CN204748607U - Robotic arm is used in hazardous articles transport - Google Patents
Robotic arm is used in hazardous articles transport Download PDFInfo
- Publication number
- CN204748607U CN204748607U CN201520404753.9U CN201520404753U CN204748607U CN 204748607 U CN204748607 U CN 204748607U CN 201520404753 U CN201520404753 U CN 201520404753U CN 204748607 U CN204748607 U CN 204748607U
- Authority
- CN
- China
- Prior art keywords
- leading screw
- manipulator
- mechanical arm
- dangerous material
- elevation
- Prior art date
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a robotic arm is used in hazardous articles transport, includes control mechanism, the communication adaptive device of peripheral hardware and support walking base, lifting adjusting device, horizontal adjusting device and the execution manipulator of being connected with communication adaptive device electricity, control mechanism supports the base of walking, lifting adjusting device, horizontal adjusting device and carries out the manipulator through the regulation and control of communication adaptive device, and then accomplishes hazardous articles carrying work, support whole loads that the walking base bore robotic arm, and drive robotic arm do go forward, retreat, rotary motion, lifting adjusting device drives robotic arm and does the vertical lift motion, horizontal adjusting device drives the robotic arm horizontal direction and gos forward and the setback, carry out the manipulator and carry out the task of centre gripping hazardous articles to accomplish the task of transport hazardous articles under each some coordination. The utility model has the advantages of being simple in structure and convenient in operation, the price / performance ratio is higher, and easy maintenance.
Description
Technical field
The utility model relates to dangerous material conveying robot device technical field, the mechanical arm of dangerous material carrying specifically.
Background technology
Along with China's industrialization degree is more and more higher, hazardous chemical, direct body contact have the use amount of the article of injury (mordant, inflammable, explosive article) to increase fast, what generally adopt when carrying these article in prior art is manual work, this causes potential threat to personal safety, therefore, manual work is replaced in the urgent need to a kind of mechanical device.But the most complicated operation of existing dangerous material handling machinery arm, dyskinesia, limited in one's ability, production cost is high, inefficiency, be difficult to allow general staff skillfully grasp.Therefore, a kind of remote-controlled, autonomous transporting capacity of design is outstanding, flexibility good dangerous material carrying plant equipment is real is important.
Utility model content
For realizing the do mechanization operation of carrying dangerous material, solve existing machinery arm complicated operation, production cost is high, ineffective present situation, the utility model provides a kind of dangerous material carrying mechanical arm, it has excellent carrying flexibility, greatly reduces the danger of dangerous material carrying to personal safety.
The utility model is for solving the problems of the technologies described above, the technical scheme provided is: a kind of dangerous material carrying mechanical arm, the support walking basal seat, elevation and subsidence regulating device, level(l)ing device and the execution manipulator that comprise the controlling organization of peripheral hardware, communication adaptation device and be electrically connected with described communication adaptation device, described controlling organization supports walking basal seat, elevation and subsidence regulating device, level(l)ing device and execution manipulator by communication adaptation device regulation and control, and then completes dangerous material transport operation;
The drive unit that described support walking basal seat comprises gripper shoe, is arranged on the multiple road wheel below gripper shoe and advances for ground-engaging wheel, described elevation and subsidence regulating device comprising one piece of horizontally disposed installing plate I, being vertically arranged on leading screw I on installing plate I, being supportingly arranged on the nut I on leading screw I and the drive motors I for driving leading screw I to rotate, and the upper surface level of described nut I is fixed with a force bearing plate for support level adjusting device;
Described level(l)ing device comprising the one piece of installing plate II vertically arranged, the leading screw II be vertically set on installing plate II, being supportingly arranged on the nut II on leading screw II and the drive motors II for driving leading screw II to rotate, described installing plate II and drive motors II are all fixed on force bearing plate, described nut II is fixedly connected with execution manipulator away from the side of drive motors II, and described execution machinery hand comprises the arm of force, is arranged on getting thing folder and getting for driving the power set that thing presss from both sides folding of arm of force end.
The gripper shoe of described support walking basal seat is also provided with for observing the camera performing Manipulator Transportation state.
Power set in described execution manipulator are steering wheel.
Road wheel in described support walking basal seat is universal wheel.
The Universal caster disk that elevation and subsidence regulating device 360 ° can be made to rotate by one between the gripper shoe of described support walking basal seat and elevation and subsidence regulating device links together, and the rotation of this Universal caster disk is driven by motor.
Yielding coupling is provided with between described leading screw I and drive motors I and between leading screw II and drive motors II.
The beneficial effects of the utility model:
1, mechanical arm of the present utility model is under the coordinative role of controlling organization, by the mutual cooperation between multiple parts, by the concrete adjustment on height, levelness and circular degree, can complete the transport operation of dangerous material easily and fast.Device overall structure is simple, easy to operate, cost performance is higher, and keeps in repair easy to use, greatly reduces the use difficulty of operating personnel, avoids unnecessary economic loss and personal injury.
2, the utility model all adopts lead screw transmission as regulative mode in elevation and subsidence regulating device and level(l)ing device, can ensure the gearratio of its mechanism well, and the efficiency that leading screw transmits is high, power is large, lightweight, reduce the overall weight of its mechanism, save operating cost.
3, mechanical arm of the present utility model specifically adopts steering wheel as driving at execution robot section, well can hold clamping dynamics and the degree of accuracy of mechanical arm.Well can control by mcu programming in controlling organization the time that its running precision, dynamics, smoothness and clamping can continue, the degree of accuracy is higher, good practical effect.
4, yielding coupling is adopted to be connected in the utility model between leading screw with motor, the defect of three the baffle holes axiality deficiencies in upper, middle and lower when well solving installation, reduce the rolling friction between leading screw and baffle holes, decrease caloric value, extend the service life of device.
5, the connecting portion that the utility model is supporting walking basal seat and elevation and subsidence regulating device adopts Universal caster disc structure, ensure that mechanical arm entirety can realize circular motion, greatly reduce the friction supported between walking basal seat and elevation and subsidence regulating device, improve its efficiency run and precision, reduce noise when mechanical arm runs.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present utility model;
Fig. 2 is the structural representation supporting walking basal seat in the utility model;
Fig. 3 is the structural representation of elevation and subsidence regulating device in the utility model;
Fig. 4 is the structural representation of level(l)ing device in the utility model;
Fig. 5 is the structural representation performing manipulator in the utility model;
Reference numeral: 1, support walking basal seat, 101, gripper shoe, 102, road wheel, 2, elevation and subsidence regulating device, 201, installing plate I, 202, leading screw I, 203, nut I, 204, drive motors I, 205, force bearing plate, 3, level(l)ing device, 301, installing plate II, 302, leading screw II, 303, nut II, 304, drive motors II, 4, manipulator is performed, 401, the arm of force, 402, get thing folder, 403, power set, 5, camera, 6, Universal caster disk, 7, motor, 8, yielding coupling.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in more detail:
A kind of dangerous material carrying mechanical arm, comprise the controlling organization of peripheral hardware, communication adaptation device and the support walking basal seat 1 be electrically connected with described communication adaptation device, elevation and subsidence regulating device 2, level(l)ing device 3 and perform manipulator 4, described controlling organization supports walking basal seat 1, elevation and subsidence regulating device 2, level(l)ing device 3 by communication adaptation device regulation and control and performs manipulator 4, and then completes dangerous material transport operation;
Described support walking basal seat 1 comprises gripper shoe 101, the drive unit being arranged on the multiple road wheels 102 below gripper shoe 101 and advancing for ground-engaging wheel 102, road wheel 102 is herein universal wheel, described elevation and subsidence regulating device 2 comprises one piece of horizontally disposed installing plate I 201, vertically be arranged on the leading screw I 202 on installing plate I 201, supportingly be arranged on the nut I 203 on leading screw I 202 and the drive motors I 204 for driving leading screw I 202 to rotate, the upper surface level of described nut I 203 is fixed with a force bearing plate 205 for support level adjusting device 3, described level(l)ing device 3 comprises the one piece of installing plate II 301 vertically arranged, be vertically set on the leading screw II 302 on installing plate II 301, supportingly be arranged on the nut II 303 on leading screw II 302 and the drive motors II 304 for driving leading screw II 302 to rotate, described installing plate II 301 and drive motors II 304 are all fixed on force bearing plate 205, described nut II 303 is fixedly connected with execution manipulator 4 away from the side of drive motors II 304, yielding coupling 8 is provided with between described leading screw and drive motors, described execution manipulator 4 comprises the arm of force 401, be arranged on getting thing folder 402 and getting for driving the power set 403 that thing presss from both sides 402 foldings of the arm of force 401 end, these power set 403 are steering wheel, the gripper shoe 101 of described support walking basal seat 1 is also provided with and performs for observing the camera 5 that state carried by manipulator 4.The Universal caster disk 6 that elevation and subsidence regulating device 2360 ° can be made to rotate by one between the gripper shoe 101 of described support walking basal seat 1 and elevation and subsidence regulating device 2 links together, and the rotation of this Universal caster disk 6 is driven by motor 7.
The utility model creates the thought adopting and progressively adjust carrying.Relying on mechanical arm to support walking basal seat makes whole mechanical arm arrive distance dangerous material correct position, be responsible for adjusting the suitable distance up and down between mechanical arm and dangerous material by elevation and subsidence regulating device, suitable distance between being adjusted before and after mechanical arm and dangerous material by level(l)ing device, whether the distance finally by the camera comprehensive descision manipulator be installed in gripper shoe and dangerous material is suitable, then by getting thing folder clamping dangerous material and being transported to safety area.
For reaching the Expected Results of design better, supporting walking basal seat adopts 4mm steel plate to do load-bearing main body, and the steel plate that 4mm is thick can play the effect of stabilizing mechanical arm center of gravity, avoids mechanical arm to swing, and the weight of mechanical arm entirety can also be born up, ensure the security of its work.The tire driving mechanical arm main body with certain flexibility is adopted to advance flexibly and setback.Rotating part adopts Universal caster disk that mechanical arm can be moved in a circle, to realize the adjustment of the spacing to mechanical arm and dangerous material.Rigidity is better, and has certain intensity, can carry the overall weight of mechanical arm, and can make up Uneven road surely on the impact of mechanical arm performance.
Elevation and subsidence regulating device adopts the mode of lead screw transmission, and lead screw transmission accuracy is higher, and the power of transmission is comparatively large, and the efficiency transmitted is higher, and during transmission, friction is less, and caloric value is less, improves the cost performance of device.Level(l)ing device have employed the mode of lead screw transmission equally, is fixed, is unlikely to have too large swing when ensureing its work with the good link of elevation and subsidence regulating device rigidity.
Perform the good mechanical arm of mechanical hand getting toughness and perform holding function, avoid clamped article occur broken or flatten, execution manipulator is designed with the extension rod for lengthening, and can expand the working range of mechanical arm, adapt to more complicated working environment.Meanwhile, the power performing manipulator adopts steering wheel to provide motion-promotion force, and steering wheel can realize low-angle rotation, the power ratio transmitted is larger, realize control nimbly and freely by mcu programming to steering wheel, and control cost and greatly reduce, control accuracy have also been obtained and ensures well.Power to steering wheel with dc source, safe and reliablely to have good stability, and be applicable to working long hours.
For reaching the Expected Results of design better, the connection between leading screw and motor adopts yielding coupling to connect, the friction between the leading screw that the axiality deficiency that can compensate the fixed stop plate hole owing to manufacturing causes and baffle plate.
For avoiding the friction between leading screw and yielding coupling, during installation, certain distance must be left, ensureing operational efficiency and the running precision of dangerous material handling machinery arm, extending the service life of this mechanism.
Be provided with real-time monitoring camera in support walking basal seat, carry out omnidistance tracking to the advance situation of dangerous material handling machinery arm, handled easily personnel judge timely and take action fast, avoid unnecessary economic loss and personal injury.
Claims (6)
1. a dangerous material carrying mechanical arm, it is characterized in that: comprise the controlling organization of peripheral hardware, communication adaptation device and the support walking basal seat (1) be electrically connected with described communication adaptation device, elevation and subsidence regulating device (2), level(l)ing device (3) and perform manipulator (4), described controlling organization supports walking basal seat (1), elevation and subsidence regulating device (2), level(l)ing device (3) by communication adaptation device regulation and control and performs manipulator (4), and then completes dangerous material transport operation;
Described support walking basal seat (1) comprises gripper shoe (101), the multiple road wheels (102) being arranged on gripper shoe (101) below and the drive unit of advancing for ground-engaging wheel (102), described elevation and subsidence regulating device (2) comprises one piece of horizontally disposed installing plate I (201), vertically be arranged on the leading screw I (202) on installing plate I (201), supportingly be arranged on the nut I (203) on leading screw I (202) and the drive motors I (204) for driving leading screw I (202) to rotate, the upper surface level of described nut I (203) is fixed with a force bearing plate for support level adjusting device (3) (205),
Described level(l)ing device (3) comprises the one piece of installing plate II (301) vertically arranged, be vertically set on the leading screw II (302) on installing plate II (301), supportingly be arranged on the nut II (303) on leading screw II (302) and the drive motors II (304) for driving leading screw II (302) to rotate, described installing plate II (301) and drive motors II (304) are all fixed on force bearing plate (205), described nut II (303) is fixedly connected with execution manipulator (4) away from the side of drive motors II (304), described execution manipulator (4) comprises the arm of force (401), be arranged on getting thing folder (402) and getting for driving the power set (403) that thing presss from both sides (402) folding of the arm of force (401) end.
2. a kind of dangerous material carrying mechanical arm according to claim 1, is characterized in that: the gripper shoe (101) of described support walking basal seat (1) is also provided with for observing the camera (5) performing manipulator (4) carrying state.
3. a kind of dangerous material carrying mechanical arm according to claim 1, is characterized in that: the power set (403) in described execution manipulator (4) are steering wheel.
4. a kind of dangerous material carrying mechanical arm according to claim 1, is characterized in that: the road wheel (102) in described support walking basal seat (1) is universal wheel.
5. a kind of dangerous material carrying mechanical arm according to claim 1, it is characterized in that: the Universal caster disk (6) that elevation and subsidence regulating device (2) 360 ° can be made to rotate by between the gripper shoe (101) of described support walking basal seat (1) and elevation and subsidence regulating device (2) links together, and the rotation of this Universal caster disk (6) is driven by motor (7).
6. a kind of dangerous material carrying mechanical arm according to claim 1, is characterized in that: be provided with yielding coupling (8) between described leading screw I (202) and drive motors I (204) and between leading screw II (302) and drive motors II (304).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520404753.9U CN204748607U (en) | 2015-06-12 | 2015-06-12 | Robotic arm is used in hazardous articles transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520404753.9U CN204748607U (en) | 2015-06-12 | 2015-06-12 | Robotic arm is used in hazardous articles transport |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204748607U true CN204748607U (en) | 2015-11-11 |
Family
ID=54463359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520404753.9U Expired - Fee Related CN204748607U (en) | 2015-06-12 | 2015-06-12 | Robotic arm is used in hazardous articles transport |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204748607U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875178A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Mechanical arm for carrying dangerous goods |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN106737559A (en) * | 2017-02-24 | 2017-05-31 | 榆林学院 | A kind of mechanical arm |
| CN107150331A (en) * | 2017-07-13 | 2017-09-12 | 桂林电子科技大学信息科技学院 | Conveying robot car |
| WO2017215202A1 (en) * | 2016-06-13 | 2017-12-21 | 锥能机器人（上海）有限公司 | Electric pole-type automated storage robot |
| CN108058183A (en) * | 2018-01-22 | 2018-05-22 | 吕世敏 | A kind of dual-arm robot |
| CN108657711A (en) * | 2018-05-25 | 2018-10-16 | 深圳市泓腾生物科技有限公司 | A kind of animal house IVC takes automatically/place system and method |
| TWI744078B (en) * | 2020-11-06 | 2021-10-21 | 三和技研股份有限公司 | Robotic arm for controlling the spacing of multiple sockets |
-
2015
- 2015-06-12 CN CN201520404753.9U patent/CN204748607U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875178A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Mechanical arm for carrying dangerous goods |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN105437204B (en) * | 2015-12-17 | 2017-09-05 | 佛山市新鹏机器人技术有限公司 | A kind of AGV dollies for loading manipulator |
| WO2017215202A1 (en) * | 2016-06-13 | 2017-12-21 | 锥能机器人（上海）有限公司 | Electric pole-type automated storage robot |
| EP3470351A4 (en) * | 2016-06-13 | 2019-10-16 | Zhuineng Robotics (Shanghai) Co., Ltd | Electric pole-type automated storage robot |
| US10525604B2 (en) | 2016-06-13 | 2020-01-07 | Zhuineng Robotics (Shanghai) Co., Ltd | Linear actuator-type automatic warehouse robot |
| CN106737559A (en) * | 2017-02-24 | 2017-05-31 | 榆林学院 | A kind of mechanical arm |
| CN107150331A (en) * | 2017-07-13 | 2017-09-12 | 桂林电子科技大学信息科技学院 | Conveying robot car |
| CN108058183A (en) * | 2018-01-22 | 2018-05-22 | 吕世敏 | A kind of dual-arm robot |
| CN108657711A (en) * | 2018-05-25 | 2018-10-16 | 深圳市泓腾生物科技有限公司 | A kind of animal house IVC takes automatically/place system and method |
| CN108657711B (en) * | 2018-05-25 | 2020-07-17 | 深圳市泓腾生物科技有限公司 | Animal room IVC automatic taking/placing system and method |
| TWI744078B (en) * | 2020-11-06 | 2021-10-21 | 三和技研股份有限公司 | Robotic arm for controlling the spacing of multiple sockets |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204748607U (en) | Robotic arm is used in hazardous articles transport | |
| CN104875178A (en) | Mechanical arm for carrying dangerous goods | |
| CN204528595U (en) | A kind of axle sleeve gripping feedway | |
| CN202507275U (en) | Automatic transportation device | |
| CN203738786U (en) | Movement mechanism for robot | |
| CN210084852U (en) | Pipeline transfer manipulator | |
| CN204897168U (en) | Axle type part quenches and uses hoist | |
| CN203282964U (en) | Wheel assembly mounting and dismounting device | |
| CN201660296U (en) | Improved conveyer | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN101792064A (en) | Conveying device for plug transplantation | |
| CN105459129A (en) | Coal mine lifter patrol robot mechanism based on electromagnetic suckers | |
| CN205023403U (en) | Portable steering conveyor | |
| CN108032277A (en) | Robot with elevating mechanism | |
| CN105538300A (en) | Full-automatic plate installation manipulator device | |
| CN104355264A (en) | Comprehensive moving transportation platform capable of lifting | |
| CN103523478B (en) | A kind of multiple degrees of freedom automatic traveling dolly | |
| CN204724750U (en) | A kind of planer-type C-type steel piling system | |
| CN102976048B (en) | Annular materials feedway | |
| CN104495636A (en) | Balanced hoisting device | |
| CN207076919U (en) | One kind is parallel track forging manipulator | |
| CN110961836A (en) | Welding automation machinery hand | |
| CN202823816U (en) | Lift for powder spraying | |
| CN204419720U (en) | Water ring vacuum pump vane blade welding tooling | |
| CN204434117U (en) | A kind of balance crane assembling device |
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 |
Granted publication date: 20151111 Termination date: 20180612 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |