CN212044760U - Multi-degree-of-freedom working arm and forcible entry robot - Google Patents
Multi-degree-of-freedom working arm and forcible entry robot Download PDFInfo
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- CN212044760U CN212044760U CN202020699765.XU CN202020699765U CN212044760U CN 212044760 U CN212044760 U CN 212044760U CN 202020699765 U CN202020699765 U CN 202020699765U CN 212044760 U CN212044760 U CN 212044760U
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Abstract
The utility model discloses a multi freedom working arm and brokenly tear robot open. The working arm comprises a large arm, wherein the front end of the large arm is hinged with a second arm, a second arm oil cylinder is hinged between the second arm and the large arm, the second arm is a telescopic arm, the outer end of the second arm is hinged with a rotary arm assembly, a rotary arm oil cylinder is hinged between the rotary arm assembly and the second arm, the rotary arm assembly is connected with a small arm, the outer end of the small arm is hinged with a working accessory, and a working accessory oil cylinder is hinged between the working accessory and the small arm. The utility model has the advantages of being scientific and reasonable in structure, convenience safe in utilization adds 360 rotatory settings through flexible for the work arm has very high degree of freedom, thereby possess fine striking effect. When the hydraulic oil cylinder is used, the hydraulic oil cylinder is remotely controlled, and when the hydraulic oil cylinder needs to be broken and disassembled, the hydraulic power mechanism drives the oil cylinder to stretch. When the equipment arrives at a working place, the telescopic arm extends out, the working range is expanded, and the working efficiency of the equipment reaches the best effect. When in transportation, the telescopic arm is retracted to be communicated, so that a small transportation space is provided.
Description
Technical Field
The utility model belongs to the technical field of cleaning device, concretely relates to multi freedom working arm and brokenly tear robot open.
Background
Nowadays, science and technology are rapidly developed, human life is greatly improved compared with the prior art, and people have requirements on quality of life. Some high-risk work is no longer suitable for humans to do. The work is demolishd in the knot material clearance of current many dust environment of high temperature to stove kiln etc. is accomplished with artifical manual, and the environmental hazard is complicated in the stove kiln, and the clearance knot material can make the fragment of brick drop, leads to personnel to be injured easily. And a large amount of dust exists in the kiln, the sight of personnel is fuzzy, the cleaning cannot be realized, and the respiratory system is damaged. The breaking-in robot can replace human beings to finish the work of breaking-in, carrying, excavating, cutting and the like in severe environment. Meanwhile, with the increase of labor cost, people use robots to replace people to work. The product is created in the times, and the breaking-in robot is produced at the same time.
However, many special construction environments are narrow and blocked, the size of a robot is relatively large, and the extension of an arm is easily limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a multi freedom working arm and brokenly tear robot open to the not enough of prior art existence.
The technical scheme is as follows: in order to solve the technical problem, the utility model discloses a technical scheme as follows:
in a first aspect, the utility model provides a multi freedom work arm, including big arm, big arm front end articulates there is two arms, it has two arm hydro-cylinders to articulate between two arms and the big arm, two arms are flexible arm, and its outer end articulates there is the rotatory arm assembly, it has the swinging boom hydro-cylinder to articulate between swinging boom assembly and the two arms, the swinging boom assembly is connected with the forearm, the outer end of forearm articulates there is the work accessory, it has the work accessory hydro-cylinder to articulate between work accessory and the forearm.
Further, the two arms comprise an outer arm hinged with the large arm and an inner arm arranged on the inner side of the outer arm, the two-arm oil cylinder is hinged between the outer arm and the large arm, a telescopic oil cylinder is hinged between the inner arm and the outer arm, and the telescopic oil cylinder is used for controlling the inner arm to stretch out and draw back on the inner side of the outer arm.
Furthermore, the rotating arm assembly comprises a support hinged to the front ends of the two arms, a rotary bearing is fixed to the middle of the front side of the support, the rear end of the small arm is connected with the rotary bearing through a bolt, the rotary bearing is meshed with a rotary motor, and the support and the rotary bearing are connected with a central rotary joint.
Furthermore, a plurality of rows of wheel grooves are transversely formed in the outer side of the outer arm, a plurality of idler wheels are installed in each wheel groove, openings are formed in the positions, corresponding to the idler wheels, of the outer arm, and the idler wheels penetrate through the openings and are in rolling connection with the inner arm.
Further, the wheel grooves comprise two rows, a wheel carrier is fixed in each wheel groove, a mounting groove is formed in each wheel carrier, each roller comprises a wheel shaft arranged in the mounting groove and a wheel body connected with a wheel shaft bearing, and a pressing block is connected to the outer side of each wheel carrier through bolts.
Further, the working accessory comprises a hydraulic hammer, a bucket and a hydraulic cutting saw.
In a second aspect, the utility model provides a brokenly tear robot open, which comprises a base, be equipped with running gear on the chassis, and its upside is equipped with rotation mechanism, the rotation mechanism upside is equipped with hydraulic power unit and electrical control box, still includes foretell multi freedom work arm, it has big arm hydro-cylinder to articulate between big arm and the rotation mechanism.
Furthermore, a plurality of supporting legs are hinged to the chassis, and supporting leg oil cylinders are hinged between the supporting legs and the chassis.
Furthermore, the running mechanism is a crawler-type running mechanism.
Has the advantages that: compared with the prior art, the utility model has the advantages of it is following:
the utility model has the advantages of being scientific and reasonable in structure, convenience safe in utilization adds 360 rotatory settings through flexible for the work arm has very high degree of freedom, is suitable for the work of almost any orbit or angle, thereby possess fine striking effect. When a user uses the device, the device is remotely controlled, and when the user needs to break and disassemble the device, the hydraulic power mechanism drives the oil cylinder to stretch and retract and moves through hydraulic transmission. When the equipment arrives at a working place, the telescopic arm extends out, the working range is expanded, and the working efficiency of the equipment reaches the best effect. When in transportation, the telescopic arm is retracted to be communicated, so that the forcible entry robot has a smaller transportation space.
Drawings
Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom working arm according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a multi-degree-of-freedom working arm according to an embodiment of the present invention;
fig. 3 is a partial cross-sectional view of a telescoping arm of an embodiment of the invention;
fig. 4 is a schematic structural diagram of a rotating arm assembly according to an embodiment of the present invention;
fig. 5 is a partially enlarged schematic view of the area a in fig. 1.
Detailed Description
The present invention will be further clarified by the following embodiments, which are implemented on the premise of the technical solution of the present invention, and it should be understood that these embodiments are only used for explaining the present invention and are not used for limiting the scope of the present invention.
As shown in fig. 1 and 2, the multi-degree-of-freedom working arm comprises a large arm 1, a two-arm 2 is hinged to the front end of the large arm 1, a two-arm oil cylinder 3 is hinged between the two-arm 2 and the large arm 1, and the two-arm oil cylinder 3 is controlled to stretch and contract, so that the angle between the two-arm 2 and the large arm 1 can be controlled. The two arms 2 are telescopic arms, and the length of the telescopic arms can be controlled to be telescopic according to use requirements. The outer end of the two arms 2 is hinged with a rotating arm assembly 4, a rotating arm oil cylinder 5 is hinged between the rotating arm assembly 4 and the two arms 2, and the rotating arm oil cylinder 5 is controlled to stretch, so that the angle between the rotating arm assembly 4 and the two arms 2 can be controlled. The rotating arm assembly 4 is connected with a small arm 6, the small arm 6 can be rotationally adjusted relative to the two arms 2 under the control of the rotating arm assembly 4, a working attachment 7 is hinged to the outer end of the small arm 6, a working attachment oil cylinder 8 is hinged between the working attachment 7 and the small arm 6, the working attachment oil cylinder 8 is controlled to stretch and contract, and the angle between the working attachment 7 and the small arm 6 can be controlled.
As shown in fig. 1 to 3, the two-arm 2 preferably adopted in the embodiment of the present invention includes an outer arm 21 and an inner arm 22, wherein the outer arm 21 is hinged to the large arm, the inside of the outer arm 21 is hollow, the inner shape and size of the outer arm 21 is matched with the inner arm 22, the inner arm 22 is disposed inside the outer arm 21, and the two-arm cylinder 3 is hinged between the outer arm 21 and the large arm 1. A telescopic oil cylinder 23 is hinged between the inner arm 22 and the outer arm 21, and the telescopic oil cylinder 23 is controlled to be telescopic, namely the inner arm 22 can be controlled to be telescopic at the inner side of the outer arm 21.
As shown in fig. 4, the rotating arm assembly 4 of the embodiment of the present invention includes a support 41, a rotary bearing 42, a rotary motor 43, and a central rotary joint 44. Wherein, the support 41 is hinged at the front end of the two arms 2, the rotary bearing 42 is fixed on the support 41, the rear end of the small arm 6 is connected with the rotary bearing 42 through a bolt, the rotary bearing 42 is meshed with the rotary motors 43, preferably, two rotary motors 43 are adopted, the two rotary motors 43 are respectively arranged at two sides of the rotary bearing 42, and the small arm 6 is driven to rotate along with the rotary bearing 42 when the two rotary motors 43 rotate. A central rotary joint 44 is connected to the rotary support 41 and the rotary bearing 42, specifically, a part of the central rotary joint 44 close to the rotary support 41 is fixedly connected with the rotary support 41, and an oil pipe from a hydraulic power center is connected with the section; the part of the central swivel joint 44 close to the swivel bearing 42 is fixedly connected with the swivel bearing 42, and the oil pipe connected with the working attachment cylinder 8 is connected with the section, so that the oil pipe connected with the working attachment cylinder 8 is prevented from being torn off when the small arm 6 rotates.
As shown in fig. 1 to 5, the inner arm 22 can be slidably connected inside the outer arm 21, and as a preferred embodiment, a plurality of rows of wheel grooves 24 are transversely arranged outside the outer arm 21, a plurality of rollers 25 are installed inside each wheel groove 24, an opening is arranged at a position of the outer arm 21 corresponding to the roller 25, and the roller 25 passes through the opening and is in rolling connection with the inner arm 22. The wheel grooves 24 are preferably two rows, in order to facilitate installation of the rollers 25, a wheel frame 26 is fixed in each wheel groove 24, a mounting groove 27 is formed in the wheel frame 26, each roller 25 comprises a wheel shaft 251 and a wheel body 252, two ends of the wheel shaft 251 are arranged in the mounting grooves 27, two ends of the wheel shaft 251 are preferably arranged in a square shape, a self-lubricating bearing is arranged between the wheel body 252 and the wheel shaft 251, and the wheel body 252 is subjected to intermediate frequency quenching and has extremely high surface hardness so as to prevent surface abrasion. The outer side of the wheel frame 26 is connected with a pressing block 28 through a bolt 29, the pressing block 28 is used for limiting the wheel shaft 251 in the installation groove 27, a hole in the pressing block 28 for the bolt 29 to pass through can be a waist-shaped hole, the position of the pressing block 28 can be adjusted by loosening the bolt 29, the limiting position of the roller 25 is further adjusted, the position of the inner arm 22 can be adjusted conveniently during installation, and the inner arm 22 is prevented from being in contact with the outer arm 21 to generate friction.
The utility model discloses work accessory 7 of embodiment includes but not limited to hydraulic hammer, bucket and hydraulic pressure slitting saw. The specific installation mode is that a connecting rod 9 is hinged at the rear end of the working accessory 7, a rocker 10 is hinged between the connecting rod 9 and the small arm 6, and a working accessory oil cylinder 8 is hinged between the rocker 10 and the small arm 6.
With reference to fig. 1 to 5, based on the above embodiments, it can be understood by those skilled in the art that the present invention further provides a demolition robot, which includes a chassis 101, wherein the chassis 101 is provided with a traveling mechanism 102, and the traveling mechanism 102 preferably adopts a crawler-type traveling mechanism. The upper side of the chassis 101 is further provided with a swing mechanism 103 and an electrical control box 108, the swing mechanism 103 is driven by a hydraulic motor to swing on the chassis 101, the upper side of the swing mechanism 103 is provided with a hydraulic power mechanism 104, the hydraulic power mechanism 104 comprises a prime mover, a hydraulic pump, a hydraulic oil tank and the like and is used for providing hydraulic power for a hydraulic cylinder, the hydraulic motor and the like, the electrical control box 108 is connected with a remote control terminal, and the robot is controlled to move through the remote control terminal, so that the above prior art is not repeated. The multi-degree-of-freedom working arm is further provided, a large arm oil cylinder 105 is hinged between the large arm 1 and the swing mechanism 103, and the angle between the large arm 1 and the swing mechanism 103 can be controlled by controlling the large arm oil cylinder 105 to stretch and retract. For stable operation, it is preferable that a plurality of legs 106 are hinged to the chassis 101, and a leg cylinder 107 is hinged between the legs 106 and the chassis 101. The walking and supporting state adjustment of the supporting legs 106 can be controlled by controlling the telescopic movement of the supporting leg oil cylinders 107.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a multi freedom working arm, includes big arm, big arm front end articulates there is two arms, it has two arm hydro-cylinders, its characterized in that to articulate between two arms and the big arm: the two arms are telescopic arms, the outer ends of the two arms are hinged with rotary arm assemblies, rotary arm oil cylinders are hinged between the rotary arm assemblies and the two arms, the rotary arm assemblies are connected with small arms, the outer ends of the small arms are hinged with working accessories, and working accessory oil cylinders are hinged between the working accessories and the small arms.
2. The multiple degree of freedom working arm of claim 1, wherein: the two arms comprise an outer arm hinged with the large arm and an inner arm arranged on the inner side of the outer arm, the two-arm oil cylinder is hinged between the outer arm and the large arm, a telescopic oil cylinder is hinged between the inner arm and the outer arm, and the telescopic oil cylinder is used for controlling the inner arm to stretch out and draw back on the inner side of the outer arm.
3. The multiple degree of freedom working arm of claim 1, wherein: the rotating arm assembly comprises a support hinged to the front ends of the two arms, a rotary bearing is fixed in the middle of the front side of the support, the rear end of the small arm is connected with the rotary bearing through a bolt, the rotary bearing is meshed with a rotary motor, and the support and the rotary bearing are connected with a central rotary joint.
4. The multiple degree of freedom working arm of claim 2, wherein: the outer arm is transversely equipped with a plurality of rows of race grooves in the outside, installs a plurality of gyro wheels in each race groove, outer arm and gyro wheel correspond the position and are equipped with the opening, the gyro wheel passes opening and inner arm roll connection.
5. The multiple degree of freedom working arm of claim 4, wherein: the wheel grooves comprise two rows, a wheel carrier is fixed in each wheel groove, a mounting groove is formed in each wheel carrier, the idler wheel comprises a wheel shaft arranged in the mounting groove and a wheel body connected with a wheel shaft bearing, and a pressing block is connected to the outer side of each wheel carrier through bolts.
6. The multiple degree of freedom working arm of claim 1, wherein: the working accessory comprises a hydraulic hammer, a bucket and a hydraulic cutting saw.
7. The utility model provides a broken robot of tearing open, includes the chassis, be equipped with running gear on the chassis, and its upside is equipped with rotation mechanism, the rotation mechanism upside is equipped with hydraulic power unit and electrical control box, its characterized in that: the multi-degree-of-freedom working arm as claimed in any one of claims 1 to 6, wherein a large arm oil cylinder is hinged between the large arm and the swing mechanism.
8. The demolition robot of claim 7, wherein: a plurality of supporting legs are hinged to the chassis, and supporting leg oil cylinders are hinged between the supporting legs and the chassis.
9. The demolition robot of claim 7, wherein: the running mechanism is a crawler-type running mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020699765.XU CN212044760U (en) | 2020-04-30 | 2020-04-30 | Multi-degree-of-freedom working arm and forcible entry robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020699765.XU CN212044760U (en) | 2020-04-30 | 2020-04-30 | Multi-degree-of-freedom working arm and forcible entry robot |
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| CN212044760U true CN212044760U (en) | 2020-12-01 |
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| CN202020699765.XU Active CN212044760U (en) | 2020-04-30 | 2020-04-30 | Multi-degree-of-freedom working arm and forcible entry robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112902670A (en) * | 2021-02-03 | 2021-06-04 | 安徽工业大学 | Rotary kiln lining breaking-in robot and breaking-in method |
| CN112964078A (en) * | 2021-02-07 | 2021-06-15 | 安徽工业大学 | Breaking-in robot for concretion on surface of rotary kiln lining and using method |
| CN113635309A (en) * | 2021-09-02 | 2021-11-12 | 安徽恒创智能装备有限公司 | Bulk material warehouse cleaning robot and construction method thereof |
-
2020
- 2020-04-30 CN CN202020699765.XU patent/CN212044760U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112902670A (en) * | 2021-02-03 | 2021-06-04 | 安徽工业大学 | Rotary kiln lining breaking-in robot and breaking-in method |
| CN112902670B (en) * | 2021-02-03 | 2022-06-03 | 安徽工业大学 | Rotary kiln lining breaking-in robot and breaking-in method |
| CN112964078A (en) * | 2021-02-07 | 2021-06-15 | 安徽工业大学 | Breaking-in robot for concretion on surface of rotary kiln lining and using method |
| CN112964078B (en) * | 2021-02-07 | 2022-06-14 | 安徽工业大学 | Breaking-in robot for concretion on surface of rotary kiln lining and using method |
| CN113635309A (en) * | 2021-09-02 | 2021-11-12 | 安徽恒创智能装备有限公司 | Bulk material warehouse cleaning robot and construction method thereof |
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