CN205835413U - A kind of adaptability climbing level robot mechanical arm - Google Patents
A kind of adaptability climbing level robot mechanical arm Download PDFInfo
- Publication number
- CN205835413U CN205835413U CN201620804007.3U CN201620804007U CN205835413U CN 205835413 U CN205835413 U CN 205835413U CN 201620804007 U CN201620804007 U CN 201620804007U CN 205835413 U CN205835413 U CN 205835413U
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- mechanical arm
- mechanical
- hand
- connecting rod
- arm
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Abstract
The utility model discloses a kind of adaptability climbing level robot mechanical arm, including being provided with steering wheel, mechanical arm platform, linear bearing, the mechanical arm platform of ball screw nut, also include a pair mechanical arm being arranged symmetrically with, described mechanical arm includes gear arm, mechanical hand, support link, described gear arm is connected on mechanical arm platform by axle, described axle is by servo driving, described gear arm one end is connected with the gear arm of another symmetry by intermeshing incomplete tooth, the other end is connected with mechanical hand by hand connecting rod, described support link one end is connected with mechanical arm platform, the other end is connected with hand connecting rod, described mechanical hand is connected with support link by mobile connecting rod, for being slidably connected between described mobile connecting rod and support link.This utility model can a range of bar footpath and distance metope certain distance rod member on climb, robotic arm strong adaptability, easy to operate, install with dismantle more convenient.
Description
Technical field
This utility model relates to a kind of mechanical arm, in particular to a kind of adaptability climbing level robot mechanical arm.
Background technology
Along with scientific and technological level promotes day by day, the Gan Lei mechanism in life gets more and more, and work high above the ground is studied by people
Climbing level robot the most gradually increase, in current various relevant enterprises develop mechanical arm mostly for single rod member.In as
State's patent of invention CN201520162878.5 screw mandrel mobile model climbing level robot, in the apparatus, for different-diameter
Rod member climbing is a troublesome problem.Such mechanical arm works only for similar rod member in actual applications, for
Different size, rod member from wall different distance, this type of mechanical arm all can not carry out operation, and adaptability is strong, causes cost
Too high.
Summary of the invention
This utility model is aiming at the deficiencies in the prior art, it is provided that a kind of simple in construction, easy to operate, can adapt to
The adaptability climbing level robot mechanical arm of certain diameter size.
To achieve these goals, the adaptability climbing level robot mechanical arm designed by this utility model, including peace
Equipped with the mechanical arm platform of steering wheel, linear bearing and ball screw nut, also including the mechanical arm being arranged symmetrically with a pair, it is special
Different part is:
Described mechanical arm includes that gear arm, mechanical hand, support link, described gear arm are connected to mechanical arm by axle
On platform, described axle is by servo driving, and described gear arm one end is by the gear arm of intermeshing incomplete tooth Yu another symmetry
Connecting, the other end is connected with mechanical hand by hand connecting rod, and described support link one end is connected with mechanical arm platform, the other end and
Hand connecting rod connects, and described mechanical hand is connected with support link, between described mobile connecting rod and support link by mobile connecting rod
For being slidably connected.
Further, described mechanical arm platform includes mechanical arm platform and lower mechanical arm platform, described upper mechanical arm
Having installing hole bottom platform, described axle, gear arm one end, support link one end are respectively positioned in installing hole, its axis and the company of support
Bar one end is arranged on mechanical arm platform, conveniently processes, dismantles and installs.
Further, described support link is provided with sliding tray, described mobile connecting rod is provided with and joins with sliding tray
The slide block closed, thus realize being slidably connected.
Yet further, described mechanical arm includes the mechanical hand of about two arranged superposed, described mobile connecting rod and hands
Portion's connecting rod is installed between the mechanical hand of two overlaps.Prevent mechanical hand exposed outside, be unfavorable for outdoor work, and weigh up and down
Folded installation, easy accessibility, its part has good interchangeability.
Yet further, described mechanical hand inwall is provided with mechanical hand rubbing surface.Increase frictional force, thus by institute's pole for climbing
Part is embraced tighter.
Yet further, described mechanical arm is that single steering engine drives, and the most described steering wheel is connected with one of them axle.Avoid many
Individual steering wheel simultaneously drives and makes control system complicated, reduces the driver number of control chamber, reduces the volume of control chamber.
The utility model has the advantage of: linear bearing and ball screw nut facilitate the mutual of mechanical arm and robot
Coordinating, when robot is climbed on relatively thick bar part, servo driving axle rotates, and gear arm concomitant rotation, mechanical hand outer end is preferentially touched
Touching lever part, it is impossible to continue forward, and rod member is not touched in the inner.At this moment gear arm still rotates, and drives hand connecting rod to move to rod member
Dynamic, driving mechanical hands movement therewith, the then inner Forced rotation of mechanical hand, drive the slide block on mobile connecting rod in support link
Conduit slideway slide near mechanical stage, it is achieved the inner laminating bar wall of mechanical hand, complete mechanical hand and hold rod member tightly.Together should
When mechanical hand is climbed on relatively thin bar part, rod member is first touched in mechanical hand the inner, and the slide block principle mechanical stage on mobile connecting rod slides, real
Now hold rod member tightly.I.e. can conveniently realize climbing on the rod member of a range of bar footpath and distance metope certain distance,
Robotic arm strong adaptability, easy to operate, install with dismantle more convenient.
Accompanying drawing explanation
Fig. 1 is this utility model adaptability climbing level robot mechanical arm structural representation.
Fig. 2 is robot manipulator structure schematic diagram in Fig. 1.
In figure: mechanical arm platform A, mechanical arm B, steering wheel 1, linear bearing 2, upper mechanical arm platform 3, installing hole 3.1, under
Mechanical arm platform 4, ball screw nut 5, mechanical hand rubbing surface 6, mechanical hand 7, hand connecting rod 8, mobile connecting rod 9, support link
10, sliding tray 10.1, slide block 11, gear arm 12, axle 13.
Detailed description of the invention
With specific embodiment, this utility model is described in further detail below in conjunction with the accompanying drawings:
Adaptability climbing level robot mechanical arm shown in figure, including steering wheel 1, mechanical arm platform A be arranged symmetrically with
A pair mechanical arm B, steering wheel 1 is arranged on mechanical arm platform A, and mechanical arm B includes gear arm 12, mechanical hand 7, supports even
Bar 10, gear arm 12 is connected on mechanical arm platform A by axle 13, and axle 13 is driven by steering wheel 1, and gear arm 12 one end is by mutually
The incomplete tooth of engagement is connected with the gear arm 12 of another symmetry, and the other end is connected with mechanical hand 7 by hand connecting rod 8, supports
Connecting rod 10 one end is connected with mechanical arm platform A, and the other end is connected with hand connecting rod 8, and mechanical hand 7 is by mobile connecting rod 9 and support
Connecting rod 10 connects, for being slidably connected between mobile connecting rod 9 and support link 10.In this programme, support link 10 is provided with cunning
Dynamic groove 10.1, mobile connecting rod 9 is provided with the slide block 11 coordinated with sliding tray 10.1, thus realizes being slidably connected.
Wherein, mechanical arm platform A includes mechanical arm platform 3 and lower mechanical arm platform 4, opens bottom upper mechanical arm platform 3
Installing hole 3.1, axle 13, gear arm 12 one end, support link 10 one end is had to be respectively positioned in installing hole 3.1, its axis 13 and support
Connecting rod 10 one end is arranged on mechanical arm platform 3.Mechanical arm B includes the mechanical hand 7 of about two arranged superposed, the company of movement
Bar 9 is installed in hand connecting rod 8 between two overlapping mechanical hands 7.Prevent mechanical hand 7 exposed outside, be unfavorable for outdoor work,
And overlap is installed up and down, easy accessibility, its part has good interchangeability.For increasing friction, hold institute's pole-climbing part tightly, machinery
Hands 7 inwall is provided with mechanical hand rubbing surface 6.
The mechanical arm B of the design is that single steering engine drives, and the most described steering wheel 1 is connected with one of them axle 13.Avoid multiple
Steering wheel simultaneously drives and makes control system complicated, reduces the driver number of control chamber, reduces the volume of control chamber.
Linear bearing 2 and ball screw nut 5 it is also equipped with, for being connected with robot, in convenience on mechanical arm platform A
The movement in robot of the lower mechanical arm platform, reduces friction, is convenient for changing and keeps in repair.In motor process, mechanical arm platform A
Mobile advantageously in robot stabilized climbing on bar.
Work process of the present utility model is as follows: when robot is climbed on relatively thick bar part, and steering wheel 1 drive shaft 13 rotates,
Gear arm 12 concomitant rotation, rod member is preferentially touched in mechanical hand 7 outer end, it is impossible to continue forward, and rod member is not touched in the inner.At this moment tooth
Wheel arm 12 still rotates, and drives hand connecting rod 8 to move to rod member, and driving mechanical hands 7 moves therewith, then the inner of mechanical hand 7 is subject to
Power rotates, sliding near mechanical arm platform B in driving the sliding tray 10.1 in support link 10 of the slide block 11 on mobile connecting rod 9
Dynamic, it is achieved the inner laminating bar wall of mechanical hand 7, complete mechanical hand 7 and hold rod member tightly.With climbing relatively thin bar part by mechanical hand 7
Time upper, rod member is first touched in mechanical hand 7 the inner, and the slide block 11 on mobile connecting rod 9 slides away from mechanical arm platform B, it is achieved hold bar tightly
Part.
To sum up, this utility model is adapted to the rod member climbing work of a certain size diameter by complete mechanical mechanism.
Claims (6)
1. an adaptability climbing level robot mechanical arm, including being provided with steering wheel (1), linear bearing (2) and ball screw
The mechanical arm platform (A) of nut (5), also includes the mechanical arm (B) being arranged symmetrically with a pair, it is characterised in that:
Described mechanical arm (B) includes gear arm (12), mechanical hand (7), support link (10), and described gear arm (12) passes through axle
(13) being connected on mechanical arm platform (A), described axle (13) is driven by steering wheel (1), and described gear arm (12) one end is by mutually
The incomplete tooth of engagement is connected with the gear arm (12) of another symmetry, and the other end is by hand connecting rod (8) with mechanical hand (7) even
Connecing, described support link (10) one end is connected with mechanical arm platform (A), and the other end is connected with hand connecting rod (8), described mechanical hand
(7) it is connected with support link (10) by mobile connecting rod (9), for sliding between described mobile connecting rod (9) and support link (10)
Connect.
Adaptability climbing level robot mechanical arm the most according to claim 1, it is characterised in that: described mechanical arm platform
(A) include that mechanical arm platform (3) and lower mechanical arm platform (4), described upper mechanical arm platform (3) bottom have installing hole
(3.1), described axle (13), gear arm (12) one end, support link (10) one end are respectively positioned in installing hole (3.1), its axis
(13) it is arranged on mechanical arm platform (3) with support link (10) one end.
Adaptability climbing level robot mechanical arm the most according to claim 2, it is characterised in that: described support link
(10) it is provided with sliding tray (10.1) on, described mobile connecting rod (9) is provided with the slide block (11) coordinated with sliding tray (10.1),
Thus realize being slidably connected.
Adaptability climbing level robot mechanical arm the most according to claim 3, it is characterised in that: described mechanical arm
(B) including the mechanical hand (7) of about two arranged superposed, it is overlapping that described mobile connecting rod (9) is installed in two with hand connecting rod (8)
Mechanical hand (7) between.
Adaptability climbing level robot mechanical arm the most according to claim 4, it is characterised in that: described mechanical hand (7)
Inwall is provided with mechanical hand rubbing surface (6).
Adaptability climbing level robot mechanical arm the most according to claim 5, it is characterised in that: described mechanical arm
(B) being that single steering engine drives, the most described steering wheel (1) is connected with one of them axle (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620804007.3U CN205835413U (en) | 2016-07-28 | 2016-07-28 | A kind of adaptability climbing level robot mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620804007.3U CN205835413U (en) | 2016-07-28 | 2016-07-28 | A kind of adaptability climbing level robot mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205835413U true CN205835413U (en) | 2016-12-28 |
Family
ID=57641128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620804007.3U Expired - Fee Related CN205835413U (en) | 2016-07-28 | 2016-07-28 | A kind of adaptability climbing level robot mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205835413U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737621A (en) * | 2016-12-30 | 2017-05-31 | 河南理工大学 | A kind of compound humanoid robot of utilization auxiliary rod pole-climbing |
| CN106898239A (en) * | 2017-04-21 | 2017-06-27 | 成都福莫斯佰龙智能科技有限公司 | A kind of Fu Mosi robots grippers for being applied to teaching demonstration |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108086150A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of cable detecting robot |
| CN109018055A (en) * | 2018-07-16 | 2018-12-18 | 安徽工程大学 | Six wheel legged type robots |
| CN109367639A (en) * | 2018-11-15 | 2019-02-22 | 国网湖南省电力有限公司 | A kind of climbing level robot and its application method |
| EP4361070A4 (en) * | 2021-09-03 | 2024-10-16 | Lg Energy Solution Ltd | Cell gripper and cell transfer device comprising same |
-
2016
- 2016-07-28 CN CN201620804007.3U patent/CN205835413U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737621A (en) * | 2016-12-30 | 2017-05-31 | 河南理工大学 | A kind of compound humanoid robot of utilization auxiliary rod pole-climbing |
| CN106737621B (en) * | 2016-12-30 | 2019-12-13 | 河南理工大学 | Composite robot for climbing pole by using auxiliary rod |
| CN106898239A (en) * | 2017-04-21 | 2017-06-27 | 成都福莫斯佰龙智能科技有限公司 | A kind of Fu Mosi robots grippers for being applied to teaching demonstration |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108086150A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of cable detecting robot |
| CN108086151B (en) * | 2017-12-21 | 2023-09-08 | 香港中文大学（深圳） | Reducing clamping device |
| CN108086150B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Cable detection robot |
| CN109018055A (en) * | 2018-07-16 | 2018-12-18 | 安徽工程大学 | Six wheel legged type robots |
| CN109018055B (en) * | 2018-07-16 | 2021-06-01 | 安徽工程大学 | Six-wheel foot type robot |
| CN109367639A (en) * | 2018-11-15 | 2019-02-22 | 国网湖南省电力有限公司 | A kind of climbing level robot and its application method |
| CN109367639B (en) * | 2018-11-15 | 2024-02-23 | 国网湖南省电力有限公司 | Pole climbing robot and application method thereof |
| EP4361070A4 (en) * | 2021-09-03 | 2024-10-16 | Lg Energy Solution Ltd | Cell gripper and cell transfer device comprising same |
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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 |
Granted publication date: 20161228 Termination date: 20180728 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |