible hybrid multi-arm rescue robot |
| CN112394730A (en) * | 2020-11-14 | 2021-02-23 | 上海源正科技有限责任公司 | Pipeline detection device |
| CN112406436A (en) * | 2020-12-03 | 2021-02-26 | 复旦大学 | Air-ground dual-purpose composite robot |
| CN112693582A (en) * | 2020-12-18 | 2021-04-23 | 杜国建 | Underwater rescue intelligent robot based on radar technology |
| CN112936311A (en) * | 2021-03-25 | 2021-06-11 | 双子星机甲动力(肇庆)科技有限公司 | Bionic ant robot |
| CN114475839A (en) * | 2021-12-31 | 2022-05-13 | 南京理工大学 | Autonomous wheel and claw reconfigurable obstacle crossing robot |
| CN117141339A (en) * | 2023-10-23 | 2023-12-01 | 常州裕能石英科技有限公司 | Quartz crucible safe transportation supporting device |
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| CN110316365A (en) * | 2019-07-04 | 2019-10-11 | 中原工学院 | A kind of four axis unmanned plane of full-automatic fire-extinguishing |
| CN110450145A (en) * | 2019-08-13 | 2019-11-15 | 广东工业大学 | A kind of biomimetic manipulator based on skeleton identification |
| CN110539326A (en) * | 2019-09-19 | 2019-12-06 | 华侨大学 | Mechanical gripper mechanism of transfer robot |
| CN110815179A (en) * | 2019-10-30 | 2020-02-21 | 盐城工学院 | Intelligent vehicle control system carrying mechanical arm |
| CN111844073A (en) * | 2020-07-22 | 2020-10-30 | 燕山大学 | Rigid-flexible hybrid multi-arm rescue robot |
| CN112394730A (en) * | 2020-11-14 | 2021-02-23 | 上海源正科技有限责任公司 | Pipeline detection device |
| CN112406436A (en) * | 2020-12-03 | 2021-02-26 | 复旦大学 | Air-ground dual-purpose composite robot |
| CN112693582A (en) * | 2020-12-18 | 2021-04-23 | 杜国建 | Underwater rescue intelligent robot based on radar technology |
| CN112693582B (en) * | 2020-12-18 | 2023-12-01 | 北京盛博蓝自动化技术有限公司 | Underwater rescue intelligent robot based on radar technology |
| CN112936311A (en) * | 2021-03-25 | 2021-06-11 | 双子星机甲动力(肇庆)科技有限公司 | Bionic ant robot |
| CN114475839A (en) * | 2021-12-31 | 2022-05-13 | 南京理工大学 | Autonomous wheel and claw reconfigurable obstacle crossing robot |
| CN114475839B (en) * | 2021-12-31 | 2024-05-07 | 南京理工大学 | Autonomous wheel-claw reconfigurable obstacle surmounting robot |
| CN117141339A (en) * | 2023-10-23 | 2023-12-01 | 常州裕能石英科技有限公司 | Quartz crucible safe transportation supporting device |
| CN117141339B (en) * | 2023-10-23 | 2023-12-26 | 常州裕能石英科技有限公司 | Quartz crucible safe transportation supporting device |
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