CN203185345U - Multi-freedom-degree explosive-handling robot - Google Patents
Multi-freedom-degree explosive-handling robot Download PDFInfo
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- CN203185345U CN203185345U CN 201320206449 CN201320206449U CN203185345U CN 203185345 U CN203185345 U CN 203185345U CN 201320206449 CN201320206449 CN 201320206449 CN 201320206449 U CN201320206449 U CN 201320206449U CN 203185345 U CN203185345 U CN 203185345U
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- steering wheel
- wrist
- forearm
- big arm
- steering engine
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Abstract
The utility model discloses a multi-freedom-degree explosive-handling robot which comprises a base, wherein a machine frame is fixed on the base, a rotating steering engine is fixed on the base, a fine shaft, a thick shaft and a small shaft are connected to a main shaft of the rotating steering engine, a large arm steering engine rack is fixed at the top of the thick shaft, a large arm steering engine is arranged inside the large arm steering engine rack, a large arm is fixed on the large arm steering engine, a small arm steering engine rack is fixed at the top of the large arm, a small steering engine is arranged in the small steering engine rack, a small arm is fixed at the top of the small steering engine, a wrist rack steering engine is fixed at the top of the small arm, a first wrist steering engine is arranged in the wrist steering engine rack, a second wrist steering engine is fixed on the first wrist steering engine, a mechanical arm is connected to a main shaft of the second wrist steering engine, and the mechanical arm is provided with a third wrist steering engine. The multi-freedom-degree explosive-handling robot has the advantages of being more flexible and reliable due to the six freedom degrees, firm and reliable in the connection relation of the whole robot, and convenient to operate and control, and having high reliability and stability.
Description
Technical field
The utility model relates to a kind of robot, particularly a kind of multiple-degree-of-freedom anti-explosion robot.
Background technology
At present, be a kind of in the remote control mobile operation robot at fight against terrorism and violence field explosive-removal robot, be to aim at the robot with functions such as extracting, destroying explosive substance that public security department uses.Had only American-European developed country just to have, one of import is costly in the past.Though explosive-removal robot has had product to come out now, but still have the some shortcomings part, wherein topmost shortcoming is that the free degree of existing explosive-removal robot is generally three to five, the transfer of finishing suspicious item needs to realize by the move left and right of car-mounted device, this has strengthened the accurate requirement of the control of car-mounted device, has to a certain degree limited flexible pick-and-place and transfer to object.
Summary of the invention
Problem to be solved in the utility model is: a kind of multiple-degree-of-freedom anti-explosion robot of flexibility and reliability more when having six-freedom degree thereby grasping article is provided.
In order to solve the problems of the technologies described above, multiple-degree-of-freedom anti-explosion of the present utility model robot, comprise base, the upper fixed organic frame of described base, fixedly there is one to rotate steering wheel on the described base, be connected with thin axle on the main shaft of described rotation steering wheel in turn, thick axle and little axle, described frame is provided with bearing, described thick axle is inserted in the bearing, be connected with shaft coupling between the main shaft of described rotation steering wheel and the thin axle, the top of described thick axle is fixedly connected with the big arm steering wheel frame of a U-shaped, described little axle is inserted on the base plate of big arm steering wheel frame, be provided with an energy in the described big arm steering wheel frame and do the big arm steering wheel of pitching action along big arm steering wheel frame, on the described big arm steering wheel big arm is arranged fixedly, the forearm steering wheel frame of a U-shaped is fixedly arranged at the top of described big arm, be provided with an energy in the described forearm steering wheel frame and do the forearm steering wheel of pitching action along forearm steering wheel frame, on the described forearm steering wheel forearm is arranged fixedly, the wrist steering wheel frame of a U-shaped is fixedly arranged at the top of described forearm, be provided with an energy in the described wrist steering wheel frame and do the first wrist steering wheel of pitching action along wrist steering wheel frame, a second wrist steering wheel is fixedly arranged at the top of the described first wrist steering wheel, be connected with manipulator on the main shaft of the described second wrist steering wheel, described manipulator is provided with the 3rd wrist steering wheel of driving device hand folding.
For more firm fixedly rotation steering wheel, be provided with a steering wheel fixed head between described base and the rotation steering wheel.
For firm big arm is connected with forearm steering wheel frame with big arm steering wheel, be provided with first ring flange that is connected usefulness between the bottom of described big arm and the big arm steering wheel, be provided with second ring flange that is connected usefulness between the top of described big arm and the forearm steering wheel frame, for firm forearm is connected with forearm steering wheel and wrist steering wheel frame, be provided with the 3rd ring flange that is connected usefulness between the bottom of described forearm and the forearm steering wheel frame, be provided with between the top of described forearm and the wrist steering wheel frame and be connected with the 4th ring flange.
For reliability and the stability that improves operation, described rotation steering wheel, big arm steering wheel, forearm steering wheel, the first wrist steering wheel, the second wrist steering wheel and the 3rd wrist steering wheel are by computer control.
The beneficial effect that the utility model is obtained is: (1) is provided with six steering wheels such as rotating steering wheel, big arm steering wheel, forearm steering wheel, the first wrist steering wheel, the second wrist steering wheel and the 3rd wrist steering wheel, these six steering wheels are controlled the rotation of the above device of whole big arm steering wheel frame, pitching, the pitching of forearm, the pitching of manipulator, the rotation of manipulator and the folding of manipulator of big arm respectively, have six-freedom degree, thereby flexibility and reliability more; (2) realized being connected of being connected of being connected of big arm steering wheel and big arm, big arm and forearm steering wheel frame, forearm and forearm steering wheel and being connected of forearm and wrist steering wheel frame by four ring flanges such as first ring flange, second ring flange, the 3rd ring flange and the 4th ring flange, thereby the annexation of entire mechanism is solid and reliable; (3) rotate steering wheel, big arm steering wheel, forearm steering wheel, the first wrist steering wheel, the second wrist steering wheel and the 3rd wrist steering wheel by computer control, thereby control convenience and have higher reliability and stability.
Description of drawings
Fig. 1 is front view of the present utility model.
Fig. 2 is structural representation of the present utility model.
Among the figure: 1, rotate steering wheel, 2, the steering wheel fixed head, 3, base, 4, shaft coupling, 5, thin axle, 6, frame,
7, bearing, 8, thick axle, 9, big arm steering wheel frame, 10, big arm steering wheel, 11, first ring flange, 12, big arm,
13, second ring flange, 14, the forearm steering wheel, 15, forearm steering wheel frame, the 16, the 4th ring flange,
17, the second wrist steering wheel, the 18, the 3rd wrist steering wheel, 19, manipulator, 20, wrist steering wheel frame,
21, the first wrist steering wheel, 22, forearm, the 23, the 3rd ring flange, 24, little axle.
The specific embodiment
As depicted in figs. 1 and 2, multiple-degree-of-freedom anti-explosion of the present utility model robot, comprise base 3, the upper fixed organic frame 6 of described base 3, fixedly there is one to rotate steering wheel 1 on the described base 3, be connected with thin axle 5 on the main shaft of described rotation steering wheel 1 in turn, thick axle 8 and little axle 24, described frame 6 is provided with bearing 7, described thick axle 8 is inserted in the bearing 7, be connected with shaft coupling 4 between the main shaft of described rotation steering wheel 1 and the thin axle 5, the top of described thick axle 8 is fixedly connected with the big arm steering wheel frame 9 of a U-shaped, described little axle 24 is inserted on the base plate of big arm steering wheel frame 9, be provided with an energy in the described big arm steering wheel frame 9 and do the big arm steering wheel 10 of pitching action along big arm steering wheel frame 9, on the described big arm steering wheel 10 big arm 12 is arranged fixedly, the forearm steering wheel frame 15 of a U-shaped is fixedly arranged at the top of described big arm 12, be provided with an energy in the described forearm steering wheel frame 15 and do the forearm steering wheel 14 of pitching action along forearm steering wheel frame 15, on the described forearm steering wheel 14 forearm 22 is arranged fixedly, the wrist steering wheel frame 20 of a U-shaped is fixedly arranged at the top of described forearm 22, be provided with an energy in the described wrist steering wheel frame 20 and do the first wrist steering wheel 21 of pitching action along wrist steering wheel frame 20, a second wrist steering wheel 17 is fixedly arranged at the top of the described first wrist steering wheel 21, be connected with manipulator 19 on the main shaft of the described second wrist steering wheel 17, described manipulator 19 is provided with the 3rd wrist steering wheel 18 of driving device hand 19 foldings; Be provided with a steering wheel fixed head 2 between described base 3 and the rotation steering wheel 1; Be provided with first ring flange 11 that is connected usefulness between the bottom of described big arm 12 and the big arm steering wheel 10, be provided with second ring flange 13 that is connected usefulness between the top of described big arm 12 and the forearm steering wheel frame 15, be provided with the 3rd ring flange 23 that is connected usefulness between the bottom of described forearm 12 and the forearm steering wheel frame 15, be provided with between the top of described forearm 22 and the wrist steering wheel frame 20 and be connected with the 4th ring flange 16; Described rotation steering wheel 1, big arm steering wheel 10, forearm steering wheel 14, the first wrist steering wheel 21, the second wrist steering wheel 17 and the 3rd wrist steering wheel 18 are by computer control.
Multiple-degree-of-freedom anti-explosion of the present utility model robot, be provided with and rotate steering wheel 1, big arm steering wheel 10, forearm steering wheel 14, the first wrist steering wheel 21, the second wrist steering wheel 17 and the 3rd wrist steering wheel 18, these six steering wheels are controlled rotation, pitching, the pitching of forearm 22, the pitching of manipulator 19, the rotation of manipulator 19 and the folding of manipulator 19 of arm 12 greatly that whole big arm steering wheel frame installs more than 9 respectively, have six-freedom degree, thereby flexibility and reliability more.
Realized being connected of being connected of being connected of big arm steering wheel 10 and big arm 12, big arm 12 and forearm steering wheel frame 15, forearm 22 and forearm steering wheel 15 and being connected of forearm 22 and wrist steering wheel frame 20 by four ring flanges such as first ring flange 11, second ring flange 13, the 3rd ring flange 13 and the 4th ring flange 16, thereby the annexation of entire mechanism is solid and reliable.
Rotate steering wheel 1, big arm steering wheel 10, forearm steering wheel 14, the first wrist steering wheel 21, the second wrist steering wheel 17 and the 3rd wrist steering wheel 18 by computer control, thereby control convenience and have higher reliability and stability.
Claims (4)
1. multiple-degree-of-freedom anti-explosion robot, it is characterized in that: comprise base (3), the upper fixed organic frame (6) of described base (3), described base (3) is gone up fixedly has one to rotate steering wheel (1), be connected with thin axle (5) on the main shaft of described rotation steering wheel (1) in turn, thick axle (8) and little axle (24), described frame (6) is provided with bearing (7), described thick axle (8) is inserted in the bearing (7), be connected with shaft coupling (4) between the main shaft of described rotation steering wheel (1) and the thin axle (5), the top of described thick axle (8) is fixedly connected with the big arm steering wheel frame (9) of a U-shaped, described little axle (24) is inserted on the base plate of big arm steering wheel frame (9), be provided with an energy in the described big arm steering wheel frame (9) and do the big arm steering wheel (10) of pitching action along big arm steering wheel frame (9), described big arm steering wheel (10) is gone up fixedly big arm (12), the forearm steering wheel frame (15) of a U-shaped is fixedly arranged at the top of described big arm (12), be provided with an energy in the described forearm steering wheel frame (15) and do the forearm steering wheel (14) of pitching action along forearm steering wheel frame (15), described forearm steering wheel (14) is gone up fixedly forearm (22), the wrist steering wheel frame (20) of a U-shaped is fixedly arranged at the top of described forearm (22), be provided with an energy in the described wrist steering wheel frame (20) and do the first wrist steering wheel (21) of pitching action along wrist steering wheel frame (20), a second wrist steering wheel (17) is fixedly arranged at the top of the described first wrist steering wheel (21), be connected with manipulator (19) on the main shaft of the described second wrist steering wheel (17), described manipulator (19) is provided with the 3rd wrist steering wheel (18) of a driving device hand (19) folding.
2. multiple-degree-of-freedom anti-explosion according to claim 1 robot is characterized in that: described base (3) and rotate between the steering wheel (1) and be provided with a steering wheel fixed head (2).
3. multiple-degree-of-freedom anti-explosion according to claim 1 robot, it is characterized in that: be provided with first ring flange (11) that is connected usefulness between the bottom of described big arm (12) and the big arm steering wheel (10), be provided with second ring flange (13) that is connected usefulness between the top of described big arm (12) and the forearm steering wheel frame (15), be provided with the 3rd ring flange (23) that is connected usefulness between the bottom of described forearm (22) and the forearm steering wheel frame (15), be provided with between the top of described forearm (22) and the wrist steering wheel frame (20) and be connected with the 4th ring flange (16).
4. according to any described multiple-degree-of-freedom anti-explosion robot of claim 1-3, it is characterized in that: described rotation steering wheel (1), big arm steering wheel (10), forearm steering wheel (14), the first wrist steering wheel (21), the second wrist steering wheel (17) and the 3rd wrist steering wheel (18) are by computer control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320206449 CN203185345U (en) | 2013-04-22 | 2013-04-22 | Multi-freedom-degree explosive-handling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320206449 CN203185345U (en) | 2013-04-22 | 2013-04-22 | Multi-freedom-degree explosive-handling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203185345U true CN203185345U (en) | 2013-09-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320206449 Expired - Fee Related CN203185345U (en) | 2013-04-22 | 2013-04-22 | Multi-freedom-degree explosive-handling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203185345U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127989A (en) * | 2015-08-03 | 2015-12-09 | 宁波莱盟机器人有限公司 | Novel manipulator |
| CN105328704A (en) * | 2015-11-17 | 2016-02-17 | 郭佳强 | Human body auxiliary hand device |
| CN106585963A (en) * | 2016-12-13 | 2017-04-26 | 江苏理工学院 | Aerial robot |
| CN108381517A (en) * | 2018-01-24 | 2018-08-10 | 陕西科技大学 | A kind of explosive-removal robot mechanical arm mechanism |
-
2013
- 2013-04-22 CN CN 201320206449 patent/CN203185345U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127989A (en) * | 2015-08-03 | 2015-12-09 | 宁波莱盟机器人有限公司 | Novel manipulator |
| CN105328704A (en) * | 2015-11-17 | 2016-02-17 | 郭佳强 | Human body auxiliary hand device |
| CN106585963A (en) * | 2016-12-13 | 2017-04-26 | 江苏理工学院 | Aerial robot |
| CN108381517A (en) * | 2018-01-24 | 2018-08-10 | 陕西科技大学 | A kind of explosive-removal robot mechanical arm mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130911 Termination date: 20160422 |