CN208215364U - A kind of small anti-explosion robot based on electric pushrod - Google Patents
A kind of small anti-explosion robot based on electric pushrod Download PDFInfo
- Publication number
- CN208215364U CN208215364U CN201820829466.6U CN201820829466U CN208215364U CN 208215364 U CN208215364 U CN 208215364U CN 201820829466 U CN201820829466 U CN 201820829466U CN 208215364 U CN208215364 U CN 208215364U
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- China
- Prior art keywords
- dewclaw
- electric pushrod
- axis
- axle
- lower claw
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Abstract
The utility model discloses a kind of small anti-explosion robot based on electric pushrod, including vehicle body, steering engine is fixedly installed on vehicle body, rotary supporting part, rotating crank arm, dewclaw, lower claw, first axle and the second axis, electric pushrod, the both ends of first axle are supported by rotary supporting part, and its rotation is controlled by steering engine, the both ends of second axis are fixed on lower claw, one end of dewclaw and one end of rotating crank arm are hinged, the other end of dewclaw extends to body exterior, the other end of rotating crank arm is fixed in first axle and the second axis, one end of lower claw is fixed in first axle and the second axis, the other end extends to body exterior, and formation opposite with dewclaw grabs mouth, one end of electric pushrod is flexibly connected with the second axis, the other end is connected with dewclaw and dewclaw is driven to make open and close movement.The utility model snatch ability is strong, compact, multiple degrees of freedom, and crawl is more accurate, operates simpler.
Description
Technical field
The utility model relates to a kind of explosion prevention robot, in particular to a kind of small anti-explosion robot that Grasping skill is strong,
Belong to robotic technology field.
Background technique
In the modern life, explosive majority is to be completed by manpower, but also to guarantee to guarantee in explosive process quick-fried
Fried object is not ignited, this requires the explosion that explosive personnel have higher explosive technology and psychological quality to face to occur at any time,
This is just difficult to ensure the life security of explosive personnel, and many occasions be unsuitable for people go it is explosive, make explosive operating condition by
To great limitation.
The one kind of explosion prevention robot as specialized robot plays very important work in fire extinguishing and rescue further
With.For example, fire-fighting robot is as a kind of fire-fighting equipment, alternative staff enter high temperature, inflammable and explosive, toxic, anoxic,
The hazards such as dense smoke scene of the accident put out a fire, decontamination, smoke evacuation, illumination, scouting and data sampling and processing, feedback etc., can
Effectively solve personal safety, the problems such as data information acquisition is insufficient that fire fighter faces in above-mentioned place.Floor manager personnel
It can use it to be suppressed in advance, and according to its feedback result, science judgment made to the condition of a disaster in time, thus to disaster accident
Correct, reasonably decision is made in work on the spot.Robot can substitute the mankind it is various badly with the lower work of special environment,
Us can be helped to complete high-intensitive work requirements.
Explosion prevention robot of getting rid of the danger is one of remote controlled moving checking job robot system product, exclusively for public security, fire-fighting
The robot product with functions such as crawl, destroying explosive substances that equal departments manufacture and design.
Currently, there are expensive, figure is huge, freedom degree is more, complicated for operation, snatch ability for common explosion prevention robot
The disadvantages of weaker.
Utility model content
In view of the above-mentioned problems existing in the prior art, the utility model provide a kind of flexible movement, superpower snatch, can long distance
Explosion prevention robot from remote control.
The technical solution of the utility model is as follows:
A kind of small anti-explosion robot based on electric pushrod, the small anti-explosion robot includes vehicle body, the vehicle body
On be fixedly installed steering engine, rotary supporting part, rotating crank arm, dewclaw, lower claw, first axle and the second axis, electric pushrod, it is described
The both ends of first axle are supported by rotary supporting part, and control its rotation by steering engine, under the both ends of second axis are fixed on
On pawl, one end of the dewclaw and one end of rotating crank arm are hinged, and the other end of dewclaw extends to body exterior, and the rotation is bent
The other end of arm is fixed in the first axle and the second axis, and the first axle and the second axis are fixed in one end of the lower claw
On, the other end extends to body exterior, and formation opposite with dewclaw grabs mouth, and one end of the electric pushrod and the second axis are living
Dynamic connection, the other end are connected with dewclaw and dewclaw are driven to make open and close movement.
The rotating crank arm is L shape as a further improvement of the utility model,.
Synchronizing wheel is fixedly installed in the first axle as a further improvement of the utility model, the steering engine passes through
Synchronizing wheel is driven to drive first axle rotation.
The dewclaw is L shape as a further improvement of the utility model, and barb knot is arranged at the crawl mouth of dewclaw
Structure.
The lower claw is zigzag as a further improvement of the utility model, and barb is arranged at the crawl mouth of lower claw
Structure.
The quantity of the lower claw is 2 as a further improvement of the utility model, and the quantity of the dewclaw is 1, institute
State the two sides that lower claw is set to dewclaw.
The lower claw includes positioned at the interior bar of inside and positioned at the outer of outside as a further improvement of the utility model,
Bar, the first axle are secured across after interior bar and outer bar by rotary supporting part movable supporting, and second axis is only fixed on interior
On bar.
The lower end of the electric pushrod is provided with perforation as a further improvement of the utility model, and second axis is living
It is dynamic to be arranged in the perforation.
As a further improvement of the utility model, crawl mouth direction vehicle body end be provided with forward, tilt down
Inclination angle portion.
The beneficial effects of the utility model are as follows:
Mobile flexible, the superpower snatch of the small anti-explosion robot based on electric pushrod of the utility model, can remote control.
The utility model has the mechanical arm of superpower snatch function, in the case where own wt 9kg, the weight of theoretical snatch 50kg or so
Object；If bad environments, personnel's inconvenience works, robot carry camera can overlength distance remote control with support personnel safety；
Robotic conveyance facilitates, is easily assembled to, it is simple to dismantle, compact, is convenient for carrying transport, vehicle length, width and height 60cm with
It is interior, within weight 9kg；The utility model is easy to operate, the lower claw mechanism difference being driven with the dewclaw mechanism of electric pushrod, sprocket wheel
Control, multiple degrees of freedom, robot crawl is more accurate, operates simpler.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of small anti-explosion robot of the utility model based on electric pushrod.
Fig. 2 is the structural schematic diagram of the utility model steering engine part.
Fig. 3 is the control principle drawing of the utility model.
Marked in the figure: 1- vehicle body；2- rotary supporting part；The inclination angle 3- portion；4- first axle；The second axis of 5-；6- lower claw；7- electricity
Dynamic push rod；8- dewclaw；9- rotating crank arm；10- synchronizing wheel；11- steering engine.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
A kind of structure of the small anti-explosion robot based on electric pushrod of the utility model is as depicted in figs. 1 and 2, including vehicle
Body 1 is fixedly installed steering engine 11, rotary supporting part 2, rotating crank arm 9, dewclaw 8, lower claw 6, first axle 4 and second on vehicle body 1
Axis 5, electric pushrod 7.The both ends of first axle 4 are supported by rotary supporting part 2, and control its rotation, the second axis 5 by steering engine 11
Both ends be fixed on lower claw 6.One end of dewclaw 8 and one end of rotating crank arm 9 are hinged, and the other end of dewclaw 8 is to outside vehicle body 1
Extend, the other end of rotating crank arm 9 is fixed in first axle 4 and the second axis 5, and first axle 4 and second are fixed in one end of lower claw 6
On axis 5, the other end grabs mouth with the opposite formation of dewclaw 8 to extending outside vehicle body 1.One end of electric pushrod 7 and the second axis
5 are flexibly connected, and the other end is connected with dewclaw 8 and dewclaw 8 is driven to make open and close movement.
As a kind of preferred implementation structure, rotating crank arm 9 is L shape；Dewclaw 8 is L shape, and is set at the crawl mouth of dewclaw 8
Set overhead structure；Lower claw 6 is zigzag, and overhead structure is arranged at the crawl mouth of lower claw 6.The quantity of lower claw 6 is preferably 2,
The quantity of dewclaw 8 is preferably 1, and lower claw 6 is set to the two sides of dewclaw 8.
Synchronizing wheel 10 is fixedly installed in first axle 4, steering engine 11 drives first axle 4 to rotate by driving synchronizing wheel 10.
Lower claw 6 includes the interior bar positioned inside and outer bar positioned at outside, first axle 4 be secured across after interior bar and outer bar by
2 movable supporting of rotary supporting part, the second axis 5 are only fixed in interior bar.
The lower end of electric pushrod 7 is provided with perforation, and the second axis 5 is actively located in the perforation.
1 end of vehicle body in crawl mouth direction be provided with forward, the inclination angle portion 3 that tilts down, prevent robot from grabbing in this way
Tailstock portion " tilting " caused by center of gravity Forward occurs when overweight thing is taken even " to overturn ".
To sum up, a kind of small anti-explosion robot based on electric pushrod of the utility model includes snatch part and vehicle body
Part, snatch part are supported and fixed with body portion by " rotary supporting part ".Rotary supporting part 2 is mainly used for propping up
Support first axle 4, it is fixed in first axle 4 to there is synchronous pulley 10, rotation to crook one's arm 9, lower claw 6, electric pushrod 7 (rotatable), all with
Jackscrew plus key slot is fixed.Second axis 5 is the axis being fixed among two lower claws 6, and main function is the synchronous rotation of two lower claws 6
With support electric pushrod 7.Electric pushrod 7 is fixed in the middle part of dewclaw and lower claw for controlling " pushing " state of dewclaw.Automobile body part
Packing has big torsion steering engine 11, connect transmission with synchronizing wheel by sprocket wheel or belt, the upstroke of lower claw is driven with this,
To reach the movement of " crawl ".Body portion is designed as modularization, can choose crawler belt, tire is easily changed with more for coping with
The different road environment of kind；The space that dress camera is reserved on body roof, facilitates operator comparatively safe in this way
In the environment of manipulate.Steering engine is fixed on underbody, fixes at steering engine and is stayed for moving adjustment before and after it on underbody
Notch so that it is convenient to assembler installation and debugging.Vehicle body covers driving wheel largely to protect tyre injury and prevent
The entrance of foreign matter.For car body panel there are mounting groove, mounting hole etc., these slots, hole can fill sensor to detect acquisition institute of robot
The data of the environment of entrance, to noxious material analysis etc..The small anti-explosion robot manipulation of the utility model is convenient, only controls two
A component (steering engine, electric pushrod), it is easily controllable and from be not it is very heavy in the case where the machinery with superpower snatch function
Arm, the weight of theoretical snatch 50kg or so.
The working principle of the utility model is as shown in figure 3, the black arrow in figure represents feedback.Operator watches to direct current
After taking driver signal, steering engine is started to work, and drives the synchronizing wheel 10 for being attached thereto and (can using chain or belt).Synchronizing wheel 10 with
Rotating crank arm 9, first axle 4 are fixedly connected sequentially.Synchronizing wheel 10 is fixed with lower claw 6 by first axle 4, thus at this time synchronizing wheel 10 with
Lower claw 6 works, and lower claw 6 is lifted up.When suitable operator control electric pushrod 7 work, because electric pushrod 7 with it is upper
Pawl 8 is fixed, so dewclaw 8 moves downward, will reach the function of crawl article at this time.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (9)
1. a kind of small anti-explosion robot based on electric pushrod, the small anti-explosion robot include vehicle body (1), feature exists
In: steering engine (11), rotary supporting part (2), rotating crank arm (9), dewclaw (8), lower claw are fixedly installed on the vehicle body (1)
(6), it is propped up by rotary supporting part (2) at the both ends of first axle (4) and the second axis (5), electric pushrod (7), the first axle (4)
Support, and its rotation is controlled by steering engine (11), the both ends of second axis (5) are fixed on lower claw (6), the dewclaw (8)
One end of one end and rotating crank arm (9) is hinged, and the other end of dewclaw (8) extends to vehicle body (1) is external, the rotating crank arm (9)
The other end be fixed in the first axle (4) and the second axis (5), the first axle (4) are fixed in one end of the lower claw (6)
On the second axis (5), the other end extends to outside vehicle body (1), and with opposite the is formationed crawl mouth of dewclaw (8), it is described electronic to push away
One end of bar (7) is flexibly connected with the second axis (5), and the other end is connected with dewclaw (8) and dewclaw (8) is driven to make open and close movement.
2. a kind of small anti-explosion robot based on electric pushrod according to claim 1, it is characterised in that: the rotation
(9) are cranked arm as L shape.
3. a kind of small anti-explosion robot based on electric pushrod according to claim 1, it is characterised in that: described first
It is fixedly installed on axis (4) synchronizing wheel (10), the steering engine (11) drives first axle (4) rotation by driving synchronizing wheel (10).
4. a kind of small anti-explosion robot based on electric pushrod according to claim 1, it is characterised in that: the dewclaw
(8) it is L shape, and overhead structure is set at the crawl mouth of dewclaw (8).
5. a kind of small anti-explosion robot based on electric pushrod according to claim 1, it is characterised in that: the lower claw
(6) it is zigzag, and overhead structure is set at the crawl mouth of lower claw (6).
6. a kind of small anti-explosion robot based on electric pushrod according to claim 1, it is characterised in that: the lower claw
(6) quantity is 2, and the quantity of the dewclaw (8) is 1, and the lower claw (6) is set to the two sides of dewclaw (8).
7. a kind of small anti-explosion robot based on electric pushrod according to claim 1, it is characterised in that: the lower claw
It (6) include the interior bar for being located inside and the outer bar positioned at outside, the first axle (4) is secured across after interior bar and outer bar by rotating
Support member (2) movable supporting, second axis (5) are only fixed in interior bar.
8. a kind of small anti-explosion robot based on electric pushrod according to claim 1, it is characterised in that: described electronic
The lower end of push rod (7) is provided with perforation, and second axis (5) is actively located in the perforation.
9. a kind of small anti-explosion robot based on electric pushrod according to claim 1, it is characterised in that: in crawl mouth
Vehicle body (1) end in direction be provided with forward, the inclination angle portion (3) that tilts down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820829466.6U CN208215364U (en) | 2018-05-31 | 2018-05-31 | A kind of small anti-explosion robot based on electric pushrod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820829466.6U CN208215364U (en) | 2018-05-31 | 2018-05-31 | A kind of small anti-explosion robot based on electric pushrod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208215364U true CN208215364U (en) | 2018-12-11 |
Family
ID=64507016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820829466.6U Expired - Fee Related CN208215364U (en) | 2018-05-31 | 2018-05-31 | A kind of small anti-explosion robot based on electric pushrod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208215364U (en) |
-
2018
- 2018-05-31 CN CN201820829466.6U patent/CN208215364U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181211 Termination date: 20210531 |