CN201253851Y - Portable type manipulator - Google Patents
Portable type manipulator Download PDFInfo
- Publication number
- CN201253851Y CN201253851Y CNU2008200394234U CN200820039423U CN201253851Y CN 201253851 Y CN201253851 Y CN 201253851Y CN U2008200394234 U CNU2008200394234 U CN U2008200394234U CN 200820039423 U CN200820039423 U CN 200820039423U CN 201253851 Y CN201253851 Y CN 201253851Y
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- Prior art keywords
- forearm component
- bearing
- leading section
- mechanism hand
- joint
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a portable type mechanical hand, comprising a forearm component fixed on the forearm of a human body, an extension arm component arranged at the front end part of the forearm component, a working component arranged at the front end part of the extension arm component, a control system and a power system. The forearm component is composed of at least two knuckle arms which can be connected with each other in a sliding way along the extension direction of the forearm component. The mechanical hand has simple structure, and the operation in a wide range can be realized by rotation among a plurality of joints and the expansion of a rod piece. The mechanical hand can lead user to carry and operate conveniently by being arranged on arms of people, and one hand can operate.
Description
Technical field
The utility model relates to a kind of portable manipulator that is used for substituting staff work.
Background technology
Along with the fast development of science and technology, under a lot of special environment and occasion, can both utilize manipulator to replace staff to finish some difficulty or dangerous work.Present manipulator generally can be divided into two big classes: a class is fixed, and promptly manipulator maintains static, and can only can not move freely in the operation on every side of fixed location; Another kind of is portable, is about to manipulator and is installed on the transportable platform, enlarges the working space of manipulator by moving of platform.The movable type mechanical hand is fit to replace the people to be operated in various dangerous situations very much, and as getting rid of explosive, handling radioactive substance, space operation etc., it can handle the industrial problem of various complexity.But the adaptability of movable type mechanical hand is still relatively poor, and the platform that is used to be contained in this manipulator generally can only move on more smooth surface, in case just be difficult to pass through when running into uneven road surface or barrier.Therefore, carrying out field exploration, often be difficult to use manipulator when searching and rescuing task.
The appearance of portable mechanism hand has solved the problems referred to above.Patent CN200420037222.2 discloses a kind of Wearable exoskeleton manipulator, and it adopts biomimetic features, can be enclosed within on the arm of human body, uses as the extension of arm.But this manipulator also only rests on the aspect of scientific research apparatus, can not be used to carry out actual industrial task.
Summary of the invention
The purpose of this utility model is to provide a kind of can carry out industrial applications, portable mechanism hand applied widely.
Technical solution adopted in the utility model is:
A kind of portable mechanism hand comprises: can be fixed on forearm component on the forearm of human body, be arranged on this forearm component leading section the adjutage assembly, be arranged on work package, control system, the dynamical system of described adjutage assembly leading section.Described forearm component is made up of mutual 2 joint arms that can be slidingly connected along the bearing of trend of this forearm component at least.
Described forearm component comprises first segment arm, the second joint arm, first hydraulic jack, and the cylinder body of described first hydraulic jack is connected with the second joint arm with described first segment arm respectively with piston, and described hydraulic jack is driven by described dynamical system.
Leading section at described forearm component is provided with first rolling bearing, and the rotational axis line of this first rolling bearing is parallel with the bearing of trend of described forearm component, and described adjutage assembly rotates with described forearm component by this rolling bearing and is connected.Also be provided with first and bend and stretch the joint between described adjutage assembly and described forearm component, described adjutage assembly first bends and stretches the joint and is arranged on rotationally on the leading section of described forearm component around the axis of vertical described forearm component bearing of trend by this.
Between described work package and the described adjutage assembly by flange connection removedly mutually.Described work package is selected from that paw, hydraulic pressure are cut, in the hydraulic tongs, welding gun any.
Described portable mechanism hand also comprises the upper arm assembly on the upper arm that can be fixed on human body, and the axis that the leading section of this upper arm assembly and the rearward end of described forearm component are on good terms around vertical described forearm component bearing of trend is connected rotationally.
Described extension arm assembly comprises: the body that rearward end is connected with forearm component, rearward end and the leading section of described body rotate the movable part that is connected, be used for described movable part is rotationally connected and to described body, second bend and stretch the joint.Described second to bend and stretch the bearing of trend of the rotational axis line in joint and described body perpendicular, and described work package is connected with the leading section of described movable part.Leading section at described body is provided with second rolling bearing, and the rotational axis line of this second rolling bearing parallels with the bearing of trend of described body; Rearward end at described movable part is provided with the 3rd rolling bearing, and the rotational axis line of the 3rd rolling bearing parallels with the bearing of trend of described movable part.
Described control system comprises: single-chip microcomputer, be fixedly installed on control panel on the described forearm component, be fixedly installed on the camera on the described extension arm assembly leading section.
The portable manipulator of implementing according to the utility model has following advantage:
1, simple in structure, by stretching of the rotation between a plurality of joints, rod member, be implemented in the operation in the vast scope, such as in the space of narrow and small complications, finishing tasks such as cutting, welding.
2, be installed on people's the arm, make carrying and more convenient operation of user, one hand just can be operated.
3, by machinery and the combining of people, enlarged its scope of application, can more use in the complex environment, moved more dexterous.Such as can in the ruins of earthquake, searching and rescuing the wounded, be person in distress's drug delivery, water, get rid of the explosive of corner etc.
Description of drawings
Accompanying drawing 1 is a structural representation of the present utility model;
Accompanying drawing 2 bends and stretches the structure cutaway view in joint for forearm component and first;
Accompanying drawing 3 is the mounting structure cutaway view of paw;
The mounting structure cutaway view that accompanying drawing 4 is cut for hydraulic pressure.
Wherein: 1, paw; 2, flange; 3, camera; 4, adjutage assembly; 41, body; 42, movable part; 5, forearm component; 51, first segment arm; 52, the second joint arm; 53, first hydraulic jack; 6, upper arm assembly; 7, band; 8, the 4th bend and stretch the joint; 9, control panel; 10, first rolling bearing; 11, first bend and stretch the joint; 12, second rolling bearing; 13, second bend and stretch the joint; 14, the 3rd rolling bearing; 15, dynamical system; 101, clutch; 102, rotor; 103, stator; 104, clutch; 105, rotor; 106, stator; 21, leading block; 22, second hydraulic jack; 23, pull rope; 24, electric reel.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present utility model is described:
As shown in Figure 1, the portable mechanism hand according to the utility model is implemented comprises:
Can be fixed on forearm component 5 and upper arm assembly 6 on human body forearm and the upper arm by band 7;
Be arranged on the adjutage assembly 4 of forearm component 5 leading sections;
Being arranged on the work package of adjutage assembly 4 leading sections, is paw 1 in the present embodiment;
Control system;
Dynamical system 15.
Wherein, forearm component 5 is made up of first segment arm 51, the second joint arm 52, first hydraulic jack 53, first hydraulic jack 53 is driven by dynamical system 15, and its cylinder body is connected with the second joint arm 52 with first segment arm 51 respectively with piston, makes first segment arm 51 with the second joint arm 52 relative slip can take place.Forearm component 5 just can be realized expanding-contracting action vertically like this.
As shown in Figure 2, be provided with first rolling bearing 10 at the leading section of forearm component 5, this first rolling bearing 10 is made of rotor 102, stator 103, and its rotational axis line overlaps with the axial line of forearm component 5.This first rolling bearing is by driven by servomotor, and is provided with clutch 101, prevents under off-position, relatively rotates between rotor 102 and the stator 103.
Between adjutage assembly 4 and forearm component 5, also be provided with first and bend and stretch joint 11.First to bend and stretch joint 11 be a rolling bearing of being made up of rotor 105 and stator 106 equally for this, but its axial line is vertical with the axial line of forearm component 5, so just make adjutage assembly 4 relatively forearm component 5 swing.This first bends and stretches joint 11 equally by driven by servomotor, is provided with clutch 104.In the present embodiment, first bend and stretch joint 11 towards the angular range of rolling to each side all between 0～150 degree, the slewing area of first rolling bearing 10 is that 360 degree are unrestricted, this scope can satisfy the needs of most operations.
As shown in Figure 1, adjutage assembly 4 bends and stretches joint 13, second rolling bearing 12, the 3rd rolling bearing 14 by body 41, movable part 42, second and constitutes.Wherein, be positioned at second rolling bearing 12 and the 3rd rolling bearing 14 that is positioned at movable part 42 rearward end of body 41 leading sections, its structure is all identical with first rolling bearing 10, can realize the rotations of 360 degree respectively around axial line.Wherein, the rotational axis line of second rolling bearing 12 overlaps with the axial line of body 41, and the rotational axis line of the 3rd rolling bearing 14 overlaps with the axial line of movable part 42.
And that second structure and first of bending and stretching joint 13 between second rolling bearing 12 and the 3rd rolling bearing 14 is bent and stretched the structure in joint 11 is identical, can swing around the axis of the axial line of vertical extension arm assembly 4.
Second bends and stretches the existence of joint 13, second rolling bearing 12, the 3rd rolling bearing 14, makes that movable part 42 can relative body 41 omnibearing motions.
Work package is arranged on the movable part 42 removedly by flange 2, so also body 41 omnibearing movables of adjutage assembly 4 relatively.Therefore, under different job requirements, work package can be replaced to various other workpiece from paw 1.As hydraulic pressure cut, hydraulic tongs, welding gun etc., to satisfy different needs.
Shown in accompanying drawing 3 and accompanying drawing 4, the replacement of work package is provided with leading block 21, second hydraulic jack 22, pull rope 23, electric reel 24 in movable part 42 for convenience.When need clamping breakables, when selecting paw 1 as work package, by the action of pull rope 23 and electric reel 24 drive paws 1, the chucking power of paw 1 is little, can not break article into pieces.When selecting hydraulic pressure to cut or hydraulic tongs during, realize the switching of portion of cutting or pincers portion by stretching of second hydraulic jack 22 as work package.
Also be provided with camera 3 on movable part 42, this camera 3 links to each other with control system, can supply the user position and the working condition of follow-up work assembly at any time.
Dynamical system 15 in the present embodiment comprises battery and hydraulic oil pump, gives each joint part transmitting power respectively by circuit and oil circuit.This dynamical system is made into portable case type or Backpack type, can makes things convenient for the user to carry.
Control system comprises a control panel 9, in the present embodiment, control panel 9 is fixedly installed on the forearm component 5, and user's hand can be controlled the motion of each joint part at any time by this chain of command 9.
As mentioned above, we are illustrated according to aim of the present utility model fully, but the utility model is not limited to the foregoing description and implementation method.The practitioner of correlative technology field can carry out different variations and enforcement in the scope of technological thought permission of the present utility model.
Claims (10)
1, a kind of portable mechanism hand, it is characterized in that comprising: can be fixed on forearm component (5) on the forearm of human body, rotate the adjutage assembly (4) that is arranged on this forearm component (5) leading section, rotate the work package, control system, the dynamical system (15) that are arranged on described adjutage assembly (4) leading section, described forearm component (5) is made up of mutual 2 joint arms that can be slidingly connected along the bearing of trend of this forearm component (5) at least.
2, portable mechanism hand according to claim 1, it is characterized in that: described forearm component (5) comprises first segment arm (51), the second joint arm (52), first hydraulic jack (53), the cylinder body of described first hydraulic jack (53) is connected with the second joint arm (52) with described first segment arm (51) respectively with piston, and described hydraulic jack (53) is driven by described dynamical system (15).
3, portable mechanism hand according to claim 1, it is characterized in that: the leading section at described forearm component (5) is provided with first rolling bearing (10), the rotational axis line of this first rolling bearing (10) is parallel with the bearing of trend of described forearm component (5), and described adjutage assembly (4) rotates with described forearm component (5) by this rolling bearing and is connected.
4, portable mechanism hand according to claim 3, it is characterized in that: also be provided with first and bend and stretch joint (11) between described adjutage assembly (4) and described forearm component (5), described adjutage assembly (4) first bends and stretches joint (11) and is arranged on rotationally on the leading section of described forearm component (5) around the axis of vertical described forearm component (5) bearing of trend by this.
5, portable mechanism hand according to claim 1 is characterized in that: between described work package and the described adjutage assembly (4) by flange (2) connection removedly mutually.
6, portable mechanism hand according to claim 5 is characterized in that: described work package is selected from that paw (1), hydraulic pressure are cut, in the hydraulic tongs, welding gun any.
7, portable mechanism hand according to claim 1, it is characterized in that: described portable mechanism hand also comprises the upper arm assembly (6) on the upper arm that can be fixed on human body, and the axis that the leading section of this upper arm assembly (6) and the rearward end of described forearm component (5) are on good terms around vertical described forearm component (5) bearing of trend is connected rotationally.
8, according to the described portable mechanism hand of above-mentioned arbitrary claim, it is characterized in that: described extension arm assembly comprises:
The body (41) that rearward end is connected with forearm component (5),
Rearward end and the leading section of described body (41) rotate the movable part (42) that is connected,
Be used for described movable part (42) is rotationally connected and to described body (41), second bend and stretch joint (13),
Described second to bend and stretch the bearing of trend of the rotational axis line in joint (13) and described body (41) perpendicular, and described work package is connected with the leading section of described movable part (42).
9, portable mechanism hand according to claim 8 is characterized in that:
Leading section at described body (41) is provided with second rolling bearing (12), and the rotational axis line of this second rolling bearing (12) parallels with the bearing of trend of described body (41);
Rearward end at described movable part (42) is provided with the 3rd rolling bearing (14), and the rotational axis line of the 3rd rolling bearing (14) parallels with the bearing of trend of described movable part (42).
10, portable mechanism hand according to claim 1, it is characterized in that: described control system comprises: single-chip microcomputer, be fixedly installed on control panel (9) on the described forearm component (5), be fixedly installed on the camera (3) on the described extension arm assembly leading section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200394234U CN201253851Y (en) | 2008-08-21 | 2008-08-21 | Portable type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200394234U CN201253851Y (en) | 2008-08-21 | 2008-08-21 | Portable type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201253851Y true CN201253851Y (en) | 2009-06-10 |
Family
ID=40737167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200394234U Expired - Fee Related CN201253851Y (en) | 2008-08-21 | 2008-08-21 | Portable type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201253851Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583811A (en) * | 2016-03-16 | 2016-05-18 | 哈尔滨工程大学 | Portable auxiliary mechanical arm with night vision function |
| CN106415200A (en) * | 2013-12-18 | 2017-02-15 | 海克斯康测量技术有限公司 | Ultra-portable coordinate measurement machine comprising a tracktable device and a harness configured to mount on a human |
-
2008
- 2008-08-21 CN CNU2008200394234U patent/CN201253851Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106415200A (en) * | 2013-12-18 | 2017-02-15 | 海克斯康测量技术有限公司 | Ultra-portable coordinate measurement machine comprising a tracktable device and a harness configured to mount on a human |
| CN106415200B (en) * | 2013-12-18 | 2020-03-24 | 海克斯康测量技术有限公司 | Ultra-portable coordinate measuring machine comprising a trackable device and a harness configured to be mounted on a human body |
| CN105583811A (en) * | 2016-03-16 | 2016-05-18 | 哈尔滨工程大学 | Portable auxiliary mechanical arm with night vision function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20100104 Pledge (preservation): Preservation |
|
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20100704 Granted publication date: 20090610 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090610 Termination date: 20160821 |
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| CF01 | Termination of patent right due to non-payment of annual fee |