CN201353763Y

CN201353763Y - Mechanical hand

Info

Publication number: CN201353763Y
Application number: CNU2008202061832U
Authority: CN
Inventors: 陈思恒; 王斌
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-12-26
Filing date: 2008-12-26
Publication date: 2009-12-02
Anticipated expiration: 2018-12-26

Abstract

The utility model provides a mechanical hand, which relates to an antiknock device. The mechanical hand comprises a hand-hold rod, a rotating motor, an opening motor, a main gear box, a splint bracket and a splint, wherein the hand-hold rod is formed by assembling a plurality of sections of short rods through fast joints; the rotating motor and the opening motor are fixed on the main gear box; the splint bracket is connected under the main gear box; and the splint is arranged on the splint bracket. The utility model is characterized in that the mechanical hand also comprises a vibrating motor and a vibrating motor reduction box, wherein the vibrating motor is fixed on the tail end of the hand-hold rod; the vibrating motor is fixed on the vibrating motor reduction box; and the main gear box is fixedly connected with a vibrating output shaft of the vibrating motor reduction box. Compared with the prior art, the utility model increases the depression angle regulation function, so the mechanical hand can approach and clamp the explosive from the side of the explosive, and can drag out the explosive. The utility model has the advantages of small size, light weight and flexible and convenient operation, and is suitable for being used in various antiknock places.

Description

Manipulator

Technical field

The utility model belongs to explosive equipment, especially a kind of explosive manipulator.

Background technology

Only possess the explosive of holding with a firm grip and plane spinfunction at the explosive on-the-spot manipulator majority that uses now; Open as on January 17th, 2007, the patent No. is the disclosed a kind of manipulator of utility model patent " explosive manipulator " of ZL200520120625, " it comprises manipulator; battery case and control device; it is characterized in that: it also has suspender belt; counterweight and mechanical arm; manipulator is fixed on an end of mechanical arm; the other end of mechanical arm is provided with counterweight, be fixed with suspender belt near on the mechanical arm of counterweight one end, battery case and control device, control device is provided with the folding control lever, left-right rotation control lever and LED indicator, control device are provided with manipulator grip testing circuit." it makes move close to explosive top of manipulator by operating personnel's handheld mechanical arm, the finger that opens manipulator then removes to pick up explosive, if the direction of finger is not right, can also be above explosive left-right rotation once.At the scene in the use, it is found that the manipulator that has only two frees degree is the requirement that can not satisfy most of occasions, particularly when there was overcover the explosive top, this manipulator just was difficult near explosive, directly influence the task executions of getting rid of the danger, so be badly in need of making improvements.

Summary of the invention

In order to overcome prior art manipulator underaction and the shortcoming that can not grasp the eminence object, the manipulator that the utility model provides a kind of finger to have three degree of freedom not only can rotate and folding manipulator, can also teeter.

The utility model comprises holding rod, electric rotating machine, folding motor, main transmission box, clamping plate support and clamping plate; Holding rod is assembled by ready-packaged joint by several sections quarter butts, and electric rotating machine and folding motor are fixed on the main transmission box, and the clamping plate support is connected under the main transmission box, and clamping plate are installed on the clamping plate support; It swings motor and swing motor reduction gearbox in addition, and the swing motor reduction gearbox is fixed on the holding rod end, and the swing motor is fixed on the swing motor reduction gearbox, and main transmission box is fixedlyed connected with the output shaft of swing motor reduction gearbox.

As further improvement of the utility model, intermeshing pinion and gear wheel are arranged in the main transmission box, pinion is fixed on the electric rotating machine output shaft, gear wheel is connected with the clamping plate support by a sleeve, the output shaft of folding motor is connected with screw rod, screw rod passes sleeve and enters in the clamping plate support, swivel nut is arranged on the screw rod, clamping plate have two, they are hinged by an end of two curved bars and two connecting rods, the other end of connecting rod and the middle part of curved bar are hinged on the clamping plate support, and the other end and the swivel nut of curved bar are hinged.

The utility model has increased the angle of depression than prior art and has adjusted function, and manipulator not only can be rotated, and can also teeter, approaching and the clamping explosive and next from the side of explosive its hauling-out, its volume is little in light weight, and manoeuvrable is convenient, suits to use in various explosive places.

Description of drawings

Fig. 1 is the outside drawing that the utility model embodiment manipulator is in downward state;

Fig. 2 is the outside drawing that the embodiment manipulator is in the state of steeving;

Fig. 3 is the structure division cutaway view of Figure 1A direction;

Fig. 4 is the main transmission roller box cut-away view of embodiment.

The specific embodiment

Below in conjunction with embodiment and accompanying drawing the utility model is described in more detail.

Referring to Fig. 1 to Fig. 4, embodiment of the present utility model has holding rod 1, electric rotating machine 2, folding motor 3, swing motor 7, swing motor reduction gearbox 8, main transmission box 4, clamping plate support 5 and clamping plate 6.

Holding rod 1 is assembled by ready-packaged joint 24 by several sections quarter butts made from the light-weight metal pipe, is split into several sections when depositing and transporting, and is spliced into an integral body when reaching the spot again.Holding rod 1 both can grip with hand, also can carry on the arm piggyback with the belt 15 that ties up on the holding rod 1.

Electric rotating machine 2, folding motor 3 and swing motor 7 all are dc motors, and profile is elongated, and rotary inertia is little, and suitable the change fast turns to.Electric rotating machine 2 and folding motor 3 are fixed on above the main transmission box 4, and electric rotating machine 2 is responsible for horizontally rotating of manipulator, and folding motor 3 is responsible for the folding of the clamping plate 6 of manipulator, and swing motor 7 is responsible for swinging up and down of manipulator.

Swing motor reduction gearbox 8 is fixed on holding rod 1 left end, it is right-hand that swing motor 7 is fixed on swing motor reduction gearbox 8, the swing output shaft 13 of swing motor reduction gearbox 8 stretches out to both sides by the paper direction perpendicular to Fig. 1 and Fig. 2, and the two ends shaft extension is fixedlyed connected with main transmission box 4 with two connecting plates 17 by two ring flanges 16.

Intermeshing pinion 9 and gear wheel 10 are arranged in the main transmission box 4, pinion 9 is fixed on electric rotating machine output shaft 12, gear wheel 10 is connected with clamping plate support 5 after passing main transmission box 4 belows by a sleeve 11, the folding output shaft 21 of folding motor is connected with screw rod 18 coaxially, screw rod 18 passes the inside that sleeve 11 enters clamping plate support 5, a swivel nut 19 is arranged on the screw rod 18, and swivel nut 19 moves up and down along with screw rod 18 rotations.

Clamping plate 6 have two, they are hinged by bearing pin 20 with an end of two curved bars 22 and two connecting rods 23 respectively, the middle part of the other end of connecting rod 23 and curved bar 22 all is hinged on the clamping plate support 5 by bearing pin 20, about the other end of two curved bars 22 be hinged on the left and right sides of swivel nut 19 respectively; Curved bar 22, connecting rod 23, clamping plate support 5 and clamping plate 6 are formed four endplay devices, and when swivel nut 19 moved up and down, two clamping plate 6 were the opposing parallel folding basically.

The cross section of clamping plate support 5 roughly is П shape, and it is fastening that its top and sleeve 11 stretch out the position of main transmission box 4 belows, and when electric rotating machine output shaft 12 rotated, the deceleration by pinion 9 and gear wheel 10 was slowly rotated clamping plate support 5 and clamping plate 6.

Because main transmission box 4 is fixedlyed connected with the swing output shaft 13 of swing motor reduction gearbox 5, so when swing motor 7 rotates, comprise that the manipulator of parts such as main transmission box 4, clamping plate support 5, clamping plate 6 can be that swing in the center of circle to swing output shaft 13 just.

Display board 25 and control knob 26 are installed on holding rod, and display board 25 and control knob 26 are connected to three motor, are connected to batteries with cable again.Be provided with the limit switch (not shown) at two of stroke up and down of swivel nut 19 to limit the folding scope of clamping plate 6, limit switch also be set in swing motor reduction gearbox 8 to limit the swing maximum angle of manipulator.

Claims

1. manipulator, it comprises holding rod (1), electric rotating machine (2), folding motor (3), main transmission box (4), clamping plate support (5) and clamping plate (6); Holding rod (1) is assembled by ready-packaged joint by several sections quarter butts, and electric rotating machine (2) and folding motor (3) are fixed on the main transmission box (4), and clamping plate support (5) is connected under the main transmission box (4), and clamping plate (6) are installed on the clamping plate support (5); It is characterized in that: it swings motor (7) and swing motor reduction gearbox (8) in addition, described swing motor reduction gearbox (8) is fixed on holding rod (1) end, described swing motor (7) is fixed on the swing motor reduction gearbox (8), and described main transmission box (4) is fixedlyed connected with the swing output shaft (13) of swing motor reduction gearbox (8).

2. manipulator according to claim 1, it is characterized in that: intermeshing pinion (9) and gear wheel (10) are arranged in the described main transmission box (4), pinion (9) is fixed on electric rotating machine output shaft (12), gear wheel (10) is connected with clamping plate support (5) by a sleeve (11), the folding motor output shaft (21) of described folding motor (3) is connected with screw rod (18), screw rod (18) passes sleeve (11) and enters in the clamping plate support (5), swivel nut (19) is arranged on the screw rod (18), described clamping plate (6) have two, they are hinged with an end of two connecting rods (23) by two curved bars (22), the middle part of the other end of connecting rod (23) and curved bar (22) is hinged on the clamping plate support (5), and the other end of curved bar (22) and swivel nut (19) are hinged.