CN206703063U

CN206703063U - Flexible manipulator for the disaster relief

Info

Publication number: CN206703063U
Application number: CN201720485474.9U
Authority: CN
Inventors: 马翔宇; 丁鑫; 李玲; 刘冠云
Original assignee: Xian Aeronautical University
Current assignee: Xian Aeronautical University
Priority date: 2017-05-04
Filing date: 2017-05-04
Publication date: 2017-12-05
Anticipated expiration: 2027-05-04

Abstract

The utility model discloses a kind of flexible manipulator for the disaster relief, including chassis, support plate, bearing, large arm, forearm and the clamper being sequentially connected；It is connected between chassis and support plate by retractor device I, retractor device I is used to drive support plate edge to move back and forth perpendicular to the direction of chassis；Be connected between support plate and bearing by slewing equipment, the slewing equipment be used for drive bearing using one perpendicular to support plate axis rotary motion as rotating shaft；It is connected between bearing and large arm by tumbler I, tumbler I is used to drive large arm to do elevating movement；It is connected between large arm and forearm by tumbler II, tumbler II is used to drive forearm to do elevating movement and swing；It is connected between forearm and clamper by retractor device II, retractor device II is used to drive clamper to move along the axial reciprocating of forearm；The utility model has the more free degree, and flexibility is strong, lifts the efficiency of rescue and improves the probability successfully rescued.

Description

Flexible manipulator for the disaster relief

Technical field

It the utility model is related to a kind of manipulator, more particularly to a kind of flexible manipulator for the disaster relief.

Background technology

Super redundant manipulator refers to the manipulator with the motion redundancy free degree.With standard machinery palmistry ratio, super redundancy machine Tool hand has more flexible kinetic characteristic, and the change of the manipulator anglec of rotation can be completed while stretching, extension task up and down is completed The attachment of a task such as change.Its application is quite varied, the big exploration to deep-sea and cosmic space, small to be taken to Product processing and family The different fields such as business can find its figure.Due to possessing the free degree of redundancy, that is, ensure that arm end is completed to want While seeking task, moreover it is possible to select different optimizing index according to different mission requirementses and working environment.

In traditional earthquake relief work environment, manipulator frequently as detection property robot, show as extending a certain joint or A certain joint is rotated, rescue detector is pressed close in broken stone or stone gap, carries out rescue detection.As excavator exists Can not directly move the obstructing objects having near sign of life in rescue, lift the high efficiency of its rescue, especially in earthquake or Under the conditions of landslide etc., the dexterity manipulator of high-freedom degree can more improve the probability successfully rescued；Existing disaster relief type machine Tool hand still suffers from the technical problem of a little flexibility deficiencies.

Utility model content

In view of this, the purpose of this utility model is to provide a kind of flexible manipulator for the disaster relief, has more The free degree, flexibility is strong, lifts the efficiency of rescue and improves the probability successfully rescued.

Flexible manipulator of the present utility model for the disaster relief, including the chassis, support plate, bearing, large arm, small being sequentially connected Arm and clamper；It is connected between the chassis and support plate by retractor device I, the retractor device I is used to drive support plate edge to hang down Directly moved back and forth in the direction of chassis；It is connected between the support plate and bearing by slewing equipment, the slewing equipment is used to drive Dynamic bearing using one perpendicular to support plate axis rotary motion as rotating shaft；Pass through the phase of tumbler I between the bearing and large arm Even, the tumbler I is used to drive large arm to do elevating movement；It is connected between the large arm and forearm by tumbler II, The tumbler II is used to drive forearm to do elevating movement and swing；Pass through flexible dress between the forearm and clamper Put II to be connected, the retractor device II is used to drive clamper to move along the axial reciprocating of forearm.

Further, the retractor device I includes scissor-type link assembly and the first motor, and first motor passes through first Transmission component drives scissor-type link assembly to act；The scissor-type link assembly comprises at least bottom linkage rod unit and top connects Bar unit, the bottom linkage rod unit are connected with chassis, and the chassis is provided with and is used to limit the shifting of bottom linkage rod unit scissors Dynamic chute I, the top links unit are connected with support plate, and the support plate is provided with chute II corresponding with chute I；It is described First motor is fixed on chassis；First transmission component include drive bevel gear, driven wheel of differential, the first driving gear, First power transmission shaft and rack, the drive bevel gear are fixed and are located on the power output shaft of the first motor, the driven wheel of differential It is fixed be set on the first power transmission shaft and with drive bevel gear engaged transmission, two first driving gears, which are fixed, is set in the The both ends of one power transmission shaft are simultaneously connected to bottom linkage rod list with two rack engaged transmissions on chassis, the rack respectively In member and bottom linkage rod unit is promoted to carry out scissors movement.

Further, the slewing equipment includes panoramic table and the second motor, and second motor passes through the second transmission component Panoramic table is driven to act；The bearing is fixed on panoramic table, and second motor is arranged on support plate；Second transmission group Part includes the second driving gear, the second driven gear and second driving shaft, and the second driving shaft is fixed on panoramic table and its axle Line is overlapped with panoramic table axis, and second driving gear is fixed and is located on the power output shaft of the second motor, described second from Moving gear fix be set on second driving shaft and with the second driving gear engaged transmission.

Further, the tumbler I includes the 3rd motor, and the 3rd motor drives large arm by the 3rd transmission component Do pitching motion up and down；The 3rd motor installation is in the holder；3rd transmission component includes the 3rd driving gear, the 3rd Driven gear and the 3rd power transmission shaft, the front end of the large arm and the rear end of bearing are provided with the peace for being used for coordinating the 3rd power transmission shaft of installation Fill ear I, the axis of the axis of the 3rd power transmission shaft perpendicular to second driving shaft；3rd driving gear is fixed and is located at the 3rd On the power output shaft of motor, the 3rd driven gear is fixed and is set on the 3rd power transmission shaft and is engaged with the 3rd driving gear Transmission.

Further, the tumbler II includes the 4th motor and the 5th motor, and the 4th motor passes through the 4th transmission Component drives forearm to swing action, and the 5th motor drives forearm to do pitching up and down and moved by the 5th transmission component Make；4th motor is arranged in large arm, and the 5th motor is arranged in forearm；4th transmission component includes the 4th Driving gear, the 4th driven gear and the 4th power transmission shaft, the rear end of the large arm are provided with the installation for being used for installing the 4th power transmission shaft Ear II, perpendicular to the axis of the 3rd power transmission shaft, the 4th driving gear fixes and is located at the 4th for the axis of the 4th power transmission shaft On the power output shaft of motor, the 4th driven gear is fixed and is set on the 4th power transmission shaft and is engaged with the 4th driving gear Transmission；5th transmission component includes the 5th driving gear, the 5th driven gear and the 5th power transmission shaft, the front end of the forearm Provided with the mounting ear III for installing the 5th power transmission shaft, the 5th power transmission shaft and the 4th power transmission shaft intersect vertically into " ten " word axle Structure and independent rotation, the 5th driving gear fixation are located on the power output shaft of the 5th motor, the 5th driven tooth Wheel is fixed be set on the 5th power transmission shaft and with the 5th driving gear engaged transmission.

Further, the retractor device II is hydraulic cylinder structure, and the piston rod of the retractor device II is under piston effect Stretch out from forearm rear end and be connected with clamper.

Further, the clamper includes headstock, operation tube and gripper jaw, the retractor device II and headstock phase Even, it is connected between the headstock and operation tube by tumbler III, the tumbler III is used to drive operation tube to do Lower elevating movement；The gripper jaw includes pawl seat and is rotationally connected with the pawl arm of pawl seat, and three pawl seats are uniformly fixed on behaviour Make the outer wall of cylinder, retractor device III is provided with operation tube, the retractor device III is hydraulic cylinder structure, the retractor device III Piston rod stretches out from operation tube under piston effect and is connected by connecting rod with pawl arm, and the both ends of the connecting rod are hingedly connected to stretch The piston rod of compression apparatus III and pawl arm simultaneously promote three pawl arms inwardly to gather or outwards deploy.

Further, the tumbler III includes the 6th motor, and the 6th motor drives behaviour by the 6th transmission component Pitching motion up and down is done as cylinder；6th motor is arranged in headstock；6th transmission component includes the 6th driving tooth Wheel, the 6th driven gear and the 6th power transmission shaft, the rear end of the headstock are provided with the mounting ear IV for being used for installing the 6th power transmission shaft, The diameter parallel of 6th power transmission shaft is in the axis of second driving shaft；6th driving gear is fixed and is located at the 6th motor On power output shaft, the 6th driven gear is fixed and is set on the 6th power transmission shaft and directly engages biography with the 6th driving gear Move or be driven by reducing gear.

Further, the manipulator also includes a control system, controller that the control system includes being used for handling control, Power supply for the communicator of communication and for providing electric power to each consuming parts, the controller are whole by communicator and outside End is connected, the signal output part of the controller respectively with the first motor, the second motor, the 3rd motor, the 4th motor, the 5th electricity Machine, the 6th motor, the signal input part of retractor device II and retractor device III are connected.

Further, the 5th power transmission shaft and the 4th power transmission shaft intersect vertically into " ten " word axle construction and independent rotation.

The beneficial effects of the utility model：Flexible manipulator of the present utility model for the disaster relief, clamper are held for end Row mechanism, it is responsible for clamping object, retractor device I, slewing equipment, tumbler I, tumbler II and retractor device II are used as phase The bindiny mechanism of adjacent two parts so that adjacent two part has certain freedom of movement, and different movable compositions to clamp Device can be in different locus, and clamper has enough working spaces, can effectively realize avoidance, neatly complete rescue and appoint Business；Therefore, the utility model has the more free degree, and flexibility is strong, lifted the efficiency of rescue and improving successfully rescue it is general Rate.

Brief description of the drawings

The utility model is further described with reference to the accompanying drawings and examples：

Fig. 1 is structural representation of the present utility model；

Fig. 2 is enlarged diagram at A of the present utility model；

Fig. 3 is the structural representation of slewing equipment of the present utility model；

Fig. 4 is the structural representation of tumbler I of the present utility model；

Fig. 5 is the structural representation of large arm rear end of the present utility model；

Fig. 6 is the structural representation of forearm front end of the present utility model；

Fig. 7 is the structural representation of headstock of the present utility model；

Fig. 8 is operation tube of the present utility model and the connection diagram of gripper jaw；

Fig. 9 is the theory diagram of the control system of utility model.

Embodiment

As shown in Figures 1 to 9：The flexible manipulator for the disaster relief of the present embodiment, including be sequentially connected chassis 1, branch Plate 2, bearing 3, large arm 4, forearm 5 and clamper 6；It is connected between the chassis 1 and support plate 2 by retractor device I, it is described flexible Device I is used to drive support plate 2 to move back and forth along perpendicular to the direction of chassis 1；Filled between the support plate 2 and bearing 3 by turning round Put it is connected, the slewing equipment be used for drive bearing 3 using one perpendicular to support plate 2 axis rotary motion as rotating shaft；The branch It is connected between seat 3 and large arm 4 by tumbler I, the tumbler I is used to drive large arm 4 to do elevating movement；The large arm It is connected between 4 and forearm 5 by tumbler II, the tumbler II is used to drive forearm 5 to do elevating movement and left and right pendulum It is dynamic；It is connected between the forearm 5 and clamper 6 by retractor device II, the retractor device II is used to drive clamper 6 along small The axial reciprocating movement of arm 5；Chassis 1 can be metal framework structures, thereon with bindiny mechanism, can be connected to when in use In engineering machinery, to supplement the deficiency in terms of the mobility of this manipulator；The distance between support plate 2 and chassis 1 are by retractor device I Control to adjust so that support plate 2 can be remote or close to chassis 1；Bearing 3 can rotate on support plate 2, so as to raise by a relatively large margin Save the position of manipulator；Manipulator has the design of apery body, and bearing 3 is equivalent to the shoulder of human body, and large arm 4 is equivalent to human body Postbrachium, forearm 5 is equivalent to the forearm of human body, the shoulder joint of tumbler I, tumbler II equivalent to human body, elbow joint, clamping Device 6 is then equivalent to human body palm；Clamper 6 is end effector mechanism, is responsible for clamping object, retractor device I, slewing equipment, turns The dynamic bindiny mechanism of device I, tumbler II and retractor device II as adjacent two part so that adjacent two part has certain Freedom of movement, different movable compositions causes clamper 6 to be in different locus, and clamper 6 has enough works Make space, can effectively realize avoidance, neatly complete rescue task.

In the present embodiment, the retractor device I includes the motor 72 of scissor-type link assembly 71 and first, first motor 72 drive scissor-type link assembly 71 to act by the first transmission component；The scissor-type link assembly 71 connects including at least bottom Bar unit 71a and top links unit 71b, the bottom linkage rod unit 71a is connected with chassis 1, and the chassis 1 is provided with and used In chute I 1a of limitation bottom linkage rod unit 71a scissors movement, the top links unit 71b is connected with support plate 2, and described Support plate 2 is provided with chute II 2a corresponding with the 1a of chute I；First motor 72 is fixed on chassis 1；First transmission group Part includes drive bevel gear 73, driven wheel of differential 74, the first driving gear 75, the first power transmission shaft 76 and rack 77, the active Bevel gear 73 is fixed and is located on the power output shaft of the first motor 72, and the driven wheel of differential 74 is fixed and is set in the first power transmission shaft The two of the first power transmission shaft 76 is set on 76 and with the engaged transmission of drive bevel gear 73, two fixations of the first driving gears 75 Hold and be connected to respectively with two engaged transmissions of rack 77 on chassis 1, the rack 77 on bottom linkage rod unit 71a And bottom linkage rod unit 71a is promoted to carry out scissors movement；Scissor-type link assembly 71 is simple in construction, retractility is good, stability is strong, By the be hinged cooperation of each linkage unit, telescopic folding can be achieved, the action for support plate 2 provides power；Scissor-type link assembly 71 power then derives from the first motor 72；It is provided with chassis 1 for fixing the first driving gear 75, the first power transmission shaft 76 And the fixed seat 1b of rack 77, by the rotating forward of the first motor 72, reversion bottom linkage rod unit 71a scissors can be driven to move (i.e. the be hinged activity of bottom linkage rod unit 71a relevant connection), the conformability of the first driving gear 75 and rack 77 is good, and transmission is fast Speed；The 1a of chute I, the 2a of chute II define the mobile range of scissor-type link assembly 71, while have guide effect, move it It is steady reliable.

In the present embodiment, the slewing equipment includes the motor 82 of panoramic table 81 and second, and second motor 82 passes through Two transmission components drive panoramic table 81 to act；The bearing 3 is fixed on panoramic table 81, and second motor 82 is arranged on support plate On 2；Second transmission component includes the second driving gear 83, the second driven gear 84 and second driving shaft 85, and described second Power transmission shaft 85 is fixed on panoramic table 81 and its axis overlaps with the axis of panoramic table 81, and second driving gear 83, which is fixed, is located at the On the power output shaft of two motors 82, second driven gear 84 fix be set on second driving shaft 85 and with second actively The engaged transmission of gear 83；Panoramic table 81 is frustum cone structure；The output shaft axis of second motor 82 is put down with the axis of second driving shaft 85 OK, to improve transmission stability；Panoramic table 81, which rotates, drives bearing 3 to rotate together with.

In the present embodiment, the tumbler I includes the 3rd motor 91, and the 3rd motor 91 passes through the 3rd transmission component Large arm 4 is driven to do pitching motion up and down；3rd motor 91 is arranged in bearing 3；3rd transmission component includes the 3rd Driving gear 92, the 3rd driven gear 93 and the 3rd power transmission shaft 94, the front end of the large arm 4 and the rear end of bearing 3, which are provided with, to be used for Coordinate the 4a of mounting ear I of the 3rd power transmission shaft 94 of installation, the axle of the axis of the 3rd power transmission shaft 94 perpendicular to second driving shaft 85 Line；3rd driving gear 92 is fixed and is located on the power output shaft of the 3rd motor 91, and the 3rd driven gear 93 is fixed Be set on the 3rd power transmission shaft 94 and with the engaged transmission of the 3rd driving gear 92；" upper and lower " " left and right " is to be shown in Fig. 1 It is accurate；The 4a of mounting ear I is provided with the axis hole for passing through and positioning for the 3rd power transmission shaft 94, large arm 4 is articulated with bearing 3, the 3rd motor 91 The power that large arm 4 carries out single-degree-of-freedom rotation is provided.

In the present embodiment, the tumbler II includes the 4th motor 101 and the 5th motor 102, the 4th motor 101 Forearm 5 is driven to swing action by the 4th transmission component, the 5th motor 102 drives small by the 5th transmission component Arm 5 does pitching motion up and down；4th motor 101 is arranged in large arm 4, and the 5th motor 102 is arranged in forearm 5； 4th transmission component includes the 4th driving gear 103, the 4th driven gear 104 and the 4th power transmission shaft 105, the large arm 4 Rear end be provided be used for install the 4th power transmission shaft 105 the 4b of mounting ear II, the axis of the 4th power transmission shaft 105 is perpendicular to the 3rd The axis of power transmission shaft 94, the 4th driving gear 103 are fixed and are located on the power output shaft of the 4th motor 101, and the described 4th Driven gear 104 fix be set on the 4th power transmission shaft 105 and with the engaged transmission of the 4th driving gear 103；5th transmission Component includes the 5th driving gear 106, the 5th driven gear 107 and the 5th power transmission shaft 108, and the front end of the forearm 5, which is provided with, to be used In the 5a of mounting ear III for installing the 5th power transmission shaft 108, the 5th driving gear 106 fixes the power for being located at the 5th motor 102 On output shaft, the 5th driven gear 107 is fixed and is set on the 5th power transmission shaft 108 and is engaged with the 5th driving gear 106 Transmission；The forearm 5 of the structure has two-freedom, you can swing action and upper and lower pitching motion；The 4a of mounting ear II, peace Dress ear III 5a is provided with the axis hole for passing through and positioning for associated actuator axle；5th power transmission shaft 108 can be only with the 4th power transmission shaft 105 Erect and put, " ten " word axle construction and independent rotation can also be intersected vertically into, as long as keeping the 5th power transmission shaft 108 and the 4th transmission Axle 105 independently rotates, is independent of each other.

In the present embodiment, the retractor device II 11 is hydraulic cylinder structure, and the piston rod 11a of the retractor device II 11 exists Stretch out from the rear end of forearm 5 under piston effect and be connected with clamper 6.

In the present embodiment, the clamper 6 includes headstock 61, operation tube 62 and gripper jaw 63, the retractor device II It is connected with headstock 61, is connected between the headstock 61 and operation tube 62 by tumbler III, the tumbler III is used Elevating movement up and down is done in driving operation tube 62；The gripper jaw 63 includes pawl seat 631 and is rotationally connected with the pawl arm of pawl seat 631 632, three pawl seats 631 are uniformly fixed on the outer wall of operation tube 62, and retractor device III 12 is provided with operation tube 62, described to stretch Compression apparatus III 12 is hydraulic cylinder structure, and the piston rod 12a of the retractor device III 12 stretches out under piston effect from operation tube 62 And be connected by connecting rod 64 with pawl arm 632, the both ends of the connecting rod 64 be hingedly connected to retractor device III 12 piston rod 12a and Pawl arm 632 simultaneously promotes three pawl arms 632 inwardly to gather or outwards deploy；Inwardly i.e. towards the axis direction of operation tube 62；Three Clamping force is formed to object therein when pawl arm 632 is inwardly gathered, outwards then unclamps clamped object during expansion.

In the present embodiment, the tumbler III includes the 6th motor 131, and the 6th motor 131 passes through the 6th transmission Component drives operation tube 62 to do pitching motion up and down；6th motor 131 is arranged in headstock 61；6th transmission group Part includes the 6th driving gear 132, the 6th driven gear 133 and the 6th power transmission shaft 134, and the rear end of the headstock 61, which is provided with, to be used In the mounting ear IV for installing the 6th power transmission shaft 134, the diameter parallel of the 6th power transmission shaft 134 is in the axle of second driving shaft 85 Line；6th driving gear 132 is fixed and is located on the power output shaft of the 6th motor 131, and the 6th driven gear 133 is solid Surely it is set on the 6th power transmission shaft 134 and is passed with 132 direct engaged transmission of the 6th driving gear or by reducing gear 135 It is dynamic；Reducing gear can be existing gear train slowing-down structure, its sum of series gearratio can as needed depending on, to increase torque, So that pawl arm 632 has enough chucking powers.

In the present embodiment, the manipulator also includes a control system, and the control system includes being used for the control for handling control Device 14 processed, the communicator 15 for communication and the power supply 16 for providing electric power to each consuming parts, the controller 14 pass through Communicator 15 is connected with exterior terminal, the signal output part of the controller 14 respectively with the first motor 72, the second motor 82, Three motors 91, the 4th motor 101, the 5th motor 102, the 6th motor 131, the signal of retractor device II 11 and retractor device III 12 Input is connected；The controller 14 can be single-chip microcomputer, and the communicator 15 is preferably wireless communicator structure, such as available The networks such as existing 3G, 4G are communicated；The control system coordinates with camera system can be achieved remote control, handling strong； Control system may also include related sensor, such as the angular transducer of the rotational angle of detection large arm 4, forearm 5 and detection folder The height sensor of height residing for holder 6, in order to form control strategy.

In the present embodiment, the realization of for the benefit of energy-conserving and environment-protective, power supply 16 can use too can electric power system, the system include too It is positive can photovoltaic module, MPPT controller, battery and inverter, the output end of solar photovoltaic assembly and MPPT controller it is defeated Enter end to be connected, the output end of MPPT controller is connected with the input of battery, the output end of battery and the input of inverter End is connected, and the output end of inverter is connected with the power input end of consuming parts；Solar photovoltaic assembly, MPPT controller can be set In outdoor, it is connected by wire with other parts；Solar photovoltaic assembly can convert light energy into electrical energy for storage and store In battery, inverter is then transformed into caused direct current energy alternating current and exported to be used for consuming parts；Moreover, MPPT is controlled Device can be tracked to the maximum power point in photovoltaic array, obtained the scheme of maximum power point, power supply is exported all the time Peak power, so as to improve solar energy utilization ratio；Solar photovoltaic assembly includes battery assembly and the side for self-contained battery assembly Frame, battery assembly include preceding glass sheet, front adhesive film, cell piece, rear layer glued membrane and the back-panel glass set gradually from top to bottom； The preceding glass sheet and back-panel glass surrounding fixed seal connection, front adhesive film, cell piece and rear layer glued membrane are fixed on by foreboard In the sealing space that glass and back-panel glass are formed.

Finally illustrate, above example is only unrestricted to illustrate the technical solution of the utility model, although ginseng The utility model is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to this The technical scheme of utility model is modified or equivalent substitution, without departing from the objective and model of technical solutions of the utility model Enclose, it all should cover among right of the present utility model.

Claims

A kind of 1. flexible manipulator for the disaster relief, it is characterised in that：Including be sequentially connected chassis, support plate, bearing, large arm, Forearm and clamper；It is connected between the chassis and support plate by retractor device I, the retractor device I is used to drive support plate edge Moved back and forth perpendicular to the direction of chassis；It is connected between the support plate and bearing by slewing equipment, the slewing equipment is used for Drive bearing using one perpendicular to support plate axis rotary motion as rotating shaft；Pass through tumbler I between the bearing and large arm It is connected, the tumbler I is used to drive large arm to do elevating movement；Pass through the phase of tumbler II between the large arm and forearm Even, the tumbler II is used to drive forearm to do elevating movement and swing；By stretching between the forearm and clamper Compression apparatus II is connected, and the retractor device II is used to drive clamper to move along the axial reciprocating of forearm.
2. the flexible manipulator according to claim 1 for the disaster relief, it is characterised in that：The retractor device I includes cutting Forked connecting rod component and the first motor, first motor drive scissor-type link assembly to act by the first transmission component；Institute State scissor-type link assembly and comprise at least bottom linkage rod unit and top links unit, the bottom linkage rod unit and chassis phase Even, and the chassis is provided with the chute I for being used for limiting the movement of bottom linkage rod unit scissors, the top links unit and support plate It is connected, and the support plate is provided with chute II corresponding with chute I；First motor is fixed on chassis；Described first passes Dynamic component includes drive bevel gear, driven wheel of differential, the first driving gear, the first power transmission shaft and rack, the drive bevel gear Fixation is located on the power output shaft of the first motor, and the driven wheel of differential fixation is set on the first power transmission shaft and and initiative taper Meshed transmission gear, two first driving gears fix the both ends that are set in the first power transmission shaft and respectively with installed in chassis On two rack engaged transmissions, the rack be connected on bottom linkage rod unit and promote bottom linkage rod unit carry out scissors shifting It is dynamic.
3. the flexible manipulator according to claim 2 for the disaster relief, it is characterised in that：The slewing equipment includes revolution Platform and the second motor, second motor drive panoramic table to act by the second transmission component；The bearing is fixed on panoramic table On, second motor is arranged on support plate；Second transmission component includes the second driving gear, the second driven gear and the Two power transmission shafts, the second driving shaft is fixed on panoramic table and its axis overlaps with panoramic table axis, second driving gear Fixation is located on the power output shaft of the second motor, and second driven gear, which is fixed, to be set on second driving shaft and with second Driving gear engaged transmission.
4. the flexible manipulator according to claim 3 for the disaster relief, it is characterised in that：The tumbler I includes the Three motors, the 3rd motor drive large arm to do pitching motion up and down by the 3rd transmission component；3rd motor is arranged on In bearing；3rd transmission component includes the 3rd driving gear, the 3rd driven gear and the 3rd power transmission shaft, before the large arm End and the rear end of bearing are provided with the mounting ear I for being used for coordinating the 3rd power transmission shaft of installation, the axis of the 3rd power transmission shaft perpendicular to The axis of second driving shaft；3rd driving gear is fixed and is located on the power output shaft of the 3rd motor, and the described 3rd is driven Gear fix be set on the 3rd power transmission shaft and with the 3rd driving gear engaged transmission.
5. the flexible manipulator according to claim 4 for the disaster relief, it is characterised in that：The tumbler II includes the Four motors and the 5th motor, the 4th motor drive forearm to swing action by the 4th transmission component, and the described 5th Motor drives forearm to do pitching motion up and down by the 5th transmission component；4th motor is arranged in large arm, and the described 5th Motor is arranged in forearm；4th transmission component includes the 4th driving gear, the 4th driven gear and the 4th power transmission shaft, institute The rear end for stating large arm is provided with the mounting ear II for being used for installing the 4th power transmission shaft, and the axis of the 4th power transmission shaft passes perpendicular to the 3rd The axis of moving axis, the 4th driving gear are fixed and are located on the power output shaft of the 4th motor, and the 4th driven gear is consolidated Surely be set on the 4th power transmission shaft and with the 4th driving gear engaged transmission；5th transmission component includes the 5th driving tooth Wheel, the 5th driven gear and the 5th power transmission shaft, the front end of the forearm are provided with the mounting ear III for being used for installing the 5th power transmission shaft, institute State the fixation of the 5th driving gear to be located on the power output shaft of the 5th motor, the 5th driven gear, which is fixed, is set in the 5th biography On moving axis and with the 5th driving gear engaged transmission.
6. the flexible manipulator according to claim 5 for the disaster relief, it is characterised in that：The retractor device II is hydraulic pressure Cylinder structure, the piston rod of the retractor device II stretch out from forearm rear end under piston effect and are connected with clamper.
7. the flexible manipulator according to claim 6 for the disaster relief, it is characterised in that：The clamper includes power Case, operation tube and gripper jaw, the retractor device II are connected with headstock, are filled between the headstock and operation tube by rotating Put III to be connected, the tumbler III is used to drive operation tube to do elevating movement up and down；The gripper jaw includes pawl seat and rotation The pawl arm of pawl seat is connected to, three pawl seats are uniformly fixed on the outer wall of operation tube, retractor device III, institute are provided with operation tube It is hydraulic cylinder structure to state retractor device III, and the piston rod of the retractor device III stretches out and passed through from operation tube under piston effect Connecting rod is connected with pawl arm, the both ends of the connecting rod be hingedly connected to the piston rod of retractor device III and pawl arm and promote three pawl arms to Inside gather or outwards deploy.
8. the flexible manipulator according to claim 7 for the disaster relief, it is characterised in that：The tumbler III includes the Six motors, the 6th motor drive operation tube to do pitching motion up and down by the 6th transmission component；The 6th motor installation In headstock；6th transmission component includes the 6th driving gear, the 6th driven gear and the 6th power transmission shaft, the power The rear end of case is provided with the mounting ear IV for being used for installing the 6th power transmission shaft, and the diameter parallel of the 6th power transmission shaft is in second driving shaft Axis；6th driving gear is fixed and is located on the power output shaft of the 6th motor, the 6th driven gear fixed cover It is located on the 6th power transmission shaft and engaged transmission direct with the 6th driving gear or is driven by reducing gear.
9. the flexible manipulator according to claim 8 for the disaster relief, it is characterised in that：The manipulator also includes a control System, the control system include being used to handle the controller controlled, the communicator for communication and for each consuming parts The power supply of electric power is provided, the controller is connected by communicator with exterior terminal, the signal output part difference of the controller With the first motor, the second motor, the 3rd motor, the 4th motor, the 5th motor, the 6th motor, retractor device II and retractor device III signal input part is connected.
10. the flexible manipulator according to claim 5 for the disaster relief, it is characterised in that：5th power transmission shaft and Four power transmission shafts intersect vertically into " ten " word axle construction and independent rotation.