CN211565908U - Robot can break away from manipulator - Google Patents
Robot can break away from manipulator Download PDFInfo
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- CN211565908U CN211565908U CN201922270586.4U CN201922270586U CN211565908U CN 211565908 U CN211565908 U CN 211565908U CN 201922270586 U CN201922270586 U CN 201922270586U CN 211565908 U CN211565908 U CN 211565908U
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- manipulator
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- detachable
- pressing plate
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Abstract
The utility model discloses a robot can break away from manipulator, including pressing from both sides tight unit, press from both sides tight unit including the top board and the holding down plate that can reciprocate relatively, one side that top board and holding down plate are relative all is equipped with the boss, still including being used for the fixed box of fixed manipulator that can break away, be equipped with the ring channel that matches the boss on the fixed box, the cooperation that top board and the holding down plate that compress tightly pass through boss and ring channel can press from both sides fixed box tightly, still include rotatory guide holder, be equipped with a plurality of rotatory guide shafts around rotatory guide holder axis evenly distributed on the rotatory guide holder, be equipped with on the fixed box with a plurality of rotatory guide shaft corresponding complex a plurality of guiding holes, all the cover is equipped with the spring on a plurality of rotatory guide shafts, when fixed box is in the clamping state, a plurality of springs all are in. Through the detachable manipulator, the robot can be separated from the carried explosives, and further the loss of the explosives to the control part of the robot is reduced.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a robot can break away from manipulator.
Background
The explosive-handling robot is used for removing dumb bullets on battlefields and target ranges, processing explosives in anti-terrorism activities and the like, and is characterized in that the dumb bullets or the explosives which are found are clamped by a manipulator of the robot and placed to a specified position to be shot into the dumb bullets or the explosives remotely.
In the prior art, the mode of transporting explosives by an explosive-handling robot is as follows: connecting the detonating cartridge with explosives through a rope and the like, and detonating the explosives by remotely controlling the detonating cartridge or shooting bullets or shells into the explosives through a firearm; this approach requires the securing of explosives to the robotic manipulator, which places the securing personnel in a hazardous environment and is more harmful to the robot when the explosives are detonated, and at present, the manipulator detachment technology is not mature and the drive and control unit is still provided on the detachable manipulator, which results in greater losses when explosives are exploded.
Therefore, how to provide a detachable manipulator for a robot capable of detaching the manipulator from the robot becomes a technical problem which needs to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In order to achieve the above object, the utility model provides a following technical scheme:
a robot detachable manipulator comprises a clamping unit, wherein the clamping unit comprises an upper pressing plate and a lower pressing plate which can move up and down relatively, bosses are arranged on the opposite sides of the upper pressure plate and the lower pressure plate, and the manipulator fixing device also comprises a fixing box for fixing the detachable manipulator, the fixed box is provided with an annular groove matched with the boss, the upper pressing plate and the lower pressing plate which are pressed tightly can clamp the fixed box through the matching of the boss and the annular groove, the rotary guide seat is also included, the rotary guide seat is provided with a plurality of rotary guide shafts which are uniformly distributed around the axis of the rotary guide seat, the fixed box is provided with a plurality of guide holes correspondingly matched with the rotary guide shafts, the rotary guide shafts are all sleeved with springs, and when the fixed box is in a clamping state, the springs are all in a compression state.
As a further scheme of the utility model, the clamping unit still includes the dead pole of first lock, the dead pole of second lock, be equipped with the belt pulley on the dead pole of first lock, the dead pole of first lock pass through the hold-in range with the dead pole of second lock is connected, first lock die the pole with it is used for connecting all to be equipped with both ends spiral to opposite screw thread on the dead pole of second lock the top board with the holding down plate, the dead pole of first lock with the dead pole of second lock rotates and to make the top board with the holding down plate reciprocates relatively.
As a further scheme of the utility model, still including breaking away from the motor, be equipped with the bevel gear on the output shaft that breaks away from the motor, break away from the bevel gear on the motor and install the epaxial bevel gear meshing of first transmission, be equipped with on the first transmission shaft with the straight-tooth cylindrical gear of first worm meshing, be equipped with on the first dead lock pole with the straight-tooth cylindrical gear of first worm meshing.
As a further aspect of the present invention, the number of the rotary guide shafts is four.
As a further proposal of the utility model, the device also comprises a clamping motor, a shaft coupling is arranged on an output shaft of the clamping motor, and the device also comprises a manipulator bracket and a grabbing disc, a clamping driving rod for transmitting clamping force is fixedly connected in the fixing box through a bearing, one end of the clamping driving rod is provided with a worm structure, the other end is matched with the shaft coupling on the clamping motor, the fixing box is fixedly connected with the manipulator bracket, the manipulator bracket is connected with the grabbing disc through a second hinge rod, the second hinge rod is hinged with the manipulator bracket and the grabbing disc, the grabbing disc is also hinged with a first hinge rod, one end of the first hinge rod is fixedly connected with a clamping gear, the clamping gear is fixedly arranged on the manipulator bracket through a bearing, the clamping gear is engaged with the worm structure on the clamping driving rod, the first hinged rod, the second hinged rod, the grabbing disc and the clamping gear are all provided with two.
As a further scheme of the utility model, still include the rotating electrical machines, be equipped with the bevel gear on the rotating electrical machines, bevel gear and the epaxial straight-tooth spur gear meshing of second transmission on the rotating electrical machines, the epaxial straight-tooth spur gear of first transmission and the straight-tooth spur gear meshing of installing on the second worm are equipped with helical structure on the second worm, the last fixedly connected with turbine of clamp motor, the helical structure meshing on turbine and the second worm.
As a further aspect of the present invention, the rotary guide shaft is a linear bearing.
To sum up, compared with the prior art, the utility model has the following beneficial effects:
the utility model discloses a set up first clamp plate, second clamp plate and can press from both sides tightly the mechanical hand that can break away for it is fixed, and be equipped with the spring of compression as the power supply, make the manipulator after first clamp plate and the separation of second clamp plate break away from, and then can avoid the technical problem that the background art part said, reduced the loss of explosive explosion to robot control part.
Furthermore, the relative movement of the first pressure plate and the second pressure plate is controlled through the first locking rod and the second locking rod, and the structure is simple and easy to realize.
Furthermore, a disengaging motor and a corresponding transmission structure for driving the first locking rod and the second locking rod to rotate are common mechanical components and are easy to realize.
Further, a clamping motor is included, and the clamping or the loosening of the mechanical arm can be controlled.
Furthermore, the manipulator can also comprise a rotating motor, so that the manipulator can be flexibly used.
Drawings
Fig. 1 is a partial structural schematic diagram of a detachable manipulator of a robot.
Fig. 2 is a schematic structural view of a detachable robot hand of the robot detachable robot hand.
Fig. 3 is a schematic structural diagram of a rotary guide seat and a rotary guide shaft of a robot detachable from a manipulator.
Fig. 4 is a schematic diagram of the whole structure of the detachable manipulator of the robot.
Fig. 5 is a sectional view of a robot hand detachable from the robot hand.
Reference numerals: 1 top board, 2 holding down plates, 3 fixed boxes, 4 rotatory guide seats, 5 rotatory guiding shafts, 6 first dead lock poles, 7 second dead lock poles, 8 break away from the motor, 9 first transmission shafts, 10 first worms, 11 tight motors of clamp, 12 manipulator supports, 13 first articulated links, 14 second articulated links, 15 snatchs the dish, 16 rotating electrical machines, 17 tight actuating levers of clamp, 18 tight gears of clamp, 19 second transmission shafts, 20 second worms.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
As shown in fig. 1-5, fig. 1 is a partial structural schematic diagram of a detachable manipulator of a robot.
Fig. 2 is a schematic structural view of a detachable robot hand of the robot detachable robot hand.
Fig. 3 is a schematic structural diagram of a rotary guide seat and a rotary guide shaft of a robot detachable from a manipulator.
Fig. 4 is a schematic diagram of the whole structure of the detachable manipulator of the robot.
Fig. 5 is a sectional view of a robot hand detachable from the robot hand.
As shown in fig. 1-5, the utility model provides a detachable manipulator of a robot, which comprises a clamping unit, wherein the clamping unit comprises an upper pressing plate 1 and a lower pressing plate 2 which can move up and down relatively, one side of the upper pressing plate 1 opposite to one side of the lower pressing plate 2 is provided with a boss, the detachable manipulator fixing box further comprises a fixing box 3 for fixing the detachable manipulator, the fixing box 3 is provided with an annular groove matched with the boss, the upper pressing plate 1 and the lower pressing plate 2 which are pressed tightly can clamp the fixing box 3 through the matching of the boss and the annular groove, the detachable manipulator further comprises a rotary guide seat 4, the rotary guide seat 4 is provided with a plurality of rotary guide shafts 5 which are uniformly distributed around the axis of the rotary guide seat 4, the fixing box 3 is provided with a plurality of guide holes correspondingly matched with the rotary guide shafts 5, and a plurality of rotary guide shafts 5 are all sleeved with springs, when the fixed box 3 is in a clamping state, the plurality of springs are all in a compression state.
The utility model discloses a set up first clamp plate 1, second clamp plate 2 and can press from both sides tightly the mechanical hand that can break away for it is fixed, and be equipped with the spring of compression as the power supply, make the mechanical hand after first clamp plate 1 and the separation of second clamp plate 2 break away from, and then can avoid the technical problem that the background art part said, reduced the loss of explosive explosion to robot control part.
In a concrete embodiment, clamping unit still includes first dead lock pole 6, the dead pole 7 of second lock, be equipped with the belt pulley on the dead pole 6 of first lock, first dead lock pole 6 pass through the hold-in range with the dead pole 7 of second lock is connected, first dead lock pole 6 with all be equipped with both ends on the dead pole 7 of second lock and revolve to opposite screw thread and be used for connecting top board 1 with holding down plate 2, first dead lock pole 6 with the dead pole 7 of second lock rotates and to make top board 1 with holding down plate 2 reciprocates relatively.
The relative movement of the first pressure plate 1 and the second pressure plate 2 is controlled by the first locking rod 6 and the second locking rod 7, and the structure is simple and easy to realize.
Further, still including breaking away from motor 8, be equipped with the bevel gear on the output shaft that breaks away from motor 8, the bevel gear that breaks away from on the motor 8 meshes with the bevel gear of installing on first transmission shaft 9, be equipped with the straight-tooth spur gear with first worm 10 meshing on the first transmission shaft 9, be equipped with on the first dead lock pole 8 with the straight-tooth spur gear of first worm 10 meshing.
The disengaging motor 8 and the corresponding transmission structure for driving the first locking rod 7 and the second locking rod 8 to rotate are common mechanical components and are easy to realize.
In this embodiment, the number of the rotary guide shafts 5 is four, but not limited thereto.
Further, the mechanical hand grabbing device comprises a clamping motor 11, a coupler is arranged on an output shaft of the clamping motor 11, a mechanical hand support 12 and a grabbing disc 15 are further included, a clamping driving rod 17 used for transmitting a clamping force is fixedly connected in the fixed box 3 through a bearing, a worm structure is arranged at one end of the clamping driving rod 17, the other end of the clamping driving rod is matched with the coupler on the clamping motor 11, the fixed box 3 is fixedly connected with the mechanical hand support 12, the mechanical hand support 12 is connected with the grabbing disc 15 through a second hinged rod 14, the second hinged rod 14 is hinged with the mechanical hand support 12 and the grabbing disc 15, a first hinged rod 13 is hinged on the grabbing disc 15, a clamping gear 18 is fixedly connected with one end of the first hinged rod 13, the clamping gear 18 is fixedly installed on the mechanical hand support 12 through a bearing, and the clamping gear 18 is meshed with the worm structure on the clamping driving rod 17, two first hinge levers 13, two second hinge levers 14, two gripper discs 15 and two clamping gears 18 are provided.
Comprises a clamping motor 11 which can control the clamping or the loosening of the manipulator.
In this embodiment, still include rotating electrical machines 16, be equipped with the bevel gear on the rotating electrical machines 16, bevel gear on the rotating electrical machines 16 and the straight-tooth spur gear meshing on the second transmission shaft 19, straight-tooth spur gear on the second transmission shaft 19 and the straight-tooth spur gear meshing of installing on the second worm 20 are equipped with helical structure on the second worm 20, fixedly connected with turbine on the clamp motor 11, the helical structure meshing on turbine and the second worm.
A rotary motor 16 may also be included to facilitate flexible use of the manipulator.
In application, with reference to fig. 1-5, the bosses are inserted into the annular grooves through the up-and-down movement of the first and second pressing plates, so as to prevent the fixed box 3 from moving in the axial direction of the linear guide rail, the grooves are of an annular structure, the rotation of the manipulator is not affected, the four guide shafts on the rotary guide seat 4 limit five degrees of freedom of the fixed box 3, and the bosses on the upper and lower clamping plates limit one degree of freedom, so that the rotary guide seat 4 and the fixed box 3 are completely fixed. When needing to break away from, steerable motor 8 that breaks away from rotates, and the motor rotates and transmits the axle through the bevel gear, then the axle passes through gear drive with power transmission to first, the second locking pole, realizes reciprocating of first, second clamp plate, makes the boss break away from fixed box 3, has lost along the radial restraint of linear guide, and the manipulator breaks away from along linear guide's direction manipulator under the effect of spring force.
In addition, the fixed box is fixedly connected with a 3 mechanical arm support 12, the mechanical arm support 12 is connected with a grabbing disc 15 through a second hinge rod 14, the second hinge rod 14 is hinged with the mechanical arm support 12 and the grabbing disc 15, the grabbing disc 15 is also hinged with a first hinge rod 13, one end of the first hinge rod 13 is fixedly connected with a clamping gear 18, the clamping gear 18 is fixedly installed on the mechanical arm support 12 through a bearing, the clamping gear 18 is meshed with a worm structure on a clamping driving rod 17, the first hinge rod 13, the second hinge rod 14, the grabbing disc 15 and the clamping gear 18 are respectively provided with two parts, when the clamping driving rod 17 rotates, the clamping gear 18 is driven to rotate, the clamping gear 18 drives the first hinge rod 13 to rotate, the first hinge rod 13 drives the grabbing disc 15 to rotate, the grabbing discs 15 are always kept parallel under the action of the second hinge rod 14, the grabbing discs 15 approach (leave) to each other to complete clamping (releasing) work, the second articulated link 14 forms a quadrilateral with the robot arm support 12, the first articulated link 13 and the gripper disk 15, so that the gripping surfaces on the gripper disk 15 remain parallel at all times.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The detachable manipulator of the robot is characterized by comprising a clamping unit, wherein the clamping unit comprises an upper pressing plate (1) and a lower pressing plate (2) which can move up and down relatively, bosses are arranged on one sides of the upper pressing plate (1) and the lower pressing plate (2) opposite to each other, a fixing box (3) for fixing the detachable manipulator is further included, annular grooves matched with the bosses are formed in the fixing box (3), the pressing upper pressing plate (1) and the lower pressing plate (2) can clamp the fixing box (3) through the matching of the bosses and the annular grooves, the detachable manipulator further comprises a rotary guide seat (4), a plurality of rotary guide shafts (5) which are uniformly distributed around the axis of the rotary guide seat (4) are arranged on the rotary guide seat (4), and a plurality of guide holes correspondingly matched with the rotary guide shafts (5) are formed in the fixing box (3), a plurality of springs are sleeved on the rotary guide shafts (5), and when the fixed box (3) is in a clamping state, the springs are all in a compression state.
2. The detachable manipulator according to claim 1, wherein the clamping unit further comprises a first locking rod (6) and a second locking rod (7), a belt pulley is arranged on the first locking rod (6), the first locking rod (6) is connected with the second locking rod (7) through a synchronous belt, threads with opposite rotation directions at two ends are arranged on the first locking rod (6) and the second locking rod (7) and used for connecting the upper pressing plate (1) and the lower pressing plate (2), and the first locking rod (6) and the second locking rod (7) rotate to enable the upper pressing plate (1) and the lower pressing plate (2) to move up and down relatively.
3. The detachable manipulator according to claim 2, further comprising a detachable motor (8), wherein a bevel gear is arranged on an output shaft of the detachable motor (8), the bevel gear on the detachable motor (8) is engaged with a bevel gear arranged on a first transmission shaft (9), a spur gear engaged with a first worm (10) is arranged on the first transmission shaft (9), and a spur gear engaged with the first worm (10) is arranged on the first dead-lock rod (6).
4. Disengageable manipulator according to claim 1, characterized in that said rotation-guiding shafts (5) are four.
5. The detachable manipulator according to claim 1, further comprising a clamping motor (11), wherein a shaft coupling is arranged on an output shaft of the clamping motor (11), a manipulator support (12) and a grabbing plate (15) are further included, a clamping driving rod (17) for transmitting a clamping force is fixedly connected in the fixing box (3) through a bearing, one end of the clamping driving rod (17) is provided with a worm structure, the other end of the clamping driving rod is matched with the shaft coupling on the clamping motor (11), the fixing box (3) is fixedly connected with the manipulator support (12), the manipulator support (12) is connected with the grabbing plate (15) through a second hinge rod (14), the second hinge rod (14) is hinged to both the manipulator support (12) and the grabbing plate (15), and a first hinge rod (13) is hinged to the grabbing plate (15), the one end fixedly connected with of first articulated rod (13) presss from both sides tight gear (18), press from both sides tight gear (18) and pass through bearing fixed mounting in on manipulator support (12), press from both sides tight gear (18) with press from both sides tight actuating lever (17) on the worm structure meshing, first articulated rod (13) second articulated rod (14) with grab dish (15) and press from both sides tight gear (18) and all be equipped with two.
6. The detachable manipulator according to claim 5, further comprising a rotating motor (16), wherein a bevel gear is arranged on the rotating motor (16), the bevel gear on the rotating motor (16) is meshed with a spur gear on a second transmission shaft (19), the spur gear on the second transmission shaft (19) is meshed with a spur gear installed on a second worm (20), a spiral structure is arranged on the second worm (20), a turbine is fixedly connected to the clamping motor (11), and the turbine is meshed with the spiral structure on the second worm (20).
7. Disengageable manipulator according to claim 1, characterized in that the rotary guiding shaft (5) is a linear bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922270586.4U CN211565908U (en) | 2019-12-17 | 2019-12-17 | Robot can break away from manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922270586.4U CN211565908U (en) | 2019-12-17 | 2019-12-17 | Robot can break away from manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN211565908U true CN211565908U (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922270586.4U Active CN211565908U (en) | 2019-12-17 | 2019-12-17 | Robot can break away from manipulator |
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| CN (1) | CN211565908U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113387178A (en) * | 2021-07-23 | 2021-09-14 | 力行亲和机器人科技(西安) 有限公司 | Mechanical arm tail end executing mechanism with self-locking mechanism |
-
2019
- 2019-12-17 CN CN201922270586.4U patent/CN211565908U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113387178A (en) * | 2021-07-23 | 2021-09-14 | 力行亲和机器人科技(西安) 有限公司 | Mechanical arm tail end executing mechanism with self-locking mechanism |
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