CN209954688U - Arrange and explode operating arm mechanism and arrange and explode robot - Google Patents
Arrange and explode operating arm mechanism and arrange and explode robot Download PDFInfo
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- CN209954688U CN209954688U CN201920556775.5U CN201920556775U CN209954688U CN 209954688 U CN209954688 U CN 209954688U CN 201920556775 U CN201920556775 U CN 201920556775U CN 209954688 U CN209954688 U CN 209954688U
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Abstract
The utility model discloses an explosive handling arm mechanism and explosive handling robot, which comprises a mounting plate used as a mounting base surface and a suspender arranged on the two sides of the upper end of the mounting plate and used for connecting a lifting body of the robot body, wherein the two sides of the lower end of the mounting plate are symmetrically provided with fixed plates, a telescopic cylinder is arranged on the mounting plate at the middle position of the fixed plate, the lower end of the fixed plate is rotationally connected with a clamping base plate through a rotating shaft, the inner side of the clamping base plate is rotationally connected with the lower end of a rotating connecting rod, the upper end of the rotating connecting rod is rotationally connected with the side surface of a transmission rod at the output end of the telescopic cylinder, the outer side of the clamping base plate is provided with an operating component convenient for switching an operating head, the utility model improves the defects of the prior art, and is provided with an operating component capable of switching the operating head, in addition, the operation head can be detachably connected, so that the replacement in the later period is facilitated, and the practicability is high.
Description
Technical Field
The utility model relates to a arrange and explode auxiliary assembly technical field, specifically be a arrange and explode operating arm mechanism and arrange and explode robot.
Background
The explosion brings huge economic loss and political influence to the nation and people, threatens the life safety of explosive disposal personnel. In order to maintain social stability and political requirements, great attention and more investment are given to research and development of anti-terrorism and anti-riot technologies and equipment. With the development of remote control and local autonomous mobile technology, ground mobile robots for anti-terrorist investigation and explosion elimination are beginning to be applied. The explosion-eliminating robot is a robot which replaces people to be in environments with explosion, danger and the like which cannot be or are not suitable for people to go, or carries out work for eliminating dangerous objects, and is specially used for searching, detecting and processing various explosion dangerous goods. The explosive-handling robot comprises a flying device, a control system and a mechanical claw, wherein the mechanical claw is used for grabbing dangerous goods, but the conventional mechanical claw cannot grab the dangerous goods flexibly, and the grabbing force is insufficient to cause explosion danger easily in the explosive-handling process.
In order to solve the above problems, the prior patent publication nos. CN206488694U and CN207344622U disclose a robot, but the robot can only use one operation end in practice, and is generally a single clamping mechanism, and it is not known that the robot not only involves clamping but also involves cutting operation in the explosion removing process.
To the drawback of the existing device, an explosive handling arm mechanism is now provided.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an arrange and explode operating arm mechanism and arrange and explode robot to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides an arrange and explode operation arm mechanism, is used for as the mounting panel of installation base face and sets up the jib that is used for connecting the promotion body of robot body in mounting panel upper end both sides, mounting panel lower extreme bilateral symmetry is equipped with the fixed plate, install the telescoping cylinder on the mounting panel at fixed plate intermediate position place, the fixed plate lower extreme rotates through the axis of rotation and is connected with the centre gripping base plate, centre gripping base plate inboard rotates with the rotation connecting rod lower extreme to be connected, the transfer line side of rotation connecting rod upper end and telescoping cylinder output rotates to be connected, the centre gripping base plate outside is equipped with the operating assembly who is convenient for switch over the operating.
As a further aspect of the present invention: the operating assembly is including setting up the rotation motor in the centre gripping base plate is inboard, the output that rotates the motor is equipped with the axis of rotation, the axis of rotation is worn to centre gripping base plate lateral surface and is connected with the rotor, the rotor outside is installed the operating head through coupling assembling, the quantity of operating head is four and the array distributes in the rotor outside.
As a further aspect of the present invention: the telescopic cylinder adopts a hydraulic cylinder or an air cylinder.
As a further aspect of the present invention: the outer side of the rotating motor is wrapped with a protective cover.
As a further aspect of the present invention: the coupling assembling is including setting up the screw hole in the rotor outside and the cooperation and set up the spliced pole at the operating head afterbody in the screw hole.
As a further aspect of the present invention: the telescopic cylinder and the rotating motor are electrically connected with a control end arranged on the mounting plate, and a USB slot used for connecting the control end is arranged on the control end.
As a further aspect of the present invention: and a pressure sensor is arranged at the position where the end part of the transmission rod is connected with the rotating connecting rod and is electrically connected with the control end.
Another improvement of the utility model is to provide a arrange and explode robot that includes above-mentioned row explodes operation arm.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses the shortcoming to prior art advances to improve, has set up the operating module that can switch over the operating head to eliminated current device and only had the limitation of single exposed core, made device operating performance obtain very big promotion, this kind of operating head can be dismantled in addition and connect the change that has also made things convenient for the later stage, and the practicality is strong.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the rotor of the present invention.
Fig. 3 is a schematic structural diagram of the middle operation assembly of the present invention.
Wherein: the device comprises a mounting plate 1, a suspender 2, a telescopic cylinder 3, a transmission rod 4, a fixing plate 5, a rotating connecting rod 6, a clamping base plate 7, an operating head 8, a connecting column 9, a rotating body 10, a rotating shaft 11, a rotating motor 12, a protective cover 13 and a control end 14.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1-3, in the embodiment of the present invention, an explosion-removing operation arm mechanism includes a mounting plate 1 used as a mounting base and a suspension rod 2 disposed on two sides of the upper end of the mounting plate 1 for connecting a lifting body of a robot body, wherein two sides of the lower end of the mounting plate 1 are symmetrically provided with a fixing plate 5, a telescopic cylinder 3 is mounted on the mounting plate 1 at the middle position of the fixing plate 5, the telescopic cylinder 3 adopts a hydraulic cylinder or an air cylinder, the lower end of the fixing plate 5 is rotatably connected with a clamping base plate 7 through a rotating shaft, the inner side of the clamping base plate 7 is rotatably connected with the lower end of a rotating connecting rod 6, the upper end of the rotating connecting rod 6 is rotatably connected with the side of a transmission rod 4 at the output end of the telescopic cylinder 3, so that the telescopic cylinder 3 can drive the transmission rod 4 to move up and down, the operating assembly who is convenient for switch over the operating head is equipped with in the centre gripping base plate 7 outside, through switching over different operating heads, and then satisfies the demand of centre gripping and cutting.
The operating assembly is including setting up the rotation motor 12 in centre gripping base plate 7 inboard, rotation motor 12 outside parcel has protection casing 13, the output of rotating motor 12 is equipped with axis of rotation 11, axis of rotation 11 wears to centre gripping base plate 7 lateral surface and is connected with rotor 10, rotor 10 installs operating head 8 in the outside through coupling assembling, operating head 8's quantity is four and array distribution in the rotor 10 outside, and operating head 8 here can set blade or grip block, and when the in-service use, drive rotor 10 through rotating motor 12 and rotate like this to accomplish the change to operating head 8, just so can make the robot arm can accomplish more operations, and two rotation motors 12 here are synchronous machine to two cooperation of operating head about better realization.
The coupling assembling is including setting up in the screw hole of rotor 10 outside and the cooperation just set up spliced pole 9 at 8 afterbody of operating head in the screw hole, accomplishes the dismantlement of being connected operating head 8 through this kind of threaded connection, the change and the maintenance in the later stage of being convenient for.
The telescopic cylinder 3 and the rotating motor 12 are electrically connected with a control end 14 arranged on the mounting plate 1, and a USB slot for connecting the control end is arranged on the control end 14.
Example 2
Referring to fig. 1-3, the difference from embodiment 1 is: in order to facilitate the control of the clamping force, a pressure sensor is arranged at the position where the end part of the transmission rod 4 is connected with the rotating connecting rod 6, and the pressure sensor is electrically connected with the control end 14, so that the clamping or shearing force can be checked, the overload work is avoided, and the operation safety is improved.
Example 2
On the basis of embodiments 1 and 2, an improvement on an explosive-handling robot is provided, in particular to an explosive-handling robot comprising an explosive-handling arm in embodiment 1 or embodiment 2.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. An explosion-removing operating arm mechanism comprises a mounting plate (1) used as a mounting base surface and hanging rods (2) which are arranged on two sides of the upper end of the mounting plate (1) and used for being connected with a lifting body of a robot body, wherein fixing plates (5) are symmetrically arranged on two sides of the lower end of the mounting plate (1), and a telescopic cylinder (3) is arranged on the mounting plate (1) in the middle of each fixing plate (5);
the telescopic manipulator is characterized in that the lower end of the fixing plate (5) is connected with a clamping base plate (7) in a rotating mode through a rotating shaft, the inner side of the clamping base plate (7) is connected with the lower end of a rotating connecting rod (6) in a rotating mode, the upper end of the rotating connecting rod (6) is connected with the side face of a transmission rod (4) of the output end of the telescopic cylinder (3) in a rotating mode, and an operation assembly convenient for switching an operation head is arranged on the outer side of the clamping base.
2. The explosive ordnance disposal arm mechanism as claimed in claim 1, wherein the operating assembly comprises a rotating motor (12) disposed inside the clamping base plate (7), an output end of the rotating motor (12) is provided with a rotating shaft (11), the rotating shaft (11) penetrates to the outer side surface of the clamping base plate (7) and is connected with the rotating body (10), the outer side of the rotating body (10) is provided with operating heads (8) through the connecting assembly, the number of the operating heads (8) is four, and the array is distributed outside the rotating body (10).
3. The explosive-handling arm mechanism according to claim 1, characterized in that the telescopic cylinder (3) is a hydraulic cylinder or an air cylinder.
4. The explosion venting operating arm mechanism according to claim 2, wherein the rotary motor (12) is externally wrapped with a protective cover (13).
5. An explosive discharge arm mechanism according to claim 2, wherein the connecting assembly comprises a threaded hole arranged outside the rotor (10) and a connecting column (9) fitted in the threaded hole and arranged at the tail of the operating head (8).
6. The explosive ordnance disposal arm mechanism as claimed in claim 2, wherein the telescopic cylinder (3) and the rotary motor (12) are electrically connected to a control end (14) arranged on the mounting plate (1), and a USB slot for connecting the control end is arranged on the control end (14).
7. The explosive ordnance disposal arm mechanism according to any one of claims 1 to 6, wherein a pressure sensor is arranged at the position where the end of the transmission rod (4) is connected with the rotating connecting rod (6), and the pressure sensor is electrically connected with the control end (14).
8. An explosive ordnance disposal robot, characterized by comprising an explosive ordnance disposal arm mechanism according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920556775.5U CN209954688U (en) | 2019-04-23 | 2019-04-23 | Arrange and explode operating arm mechanism and arrange and explode robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920556775.5U CN209954688U (en) | 2019-04-23 | 2019-04-23 | Arrange and explode operating arm mechanism and arrange and explode robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209954688U true CN209954688U (en) | 2020-01-17 |
Family
ID=69243253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920556775.5U Expired - Fee Related CN209954688U (en) | 2019-04-23 | 2019-04-23 | Arrange and explode operating arm mechanism and arrange and explode robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209954688U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115036847A (en) * | 2022-07-25 | 2022-09-09 | 广东电网有限责任公司 | Power grid high-altitude obstacle clearing robot |
-
2019
- 2019-04-23 CN CN201920556775.5U patent/CN209954688U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115036847A (en) * | 2022-07-25 | 2022-09-09 | 广东电网有限责任公司 | Power grid high-altitude obstacle clearing robot |
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| 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: 20200117 |