CN102729239A - All-dimensional manipulator - Google Patents

Abstract

The invention relates to an all-round manipulator, which includes a chassis, a telescopic arm mechanism and a mechanical gripper. The mechanical gripper is composed of a gripper mechanism and a steering mechanism. The gripper mechanism is fixed to an embedded The lower end of the rack elevating rod, the steering mechanism is connected with the connecting sleeve in the telescopic arm mechanism through the embedded rack elevating rod, the telescopic arm mechanism is fixed on the chassis, and the chassis is equipped with a mechanism. The beneficial effects of the present invention are as follows: 1. The omnidirectional manipulator can bypass obstacles, pass through tunnels, quickly cross bridges and carry out rescue missions, with stable and flexible operation and fast rescue speed; Lifting, can rotate 360° and store on the car body, and the grabbing range is 30-130MM; 3. The spreading mechanism in the chassis only moves when crossing the bridge. In order to reduce time and ensure stability, it must be connected with the The ground does not touch.

Description

Omni-directional manipulator

technical field

The invention relates to a manipulator, in particular to an all-round manipulator used for disaster relief.

Background technique

As we all know, when a disaster occurs, time is life, and the speed of rescue is crucial. If only relying on manual excavation, and then further rescue, first, the efficiency is not high, second, it will use a lot of manpower and material resources, third, The cost of spending is higher, and even if some rescue tools and machines are used, they are relatively cumbersome, which brings certain troubles to the speed of rescue.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned shortcomings, and provide an all-round manipulator with simple structure, fast rescue speed, stable and flexible operation.

The purpose of the present invention is accomplished through the following technical solutions, which include a chassis, a telescopic arm mechanism and a mechanical clamp, wherein the mechanical clamp is composed of a gripper mechanism and a steering mechanism, and the gripper mechanism is fixed to the steering mechanism The lower end of the built-in rack lifting rod in the steering mechanism is connected with the connecting sleeve in the telescopic arm mechanism through the built-in rack lifting rod, and the telescopic arm mechanism is fixed on the chassis.

Preferably, the chassis includes a bottom plate, two front auxiliary wheels, two rear auxiliary wheels, two synchronous driving pulleys, two synchronous driven pulleys, two first motors, four bearing seats, the front The radius of the auxiliary wheel and the rear auxiliary wheel is smaller than the radius of the synchronous driving pulley and the synchronous driven pulley, and the two front auxiliary wheels, the two rear auxiliary wheels, the two synchronous driving pulleys and the two synchronous driven pulleys are located at Both sides of the bottom plate; the front auxiliary wheel and the rear auxiliary wheel are connected by the auxiliary wheel connecting rod, the rear auxiliary wheel is connected with the synchronous driven pulley coaxially, and the synchronous driven pulley and the synchronous driving pulley are connected by crawler belts ; The synchronous driving pulley is connected with the wheel shaft, and the wheel shaft is set in two bearing seats, and the two bearing seats are fixed on the bottom of the bottom plate, and the wheel shaft is connected with the first motor through a gear pair.

As a preference, the chassis is provided with a spreading mechanism, which includes two rack drive rods, two drive rod slides, front wheel quill shafts, rear wheel quill shafts, front auxiliary wheel shafts, The rear auxiliary wheel shaft, the two rack transmission rods are respectively fixed on the connecting rods of the auxiliary wheels on both sides. A first gear meshes with a rack, and the first gear is fixed on the drive shaft of the second motor.

As a preference, each of the two front auxiliary wheels is connected with a front auxiliary wheel shaft, and a keyway is provided on the front auxiliary wheel shaft. .

As preferably, the front bearing seat close to the front auxiliary wheel side, the front bearing seat is sleeved on the front wheel sleeve shaft, and a front double bearing seat is arranged on one side of the front bearing seat, and the front double bearing seats are respectively placed on On the front wheel sleeve shaft and the front auxiliary wheel shaft; and the front bearing seat and the front double bearing seat are all fixed on the bottom of the base plate.

As a preference, the two rear auxiliary wheels coaxially connected with the synchronous driven pulley are each connected with a rear auxiliary wheel shaft, and a keyway is provided on the rear auxiliary wheel shaft, and the rear auxiliary wheel shaft is sleeved in the rear wheel sleeve shaft, And be stuck on the key groove of rear auxiliary wheel axle by key.

Preferably, the rear bearing seat close to the side of the synchronous driven pulley, the rear bearing seat is sleeved on the rear wheel sleeve shaft, and a rear double bearing seat is arranged on one side of the rear bearing seat, and the rear double bearing seats are respectively Sleeved on the rear wheel sleeve shaft and the rear auxiliary wheel shaft; and the rear bearing seat and the rear double bearing seat are all fixed on the bottom of the base plate.

Preferably, the telescopic arm mechanism includes a support disc, a support rod, a connecting seat, a sliding guide rail, and a connecting sleeve, the telescopic arm mechanism is fixed on the chassis through the support disc, and the support rod is fixed on the center of the support disc, A connecting seat is fixed on the supporting disc and is located at the front end of the supporting rod; the connecting seat is connected with a tripod.

Preferably, the sliding guide rail is fixed in two U-shaped grooves, one of which is fixed on the top of the support rod, and the other is fixed on one end of the tripod; The connecting sleeve is provided with a second rack, and the second rack meshes with the second gear on the drive shaft of the third motor.

The beneficial effects of the present invention are as follows: 1. The omnidirectional manipulator can bypass obstacles, pass through tunnels, quickly cross bridges and carry out rescue missions, with stable and flexible operation and fast rescue speed; Lifting, can rotate 360° and store on the car body, and the grabbing range is 30-130MM; 3. The spreading mechanism in the chassis only moves when crossing the bridge. In order to reduce time and ensure stability, it must be connected with the The ground does not touch.

Description of drawings

Fig. 1 is a front view structural schematic diagram of the present invention.

FIG. 2 is a schematic structural view of direction A in FIG. 1 .

FIG. 3 is a schematic structural view of direction B in FIG. 1 .

The labels in the accompanying drawings are: 1. Chassis, 2. Telescopic arm mechanism, 3. Mechanical gripper, 4. Expansion mechanism, 10. Gear pair, 11. Base plate, 12. Front auxiliary wheel, 13. Rear auxiliary Wheel, 14, synchronous driving pulley, 15, synchronous driven pulley, 16, the first motor, 17, bearing block, 18, auxiliary wheel connecting rod, 19, caterpillar belt, 20, wheel axle, 21, support disc, 22 , support rod, 23, connecting seat, 24, sliding guide rail, 25, connecting sleeve, 26, tripod, 27, U-shaped groove, 28, second rack, 29, second gear, 30, third motor, 31 , Gripper mechanism, 32, Steering mechanism, 33, Embedded rack lifting rod, 41, Rack drive rod, 42, Drive rod slideway, 43, Front wheel quill shaft, 44, Rear wheel quill shaft, 45, front auxiliary axle, 46, rear auxiliary axle, 47, first rack, 48, first gear, 49, second motor, 51, front bearing seat, 52, front double bearing seat, 53, rear bearing seat, 54, rear double bearing block, 60, key, 61, keyway.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings: As shown in the accompanying drawings, the present invention includes a chassis 1, a telescopic arm mechanism 2, and a mechanical gripper 3, and the mechanical gripper 3 is composed of a handle mechanism 31 and a steering mechanism. The handle mechanism 31 is fixed on the lower end of the embedded rack lifting rod 33 in the steering mechanism 32. The steering mechanism 32 is connected to the telescopic arm mechanism 2 through the embedded rack lifting rod 33. The sleeves 25 are connected, and the telescopic arm mechanism 2 is fixed on the chassis 1.

The chassis 1 includes a bottom plate 11, two front auxiliary wheels 12, two rear auxiliary wheels 13, two synchronous driving pulleys 14, two synchronous driven pulleys 15, two first motors 16, four bearings Seat 17, the radius of this front auxiliary wheel 12 and rear auxiliary wheel 13 is less than the radius of synchronous driving pulley 14 and synchronous driven pulley 15, causes front auxiliary wheel 12 and rear auxiliary wheel 13 to vacate, two front auxiliary wheels 12, Two rear auxiliary wheels 13, two synchronous driving pulleys 14, and two synchronous driven pulleys 15 are located on both sides of the base plate 11 respectively; The rear auxiliary wheel 13 is coaxially connected with the synchronous driven pulley 15, and the synchronous driven pulley 15 is connected with the synchronous driving pulley 14 through the crawler belt 19; the crawler belt 19 belongs to the flexible transmission, the transmission is stable, the noise is small, and it is easy to realize Turning, good passability; belt drive allows a large center distance, simple structure, convenient installation and maintenance, and low cost. The synchronous driving pulley 14 is connected with the wheel shaft 20, and the wheel shaft 20 is sleeved in two bearing seats 17, and the two bearing seats 17 are fixed on the bottom of the base plate 11, and the wheel shaft 20 is connected with the first motor 16 through the gear pair 10. The above-mentioned design avoids the contact with the ground when stretching, and reduces frictional obstacles. The bottom plate is made of 3mm thick aluminum plate and folded 10mm. The strength of the folded aluminum plate is much higher than that before the fold. Two first motors 16 drive two synchronous driving pulleys 14, and are connected with the synchronous driven pulley 15 through crawler belts 19, and crawler belts 19 are 200XL type timing belts.

The chassis 1 is provided with a spreading mechanism 4, which includes two rack drive rods 41, two drive rod slides 42, front wheel quill shafts 43, rear wheel quill shafts 44, Front auxiliary wheel shaft 45, rear auxiliary wheel shaft 46, the two rack transmission rods 41 are respectively fixed on the auxiliary wheel connecting rods 18 on both sides, the rack transmission rod 41 is sleeved in the transmission rod slideway 42, the rack transmission A first rack 47 is fixed inside the rod 41 , and a first gear 48 meshes between the two first racks 47 , and the first gear 48 is fixed on the drive shaft of the second motor 49 . The spreading mechanism 4 is only used when crossing the bridge. In order to reduce time and ensure stability, it must be kept out of contact with the ground; the whole spreading mechanism 4 is driven by the first gear 48 and the first rack 47, and is driven by the rack drive rod. 41 and the connection of the auxiliary wheel connecting rod 18 on both sides pass power to the front auxiliary wheel 12 and the rear auxiliary wheel 13, thereby reaching the purpose of stretching.

The two front auxiliary wheels 12 are respectively connected with a front auxiliary wheel shaft 45, and the front auxiliary wheel shaft 45 is provided with a keyway 61, and the front auxiliary wheel shaft 45 is sleeved in the front wheel sleeve shaft 43, and is stuck on the front auxiliary wheel shaft through the key 60. on the keyway 61 of the axle 45.

The front bearing seat 51 close to the front auxiliary wheel 12 side, the front bearing seat 51 is sleeved on the front wheel sleeve shaft 43, a front double bearing seat 52 is arranged on one side of the front bearing seat 51, the front double bearing seat 52 are sleeved on the front wheel sleeve shaft 43 and the front auxiliary wheel shaft 45 respectively;

The two rear auxiliary wheels 13 coaxially connected with the synchronous driven pulley 15 are each connected with a rear auxiliary wheel shaft 46, and the rear auxiliary wheel shaft 46 is provided with a keyway 61, and the rear auxiliary wheel shaft 46 is sleeved on the rear wheel sleeve shaft 44, and is stuck on the keyway 61 of the rear auxiliary wheel shaft 46 through the key 60.

Close to the rear bearing seat 53 on the side of the synchronous driven pulley 15, the rear bearing seat 53 is sleeved on the rear wheel sleeve shaft 44, and one side of the rear bearing seat 53 is provided with a rear double bearing seat 54. The bearing housing 54 is respectively sleeved on the rear wheel sleeve shaft 44 and the rear auxiliary wheel shaft 46; and the rear bearing housing 53 and the rear double bearing housing 54 are fixed on the bottom of the base plate 11.

The front and rear double bearing housings contain deep groove ball bearings 61800zz and iron sealed bearings 608zz; the front and rear bearing housings contain deep groove ball bearings 61800zz. The front and rear auxiliary wheel shafts can slide in the front and rear wheel sleeve shafts and move together with the front and rear wheel sleeve shafts. This design realizes the requirements of both transmission and free sliding, and provides power for bridge crossing source.

The telescopic arm mechanism 2 includes a support disc 21, a support rod 22, a connecting seat 23, a sliding guide rail 24, and a connecting sleeve 25. The telescopic arm mechanism 2 is fixed on the chassis 1 through the support disc 21, and the support rod 22 is fixed on the On the center of the supporting disc 21, a connecting seat 23 is fixed on the supporting disc 21, and is located at the front end of the supporting rod 22; the connecting seat 23 is connected with a tripod 26. Then add tripod 26 to increase its stability, can withstand the load in all directions. During the installation of the tripod, lift the sliding guide rail 24 up by 1-3mm, because it is upward under the condition of no force, the sliding guide rail 24 will be pressed down under the condition of force, and the slide guide rail under the force 24 happens to be level, otherwise it will droop and affect the operation.

The sliding guide rail 24 is fixed in two U-shaped grooves 27, one of the two U-shaped grooves 27 is fixed on the top of the support rod 22, and the other is fixed on one end of the tripod 26; A connecting sleeve 25 is covered, and a second rack 28 is arranged on the connecting sleeve 25 , and the second rack 28 meshes with a second gear 29 on the drive shaft of the third motor 30 .

Claims (9)

1. comprehensive manipulator; Comprise chassis (1), telescopic arm mechanism (2) and mechanical gripper (3); It is characterized in that: described mechanical gripper (3) is made up of handgrip mechanism (31) and steering mechanism (32); Embedded tooth bar elevating lever (33) lower end in the steering mechanism (32) is fixed in this handgrip mechanism (31); This steering mechanism (32) links to each other through the interior adapter sleeve (25) of embedded tooth bar elevating lever (33) and described telescopic arm mechanism (2), and telescopic arm mechanism (2) is fixed on the described chassis (1).

2. comprehensive manipulator according to claim 1; It is characterized in that: described chassis (1) comprises auxiliary wheel (13) behind the base plate (11), two preceding auxiliary wheels (12), two, two synchronous driving pulleys (14), two synchronous driven pulleys (15), two first motors (16), four bearing blocks (17); Should before the radius of auxiliary wheel (12) and back auxiliary wheel (13) less than the synchronous driving pulley (14) and the radius of driven pulley (15) synchronously, auxiliary wheel (13), two synchronous driving pulleys (14), two synchronous driven pulleys (15) lay respectively at the both sides of base plate (11) behind two the preceding auxiliary wheels (12), two; Before described auxiliary wheel (12) with afterwards link to each other by auxiliary wheel connecting rod (18) between auxiliary wheel (13); Back auxiliary wheel (13) and synchronous coaxial linking to each other of driven pulley (15), link to each other through crawler belt (19) between driven pulley (15) and synchronous driving pulley (14) synchronously; This synchronous driving pulley (14) links to each other with wheel shaft (20); This wheel shaft (20) is placed in two bearing blocks (17); These two bearing blocks (17) are fixed in the bottom of base plate (11), and this wheel shaft (20) links to each other with first motor (16) through gear pair (10).

3. comprehensive manipulator according to claim 1; It is characterized in that: be provided with spreading mechanism (4) in described chassis (1); This spreading mechanism (4) includes two toothed rack drive links (41), two drive link slideways (42), front-wheel quill (43), trailing wheel quill (44), preceding auxiliary wheel shaft (45), the auxiliary wheel shaft (46) in back; Described two toothed rack drive links (41) are individually fixed on the two side auxiliary wheel connecting rods (18); This tooth bar drive link (41) is placed in the drive link slideway (42); Tooth bar drive link (41) inboard is fixed with first tooth bar (47), is engaged with one first gear (48) between two first tooth bars (47), and this first gear (48) is fixed on the driving shaft of second motor (49).

4. according to claim 2 or 3 described comprehensive manipulators; It is characterized in that: auxiliary wheel shaft (45) before described two preceding auxiliary wheels (12) are connected with separately; Offer keyway (61) on the preceding auxiliary wheel shaft (45); Should be placed in the front-wheel quill (43) by preceding auxiliary wheel shaft (45), and be stuck on the keyway (61) of preceding auxiliary wheel shaft (45) through key (60).

5. comprehensive manipulator according to claim 4; It is characterized in that: the front-end bearing pedestal (51) that is close to preceding auxiliary wheel (12) side; This front-end bearing pedestal (51) is placed on the front-wheel quill (43); Double bearing support (52) before a side of this front-end bearing pedestal (51) is provided with one, this preceding Double bearing support (52) are placed in respectively on front-wheel quill (43), the preceding auxiliary wheel shaft (45); And this front-end bearing pedestal (51) and preceding Double bearing support (52) all are fixed in the bottom of base plate (11).

6. according to claim 2 or 3 described comprehensive manipulators; It is characterized in that: auxiliary wheel (13) behind described and synchronous coaxial two of linking to each other of driven pulley (15); Be connected with the auxiliary wheel shaft (46) in back separately; Offer keyway (61) on the auxiliary wheel shaft (46) in back, this back assists wheel shaft (46) to be placed in the trailing wheel quill (44), and is stuck on the keyway (61) of the auxiliary wheel shaft (46) in back through key (60).

7. comprehensive manipulator according to claim 6; It is characterized in that: the rear bearing block (53) that is close to synchronous driven pulley (15) side; This rear bearing block (53) is placed on the trailing wheel quill (44); Side at this rear bearing block (53) is provided with a back Double bearing support (54), and this back Double bearing support (54) is placed in respectively on trailing wheel quill (44), the auxiliary wheel shaft (46) in back; And this rear bearing block (53) and back Double bearing support (54) all are fixed in the bottom of base plate (11).

8. comprehensive manipulator according to claim 1; It is characterized in that: described telescopic arm mechanism (2) comprises support disk (21), support bar (22), Connection Block (23), rail plate (24), adapter sleeve (25); This telescopic arm mechanism (2) is fixed on the chassis (1) through support disk (21); Support bar (22) be fixed in support disk (21) in the heart, be fixed with Connection Block (23) on the support disk (21), and be positioned at the front end of support bar (22); Be connected with tripod (26) on this Connection Block (23).

9. comprehensive manipulator according to claim 8; It is characterized in that: described rail plate (24) is fixed in two U type grooves (27); One of them is fixed in these two U type grooves (27) on the top of support bar (22), and another is fixed on the end of tripod (26); Be with an adapter sleeve (25) in this rail plate (24), this adapter sleeve (25) is provided with second tooth bar (28), and this second tooth bar (28) is meshed with second gear (29) on the 3rd motor (30) driving shaft.

Images