CN107538462A - One kind crawl robot - Google Patents
One kind crawl robot Download PDFInfo
- Publication number
- CN107538462A CN107538462A CN201710840111.7A CN201710840111A CN107538462A CN 107538462 A CN107538462 A CN 107538462A CN 201710840111 A CN201710840111 A CN 201710840111A CN 107538462 A CN107538462 A CN 107538462A
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- gear
- shaft
- planetary gear
- transmission shaft
- bevel gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 210000000078 claw Anatomy 0.000 claims abstract 2
- 230000005540 biological transmission Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 210000000707 wrist Anatomy 0.000 claims description 10
- 238000006880 cross-coupling reaction Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000007514 turning Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
本发明公开了一种抓取机器人，包括用于机器人行走的底盘机构，所述底盘机构上连有控制抓取物件的主体结构，所述主体结构上连有用于抓取物件的手臂机构。本发明提供的一种抓取机器人，底盘机构采用差速器实现转弯，结构简单，成本较低；主体结构通过液压缸使主体部分上升下降，稳定性较好，结实耐用；手臂机构中的滑块在固定杆上移动，推动手臂连杆机构作前后伸缩运动，手爪部分用于抓取物品，利用钢丝绳传动。整体结构简单，工作效率高，具有很好的经济效益。
The invention discloses a grasping robot, which comprises a chassis mechanism used for walking the robot. The chassis mechanism is connected with a main structure for controlling grasping objects, and the main structure is connected with an arm mechanism for grasping objects. In the grasping robot provided by the present invention, the chassis mechanism adopts a differential to realize turning, the structure is simple, and the cost is low; the main structure makes the main part rise and fall through the hydraulic cylinder, the stability is good, and it is durable; the slide in the arm mechanism The block moves on the fixed rod, and the arm linkage mechanism is pushed forward and backward for telescopic movement, and the claw part is used to grab objects, and is driven by a wire rope. The overall structure is simple, the work efficiency is high, and the utility model has good economic benefits.
Description
Technical field
Present invention relates particularly to one kind to capture robot, belongs to field of machining.
Background technology
The main purpose of robot is to cut down staffing and improves product quality.Compared with traditional machine, have
The advantages that height adaptability of the almost full automation of production process and production equipment.With increasing for unmanned factory,
Crawl machine Man's Demands are consequently increased.Although occur in the market fraction crawl robot, exist structure compared with
For complexity, the shortcomings that being not easy is operated.
The content of the invention
The technical problem to be solved in the present invention is to provide from a kind of simple in construction, compact overall structure and stable working
Capture robot.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
One kind captures robot, including the body chassis for robot ambulation, and being connected with control on the body chassis grabs
The agent structure of object is taken, the arm mechanism for capturing object is connected with the agent structure.
The body chassis includes final drive shaft and from power transmission shaft, the final drive shaft and from passing through cross between power transmission shaft
Shaft coupling is connected, and described to connect the near front wheel and off-front wheel by differential mechanism from power transmission shaft, first bevel gear is socketed in the main biography
On moving axis, second bevel gear and the ratcheting connection of first bevel gear, the second bevel gear is driven by the first motor and rotated, described
The end of final drive shaft is socketed with third hand tap gear, and the 4th bevel gear is socketed in the connecting shaft of left rear wheel and off hind wheel, described
Third hand tap gear and the 4th ratcheting connection of bevel gear.
The differential mechanism includes being socketed in the driving gear from the end of power transmission shaft, the driving gear and driven tooth
Ratcheting connection is taken turns, the driven gear is socketed on the second output shaft, one end and the off-front wheel of second output shaft
Be connected, the other end of second output shaft is socketed with the first axle shaft gear, first axle shaft gear respectively with the first planet
Gear and the ratcheting connection of the second planetary gear, first planetary gear and the second planetary gear are along second output shaft pair
Claim to set, pass through planetary gear axis connection, second axle shaft gear between first planetary gear and the second planetary gear
Be symmetrical arranged with the first axle shaft gear along the planetary gear shaft, second axle shaft gear respectively with the first planet tooth
Wheel and the ratcheting connection of the second planetary gear, second axle shaft gear are socketed in one end of the first output shaft, first output
The other end of axle is connected with described the near front wheel.
The main body mechanism includes the upper backup pad and lower supporting plate be arrangeding in parallel up and down, the lower supporting plate and the bottom
Disc mechanism is fixedly connected, and is connected between the upper backup pad corner and the corner of the lower supporting plate by 4 hydraulic cylinders, described
Upper backup pad upper surface is connected with fix bar, and the top of the fix bar is connected with fixed block, and movable sleeve is provided with cunning in the fix bar
Block, the second motor is provided with the upper backup pad, second motor drives crank to rotate by the rotating shaft of gear train, described
Crank is connected with one end of fourth link, and the other end of the fourth link is connected with the sliding block, the fixed block and sliding block with
The arm mechanism is connected.
The arm mechanism includes first connecting rod and second connecting rod, and one end of the first connecting rod connects with the fixed block
Connect, one end of the second connecting rod is connected with the sliding block, the middle part of the other end of the second connecting rod and the first connecting rod
It is flexibly connected, the other end of the first connecting rod is connected with one end of third connecting rod, and the other end and the wrist of the third connecting rod connect
Connect, the wrist above-below direction is connected with upper rack posts and lower fulcrum bar, and paw is grabbed including left-hand seat and assistant grabs, the upper rack posts with it is described
Left-hand seat, which is grabbed, to be fixedly connected, and the lower fulcrum bar is grabbed with the assistant and is flexibly connected, and steel wire rope draw off gear is provided with the wrist,
The steel wire rope draw off gear is connected with one end of steel wire rope (28), the other end of the steel wire rope and the end phase for setting about to grab
Even.
The left-hand seat is grabbed and assistant is grabbed as structure symmetrical above and below.
The beneficial effect of patent of the present invention is：A kind of crawl robot that patent of the present invention provides, including body chassis, master
Body mechanism and arm mechanism.The body chassis of the robot is driven using motor, and the motion of roller makes robot relative
In ground motion, realized and turned using differential mechanism, simple in construction, cost is relatively low；Main body mechanism is driven using motor, supplies hand
Power of the arm section to move, body interior are connected by gear train conversion gearratio by supporting plate with chassis, pass through liquid
Cylinder pressure makes main part rise and fall, and stability is preferable, durable；Sliding block in arm mechanism moves in fix bar, pushes away
Arm link of starting mechanism makees elastic motion, and paw section is used to capture article, utilizes wire rope gearing.Overall structure letter
Single, operating efficiency is high, has good economic benefit.
Brief description of the drawings
Fig. 1 is a kind of structural representation on the chassis for capturing robot of the present invention；
Fig. 2 is a kind of structural representation for the main body mechanism for capturing robot of the present invention；
Fig. 3 is a kind of structural representation for the arm for capturing robot of the present invention；
Fig. 4 is a kind of structural representation for the differential mechanism for capturing robot of the present invention.
Reference in figure：1：Off-front wheel；2：Differential mechanism；3：First output shaft；4：The near front wheel；5：From power transmission shaft；6：Ten
Word shaft coupling；7：First bevel gear；8：Second bevel gear；9：First motor；10：Off hind wheel；11：Third hand tap gear；12：The
Four bevel gears；13：Left rear wheel；14：Sliding block；15：Fix bar；16：Upper backup pad；17：Hydraulic cylinder；18：Lower supporting plate；19：Gu
Determine block；20：Second motor；21：Fourth link；22：Gear train；23：Crank；24：First connecting rod；25：Second connecting rod；26：
Third connecting rod；27：Wrist；28：Steel wire rope；29：Paw；30：Driving gear；31：Driven gear；32：Second output shaft；33：
First axle shaft gear；34：Planetary gear shaft；35：First planetary gear；36：Second axle shaft gear；37：Second planetary gear；
38：Final drive shaft；271：Upper rack posts；272：Lower fulcrum bar；291：Left-hand seat is grabbed；292：Assistant grabs.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings, and following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
Differential mechanism in one kind crawl robot, including body chassis, main body mechanism, arm mechanism and body chassis,
It is unified for entirety, cooperates during work and complete the function of crawl object.Overall structure is simple, stable working efficiency high.
The concrete structure of body chassis as shown in figure 1, including final drive shaft 38 and from power transmission shaft 5, final drive shaft 38 and from
It is connected between power transmission shaft 5 by cross coupler 6, connects the near front wheel 4 and off-front wheel 1 from power transmission shaft 5 by differential mechanism 2, drive
Two front wheel motions simultaneously realize turning.First bevel gear 7 is socketed on final drive shaft 38, second bevel gear 8 and first bevel gear 7
Ratcheting connection, second bevel gear 8 drive rotation by the first motor 9.The end of final drive shaft 38 is socketed with third hand tap gear 11,
4th bevel gear 12 is socketed in the connecting shaft of left rear wheel 13 and off hind wheel 10, and the bevel gear 12 of third hand tap gear 11 and the 4th is ratcheting
Connection, drive two rear wheels.
The concrete structure of differential mechanism 2 from the end of power transmission shaft 5 as shown in figure 4, be socketed with driving gear 30, driving gear 30
With 31 ratcheting connection of driven gear, driven gear 31 is socketed on the second output shaft 32, drives the second output shaft 32 to rotate, and second
The one end of output shaft 32 is connected with off-front wheel 1, and the other end of the second output shaft 32 is socketed with the first axle shaft gear 33, the first semiaxis
Gear 33 respectively with the 37 ratcheting connection of the first planetary gear 35 and the second planetary gear, the first planetary gear 35 and the second planet tooth
Wheel 37 is symmetrical arranged along the second output shaft 32, passes through planetary gear shaft between the first planetary gear 35 and the second planetary gear 37
34 connections, the second axle shaft gear 36 are symmetrical arranged with the first axle shaft gear 33 along planetary gear shaft 34, the second axle shaft gear 36
Respectively the first output shaft 3 is socketed in the 37 ratcheting connection of the first planetary gear 35 and the second planetary gear, the second axle shaft gear 36
One end, the other end of the first output shaft 3 is connected with the near front wheel 4.
Main body mechanism is as shown in Fig. 2 upper backup pad 16 and lower supporting plate 18 including be arrangeding in parallel up and down, lower supporting plate 18
It is fixedly connected with body chassis, 16 4 jiaos of upper backup pad is connected between the corner of lower supporting plate 18 by 4 hydraulic cylinders 17, real
Existing rise and fall.The upper surface of upper backup pad 16 is connected with fix bar 15, and the top of fix bar 15 is connected with fixed block 19, in fix bar 15
Movable sleeve is provided with sliding block 14, and the second motor 20, the rotating shaft band that the second motor 20 passes through gear train 22 are provided with upper backup pad 16
Dynamic crank 23 rotates, and crank 23 is connected with one end of fourth link 22, and the other end of fourth link 22 is connected with sliding block 14, drives and slides
Block 14 is moved up and down, and the elastic of arm mechanism is realized by moving up and down for sliding block 14,
Arm mechanism is as shown in figure 3, one end of first connecting rod 24 is connected with fixed block 19, one end of second connecting rod 25 and cunning
Block 14 is connected, and the other end of second connecting rod 25 is flexibly connected with the middle part of first connecting rod 24, and the other end of first connecting rod 24 is connected with
One end of third connecting rod 26, the other end of third connecting rod 26 are connected with wrist 27, and the above-below direction of wrist 27 is connected with the He of upper rack posts 271
Lower fulcrum bar 272, paw 29 including left-hand seat grab 291 and assistant grab 292, left-hand seat grab 291 and assistant to grab 292 be structure symmetrical above and below.
Upper rack posts 271 are grabbed 291 with left-hand seat and are fixedly connected, and lower fulcrum bar 272 is grabbed 292 with assistant and is flexibly connected, and assistant grabs 292 can be along connection
Point rotates, and is provided with steel wire rope draw off gear in wrist 27, steel wire rope draw off gear is connected with one end of steel wire rope 28, steel wire rope 28
The other end 292 end grabbed with assistant be connected, be opened and closed by the moving belt of steel wire rope 28 pawl 29 of starting, so as to reach crawl thing
The purpose of part.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710840111.7A CN107538462A (en) | 2017-09-18 | 2017-09-18 | One kind crawl robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710840111.7A CN107538462A (en) | 2017-09-18 | 2017-09-18 | One kind crawl robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107538462A true CN107538462A (en) | 2018-01-05 |
Family
ID=60963779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710840111.7A Pending CN107538462A (en) | 2017-09-18 | 2017-09-18 | One kind crawl robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107538462A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5326218A (en) * | 1993-03-08 | 1994-07-05 | Fallas David M | Robotic arm for handling product |
| CN1978004A (en) * | 2005-11-30 | 2007-06-13 | 中国科学院自动化研究所 | Fire-disaster emergency robot system and method |
| CN202336868U (en) * | 2011-12-07 | 2012-07-18 | 金华职业技术学院 | Robot with I-shaped wheels |
| CN203713525U (en) * | 2014-02-19 | 2014-07-16 | 长安大学 | Broken-down automobile-based energy-saving auxiliary power unit |
| CN107053253A (en) * | 2017-05-04 | 2017-08-18 | 西安航空学院 | Super redundant manipulator |
-
2017
- 2017-09-18 CN CN201710840111.7A patent/CN107538462A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5326218A (en) * | 1993-03-08 | 1994-07-05 | Fallas David M | Robotic arm for handling product |
| CN1978004A (en) * | 2005-11-30 | 2007-06-13 | 中国科学院自动化研究所 | Fire-disaster emergency robot system and method |
| CN202336868U (en) * | 2011-12-07 | 2012-07-18 | 金华职业技术学院 | Robot with I-shaped wheels |
| CN203713525U (en) * | 2014-02-19 | 2014-07-16 | 长安大学 | Broken-down automobile-based energy-saving auxiliary power unit |
| CN107053253A (en) * | 2017-05-04 | 2017-08-18 | 西安航空学院 | Super redundant manipulator |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180105 |
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| RJ01 | Rejection of invention patent application after publication |