CN207344622U - Explosive-removal robot handgrip and explosive-removal robot - Google Patents
Explosive-removal robot handgrip and explosive-removal robot Download PDFInfo
- Publication number
- CN207344622U CN207344622U CN201721316449.4U CN201721316449U CN207344622U CN 207344622 U CN207344622 U CN 207344622U CN 201721316449 U CN201721316449 U CN 201721316449U CN 207344622 U CN207344622 U CN 207344622U
- Authority
- CN
- China
- Prior art keywords
- explosive
- pair
- removal robot
- pawl arm
- arm
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of explosive-removal robot handgrip and explosive-removal robot, is related to robot field.The explosive-removal robot handgrip includes pawl arm in driving mechanism, outside plate, an external pawl arm, one pair and a pair of of cleft hand；A pair of outer pawl arm, a pair of interior pawl arm and a pair of cleft hand are arranged symmetrically on the outside plate；The inner side of a pair of cleft hand is parallel to each other；The distal end of a pair of interior pawl arm is rotatablely connected with the inner side of the outside plate, and near-end is rotatablely connected with the inner side of the pawl afterbody of cleft hand one of them described respectively；The near-end of a pair of outer pawl arm is connected with the driving mechanism, and distal end is rotatablely connected with the outside of the pawl afterbody of cleft hand one of them described respectively；Inner side of the arm body of a pair of outer pawl arm also respectively with the outside plate is rotatablely connected.The explosive-removal robot is provided with explosive-removal robot handgrip as described above.The utility model solve the mechanical arm of existing explosive-removal robot again opening and closing when cleft hand grasp stability deficiency technical problem.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly, to a kind of explosive-removal robot handgrip and explosive machine
People.
Background technology
Explosive-removal robot is the equipment special that explosive personnel are used to disposing or destroying suspicious explosive, avoids unnecessary people
Member's injures and deaths.It is explosive that it can be used for Various Complex landform to carry out.It is mainly used for replacing explosive personnel to carry, shifts suspicious explosive product
And other harmful dangerous material；Explosive Ordnance Demolition device destruction of bomb is used instead of explosive personnel；Surveyed on the spot instead of on-the-spot security inspection personnel
Examine, real-time Transmission image scene；Shotgun can be equipped with to attack offender；Detection equipment can be equipped with and check hazardous area
And dangerous goods.Since scientific and technological content is higher, often " personal value " is high for explosive-removal robot.
Existing explosive-removal robot, when driving cleft hand opening and closing, often phase also occurs its mechanical arm for the angle of two cleft hands
To change, grasp force and grasp stability are influenced.
Based on this, the utility model provides a kind of explosive-removal robot handgrip and explosive-removal robot to solve above-mentioned technology
Problem.
Utility model content
The purpose of this utility model is to provide a kind of explosive-removal robot handgrip, to solve the machine of existing explosive-removal robot
Tool arm again opening and closing when cleft hand grasp stability deficiency technical problem.
The purpose of this utility model, which also resides in, provides a kind of explosive-removal robot, for solving above-mentioned technical problem.
Based on above-mentioned first purpose, the utility model provides a kind of explosive-removal robot handgrip, including driving mechanism, outer
Plate, an external pawl arm, pawl arm and a pair of of cleft hand in one pair；
A pair of outer pawl arm, a pair of interior pawl arm and a pair of cleft hand are arranged symmetrically on the outside plate；One
It is parallel to each other to the inner side of the cleft hand；
The distal end of a pair of interior pawl arm is rotatablely connected with the inner side of the outside plate, near-end respectively with described in one of them
The inner side rotation connection of the pawl afterbody of cleft hand；
The near-end of a pair of outer pawl arm be connected with the driving mechanism, distally respectively with cleft hand one of them described
The outside rotation connection of pawl afterbody；
Inner side of the arm body of a pair of outer pawl arm also respectively with the outside plate is rotatablely connected.
Optionally, the driving mechanism includes motor, leading screw, screw, connecting plate and two connecting rods；
The inner side of the connecting plate and the outside plate is affixed；
The near-end of the leading screw is connected with the motor, is distally rotatablely connected with the connecting plate；
The leading screw is spirally connected with the screw；
One end of two connecting rods is rotatablely connected with the screw, and near-end of the other end respectively with a pair of outer pawl arm turns
Dynamic connection.
Screw pair is coordinated by motor to drive the opening and closing of outer pawl arm, motor driving leading screw rotation, so as to drive
Screw moves, and screw drives outer gripping arm opening and closing, so as to complete gripping action by the connecting rod of both sides.
Optionally, ready-packaged joint is further included, the ready-packaged joint on the inside of the outside plate with being detachably connected.
By ready-packaged joint, it is connected easy to the body with explosive-removal robot, it is possible to achieve quickly dismounting, it is easy to replace.
Optionally, the motor is located in the ready-packaged joint.
Motor is placed in ready-packaged joint, has effectively saved space, and structure is simpler compact, and guarantor is also functioned to motor
Shield acts on, and is also beneficial to the transmission of action.
Optionally, the second outside plate is further included, second outside plate is fixed in the opposite side of the connecting plate, with the outside plate
It is symmetrical arranged.
Fixation is attached by outside plate and the external pawl arm of the second outside plate, leading screw etc., fixed effect is more preferable, and connection is more steady
It is fixed.
Optionally, the arm body hollow out of a pair of outer pawl arm is set.
The honeycomb hollow structure of outer pawl arm can ensure the maximum crawl amount of cleft hand, while also reduce dead weight, improve
Overall performance.
Optionally, also hollow out is set the arm body of a pair of interior pawl arm.
Same principle, honeycomb hollow structure is also configured to by interior pawl arm, while maximum crawl amount is ensured, is alleviated
Dead weight.
Optionally, the outer pawl arm is provided with multipair.
The setting of more externally gripping arms can provide the grasp force of bigger, to capture heavier object, ensure crawl effect.
Optionally, the interior pawl arm is also equipped with multipair.
Likewise, the interior pawl arm is also provided with multipair, it is ensured that regulating effect, ensures the stability of cleft hand, all the time
Keep the inner side of two cleft hands lasting parallel.
Based on above-mentioned second purpose, the utility model provides a kind of explosive-removal robot, and the explosive-removal robot is provided with
Explosive-removal robot handgrip as described above.
The explosive-removal robot handgrip provided by the utility model, in use, is driven a pair of by driving device
The near-end movement of the outer gripping arm, by distally passing to corresponding cleft hand so as to drive cleft hand opening and closing, while passes through interior pawl arm
It is adjusted, with the parallel of two cleft hands of guarantee.The explosive-removal robot handgrip provided by the utility model, in the base of outer pawl arm
Interior pawl arm is additionally provided with plinth, by the restriction effect of interior pawl arm, is continued to make two cleft hands be remained during opening and closing
Parastate, so as to ensure preferably to grip, maintains the steady of crawl.
Based on this, the utility model has and ensures that two cleft hands are parallel to each other than original technology, maintain crawl angle and
The advantages of stationarity.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, describe below
In attached drawing be the utility model some embodiments, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram figure for the explosive-removal robot handgrip that the utility model embodiment provides；
Fig. 2 is that the schematic diagram of the other direction for the explosive-removal robot handgrip that the utility model embodiment provides (eliminates the
Two outside plates)；
Fig. 3 is the front view of Fig. 2；
Fig. 4 is the A of Fig. 3 to sectional view.
Icon：1- outside plates；The outer pawl arms of 2-；Pawl arm in 3-；4- cleft hands；5- motors；6- leading screws；7- screws；8- connecting plates；9-
Connecting rod；10- ready-packaged joints；The second outside plates of 11-.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model part of the embodiment, instead of all the embodiments.Based on the embodiment in the utility model, sheet
Field those of ordinary skill all other embodiments obtained without making creative work, belong to this practicality
Novel protected scope.
, it is necessary to explanation in the description of the utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Explosive-removal robot handgrip embodiment one
As shown in Figure 1, 2, a kind of explosive-removal robot handgrip, the explosive-removal robot handgrip bag are provided in the present embodiment
Include driving mechanism, outside plate 1, pawl arm 3 and a pair of of cleft hand 4 in external 2, one pairs of a pawl arm；
A pair of outer pawl arm 2, a pair of interior pawl arm 3 and a pair of cleft hand 4 are on the 1 symmetrical cloth of outside plate
Put；The inner side of a pair of cleft hand 4 is parallel to each other；
The distal end of a pair of interior pawl arm 3 is rotatablely connected with the inner side of the outside plate 1, near-end respectively with one of institute
State the inner side rotation connection of the pawl afterbody of cleft hand 4；
The near-end of a pair of outer pawl arm 2 be connected with the driving mechanism, distally respectively with cleft hand 4 one of them described
Pawl afterbody outside rotation connection；
Inner side of the arm body of a pair of outer pawl arm 2 also respectively with the outside plate 1 is rotatablely connected.
The explosive-removal robot handgrip provided by the utility model, in use, is driven a pair of by driving device
The near-end movement of the outer gripping arm, by distally passing to corresponding cleft hand 4 so as to drive 4 opening and closing of cleft hand, while passes through interior pawl
Arm 3 is adjusted, with the parallel of two cleft hands 4 of guarantee.The explosive-removal robot handgrip provided by the utility model, in outer pawl arm
Interior pawl arm 3 is additionally provided with the basis of 2, by the restriction effect of interior pawl arm 3, come make two cleft hands 4 during opening and closing all the time
Keep continuing parastate, so as to ensure preferably to grip, maintain the steady of crawl.
Based on this, the utility model has and ensures that two cleft hands 4 are parallel to each other than original technology, maintain crawl angle with
And the advantages of stationarity.
Such as Fig. 1-4, in the alternative of the present embodiment, the driving mechanism includes motor 5, leading screw 6, screw 7, connecting plate
8 and two connecting rods 9；
The inner side of the connecting plate 8 and the outside plate 1 is affixed；
The near-end of the leading screw 6 is connected with the motor 5, is distally rotatablely connected with the connecting plate 8；
The leading screw 6 is spirally connected with the screw 7；
One end of two connecting rods 9 is rotatablely connected with the screw 7, and the other end is near with a pair of outer pawl arm 2 respectively
End rotation connection.
Screw pair is coordinated to drive the opening and closing of outer pawl arm 2 by motor 5, motor 5 drives leading screw 6 to rotate, so that
Screw 7 is driven to move, screw 7 drives outer gripping arm opening and closing, so as to complete gripping action by the connecting rod 9 of both sides.
Further, ready-packaged joint 10 is further included, the inner side of the ready-packaged joint 10 and the outside plate 1 is detachably connected.
By ready-packaged joint 10, it is connected easy to the body with explosive-removal robot, it is possible to achieve quickly dismounting, replaces and hold
Easily.
Further, the motor 5 is located in the ready-packaged joint 10.
Motor 5 is placed in ready-packaged joint 10, has effectively saved space, and structure is simpler compact, and motor 5 is also risen
To protective effect, the transmission of action is also beneficial to.
Such as Fig. 1, in the alternative of the present embodiment, the second outside plate 11 is further included, second outside plate 11 is fixed in described
The opposite side of connecting plate 8, is symmetrical arranged with the outside plate 1.
Fixation is attached by 1 and second outside plate of outside plate, 11 external pawl arm 2, leading screw 6 etc., fixed effect is more preferable, connection
It is more stable.
Such as Fig. 3, in the alternative of the present embodiment, the arm body hollow out of a pair of outer pawl arm 2 is set.
The honeycomb hollow structure of outer pawl arm 2 can ensure the maximum crawl amount of cleft hand 4, while also reduce dead weight, lifting
Overall performance.
Likewise, also hollow out is set the arm body of a pair of interior pawl arm 3.
Same principle, honeycomb hollow structure is also configured to by interior pawl arm 3, while maximum crawl amount is ensured, is mitigated
Dead weight.
Preferably, the outer pawl arm 2 and the length direction of the interior pawl arm 3, its arm body are provided with a row through hole.So
Set, i.e., do not influence its crawl amount, and alleviate dead weight.
Further, the outer pawl arm 2 is provided with multipair.
The setting of more externally gripping arms can provide the grasp force of bigger, to capture heavier object, ensure crawl effect.
Further, the interior pawl arm 3 is also equipped with multipair.
Likewise, the interior pawl arm 3 is also provided with multipair, it is ensured that regulating effect, ensures the stability of cleft hand 4, begins
Keep the inner side of two cleft hands 4 lasting parallel eventually.
Explosive-removal robot embodiment
This embodiment offers a kind of explosive-removal robot, the explosive-removal robot is provided with explosive-removal robot as described above
Handgrip.
The explosive-removal robot of the application uses above-mentioned explosive-removal robot handgrip, has higher stabilization during crawl
Property, the inner side of two cleft hands 4 remains parallel, the crawl article that can stablize always.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, those of ordinary skill in the art should
Understand：It can still modify the technical solution described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical solution of type.
Claims (10)
- A kind of 1. explosive-removal robot handgrip, it is characterised in that including pawl arm in driving mechanism, outside plate, an external pawl arm, one pair and A pair of of cleft hand；A pair of outer pawl arm, a pair of interior pawl arm and a pair of cleft hand are arranged symmetrically on the outside plate；A pair of of institute The inner side for stating cleft hand is parallel to each other；The distal end of a pair of interior pawl arm is rotatablely connected with the inner side of the outside plate, near-end respectively with cleft hand one of them described Pawl afterbody inner side rotation connection；The near-end of a pair of outer pawl arm be connected with the driving mechanism, distally the pawl tail with cleft hand one of them described respectively The outside rotation connection in portion；Inner side of the arm body of a pair of outer pawl arm also respectively with the outside plate is rotatablely connected.
- 2. explosive-removal robot handgrip according to claim 1, it is characterised in that the driving mechanism include motor, leading screw, Screw, connecting plate and two connecting rods；The inner side of the connecting plate and the outside plate is affixed；The near-end of the leading screw is connected with the motor, is distally rotatablely connected with the connecting plate；The leading screw is spirally connected with the screw；One end of two connecting rods is rotatablely connected with the screw, and the other end is rotated with the near-end of a pair of outer pawl arm respectively to be connected Connect.
- 3. explosive-removal robot handgrip according to claim 2, it is characterised in that further include ready-packaged joint, the fast attaching Head on the inside of the outside plate with being detachably connected.
- 4. explosive-removal robot handgrip according to claim 3, it is characterised in that the motor is located at the ready-packaged joint It is interior.
- 5. explosive-removal robot handgrip according to claim 2, it is characterised in that the second outside plate is further included, outside described second Plate is fixed in the opposite side of the connecting plate, is symmetrical arranged with the outside plate.
- 6. explosive-removal robot handgrip according to claim 1, it is characterised in that the arm body hollow out of a pair of outer pawl arm is set Put.
- 7. explosive-removal robot handgrip according to claim 6, it is characterised in that the arm body of a pair of interior pawl arm also hollow out Set.
- 8. explosive-removal robot handgrip according to claim 7, it is characterised in that the outer pawl arm is provided with multipair.
- 9. explosive-removal robot handgrip according to claim 8, it is characterised in that the interior pawl arm is also equipped with multipair.
- 10. a kind of explosive-removal robot, it is characterised in that the explosive-removal robot installation is just like described in claim any one of 1-9 Explosive-removal robot handgrip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721316449.4U CN207344622U (en) | 2017-10-12 | 2017-10-12 | Explosive-removal robot handgrip and explosive-removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721316449.4U CN207344622U (en) | 2017-10-12 | 2017-10-12 | Explosive-removal robot handgrip and explosive-removal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207344622U true CN207344622U (en) | 2018-05-11 |
Family
ID=62357922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721316449.4U Active CN207344622U (en) | 2017-10-12 | 2017-10-12 | Explosive-removal robot handgrip and explosive-removal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207344622U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111162475A (en) * | 2020-02-18 | 2020-05-15 | 广东电网有限责任公司电力科学研究院 | Insulator grabbing claw hand |
| CN113977623A (en) * | 2021-09-15 | 2022-01-28 | 浙江钱塘机器人及智能装备研究有限公司 | Compound flexible finger, flexible clamping jaw and mechanical fixture |
-
2017
- 2017-10-12 CN CN201721316449.4U patent/CN207344622U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111162475A (en) * | 2020-02-18 | 2020-05-15 | 广东电网有限责任公司电力科学研究院 | Insulator grabbing claw hand |
| CN113977623A (en) * | 2021-09-15 | 2022-01-28 | 浙江钱塘机器人及智能装备研究有限公司 | Compound flexible finger, flexible clamping jaw and mechanical fixture |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207344622U (en) | Explosive-removal robot handgrip and explosive-removal robot | |
| CN106428264A (en) | Explosive-handling robot | |
| CN107553503A (en) | Mechanical arm and explosive-removal robot | |
| CN206455672U (en) | A kind of urban SOS robot | |
| CN202684916U (en) | Mechanical arm for source clamping accident emergency robot | |
| CN107378997A (en) | Grasping mechanism on manipulator | |
| CN107214689A (en) | Manipulator | |
| CN108748227A (en) | A kind of internal expanding support modus ponens robot captures hand | |
| CN209812352U (en) | Connecting rod structural type grabbing manipulator | |
| CN208965808U (en) | Board connection structure of composite partition wall | |
| CN109795879A (en) | A kind of posture adjustment docking facilities, system and method based on six-degree-of-freedom parallel connection mechanism | |
| CN109605361A (en) | Manipulator | |
| CN108908321A (en) | Full-automatic illumination analyzer clamping jaw device | |
| WO2020006857A1 (en) | High-stability robotic arm for robot | |
| CN206733022U (en) | A kind of electronic manipulator for explosion eliminating | |
| CN109202261A (en) | A kind of fully-automatic supersonic welder | |
| CN108673535A (en) | A kind of manipulator for tubing transport | |
| CN208854649U (en) | Self-clamping module applied to explosive-removal robot | |
| CN109571488A (en) | A kind of manipulator for explosion eliminating | |
| CN207300039U (en) | A kind of cannon is shot with ectoskeleton energization system | |
| CN111623666A (en) | Portable arresting anti-riot fork equipment | |
| CN207344611U (en) | Robot quick fixation structure and explosive-removal robot | |
| CN111854557A (en) | Movable explosive disposal device and unexplosive explosive treatment method | |
| CN209111079U (en) | A kind of no dead angle rotational automaticization crawl robot | |
| CN109877872A (en) | A kind of abiotic hand grabs steady equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |