CN221416615U - Mechanical arm based on electric push rod driving - Google Patents
Mechanical arm based on electric push rod driving Download PDFInfo
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- CN221416615U CN221416615U CN202323297781.9U CN202323297781U CN221416615U CN 221416615 U CN221416615 U CN 221416615U CN 202323297781 U CN202323297781 U CN 202323297781U CN 221416615 U CN221416615 U CN 221416615U
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- arm
- push rod
- electric push
- paw
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- 238000001514 detection method Methods 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Abstract
The utility model discloses a mechanical arm driven by an electric push rod, which comprises a crawler chassis, wherein a large arm is hinged above the crawler chassis, and the large arm is connected with the electric push rod of the large arm; the large-arm electric push rod is hinged on the crawler chassis; the large arm is hinged with the middle and long arm; a middle arm electric push rod is arranged between the large arm and the middle long arm; the middle long arm is hinged with the small arm, and only a small arm electric push rod is arranged between the middle long arm and the small arm; the middle and long arm is hinged with a paw seat, and the paw seat is connected with the small arm through a connecting rod; an electric paw device is arranged on the paw seat. The utility model effectively reduces the overall quality through the arrangement of the large arm electric push rod, the middle and long arm electric push rod, the small arm electric push rod and the electric paw device. The problem that the whole machine cannot meet the bearing of the crawler chassis due to overlarge quality is solved, and meanwhile, the requirement of grabbing force can be met.
Description
Technical Field
The utility model relates to the field of mechanical arms, in particular to a mechanical arm driven by an electric push rod.
Background
The mechanical arm is an automatic mechanical device which is most widely and practically applied in the technical field of robots, and can see the figure in the fields of industrial manufacture, medical treatment, entertainment service, military, semiconductor manufacture, space exploration and the like. The crawler chassis has the advantages of good trafficability and strong ground grabbing force, so the crawler chassis is widely combined with the mechanical arm to form the walking robot.
In the prior art, the transmission mode of the mechanical arm of the walking robot can be divided into two modes, one is that the arm is driven by a joint shaft speed reducer and a moment servo motor, the total mass of 10 kg of grabbing weight is more than 150 kg, and the price is high. The other is a remote control mechanical arm driven by a hydraulic oil cylinder, and the total mass of the remote control mechanical arm is also not lower than 40 kg when the remote control mechanical arm is used for grabbing 10 kg, which is not preferable for the condition that the effective bearing of the crawler-type chassis is not more than 35 kg. As for some manufacturers use steering engines to act as the boom motor, but their effective gripping capacity is at most, i.e. a weight of several tens of grams, so to speak of little practical value.
Disclosure of utility model
In order to solve the problems, the utility model provides the mechanical arm driven by the electric push rod, which is formed by the electric push rod, so that the whole quality is reduced, and the mechanical arm can be used on a crawler chassis.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the mechanical arm based on the electric push rod drive comprises a crawler chassis, wherein a large arm is hinged above the crawler chassis, and the large arm is connected with a large arm electric push rod; the large-arm electric push rod is hinged on the crawler chassis; the large arm is hinged with the middle and long arm; a middle arm electric push rod is arranged between the large arm and the middle long arm; the middle long arm is hinged with the small arm, and only a small arm electric push rod is arranged between the middle long arm and the small arm; the middle and long arm is hinged with a paw seat, and the paw seat is connected with the small arm through a connecting rod; an electric paw device is arranged on the paw seat; the large arm electric push rod, the middle arm electric push rod and the small arm electric push rod are electrically connected with the power device.
As a preferred technical scheme of the utility model: the electric paw device comprises a support, a paw left piece and a paw right piece are respectively connected to the support in a rotating mode, a paw opening and closing electric push rod is arranged between the paw left piece and the paw right piece, and the paw opening and closing electric push rod is connected with the power device.
As a preferred technical scheme of the utility model: the crawler chassis is internally provided with a comprehensive instrument bin, the comprehensive instrument bin is used for being electrically connected with the detection device, and the comprehensive instrument bin and the detection device are electrically connected with the power device.
As a preferred technical scheme of the utility model: the detection device comprises a camera, a laser collimator and a neutron detector.
As a preferred technical scheme of the utility model: the power device comprises a power supply box and a control box.
The utility model has the following beneficial effects:
The whole quality is effectively reduced through the arrangement of the large-arm electric push rod, the middle-long-arm electric push rod, the small-arm electric push rod and the electric paw device. The problem that the whole machine cannot meet the bearing of the crawler chassis due to overlarge quality is solved, and meanwhile, the requirement of grabbing force can be met.
Drawings
FIG. 1 is a schematic view of the whole structure of the present utility model
In fig. 1, a crawler chassis; 2. a front support; 3. a rear support; 4. a power supply box; 5. a control box; 6. a large arm electric push rod; 7. a large arm; 8. a middle arm electric push rod; 9. a middle-long arm; 10. a small arm electric push rod; 11. a forearm; 12. a connecting rod; 13. a paw seat; 14. the electric push rod is opened and closed by the paw; 15. a bracket; 16. a left rotary shaft of the paw; 17. left hand piece; 18. a right hand piece; 19. a gripper right piece rotating shaft; 20. a comprehensive instrument bin; 21. an electric gripper device.
Detailed Description
The present utility model will be described in further detail with reference to examples in order to make the objects and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
As shown in fig. 1, the embodiment of the utility model provides a mechanical arm driven by an electric push rod, which comprises a crawler chassis 1, wherein a large arm 7 is hinged above the crawler chassis 1, namely a front support 2 is arranged above the crawler chassis 1, the large arm 7 is hinged with the front support 2, and the large arm 7 is hinged with a large arm electric push rod 6; the large-arm electric push rod 6 is hinged above the crawler chassis 1 through the rear support 3, and the output end of the large-arm electric push rod 6 is connected with the large arm 7; the large arm 7 is hinged with the middle long arm 9; a middle arm electric push rod 8 is arranged between the large arm 7 and the middle long arm 9, the output end of the middle arm electric push rod 8 is connected with the middle long arm 9, and the other end is arranged on the large arm 7; the middle long arm 9 is hinged with the small arm 11, a small arm electric push rod 10 is arranged between the middle long arm 9 and the small arm 11, the output end of the small arm electric push rod 10 is connected with the small arm 11, and the other end is arranged on the middle long arm 9; the middle and long arm 9 is hinged with a paw seat 13, and the paw seat 13 is connected with the small arm 11 through a connecting rod 12; the electric paw device 21 is arranged on the paw seat 13; the large arm electric push rod 6, the middle arm electric push rod 8, the small arm electric push rod 10 and the electric paw device 21 are electrically connected with a power device. The power device comprises a power supply box 4 and a control box 5. The power supply box 4 and the control box 5 are arranged above the crawler chassis 1. The large arm electric push rod 6, the middle arm electric push rod 8 and the small arm electric push rod 10 effectively reduce the overall mass of the equipment, solve the problem that the mass of the whole machine is overlarge, cannot meet the problem of bearing of the crawler chassis 1, and can also meet the requirement of grabbing force.
The electric gripper device 21 comprises a bracket 15, and a gripper left sheet 17 and a gripper right sheet 18 which are respectively connected on the bracket 15 in a rotating way, namely, the gripper left sheet 17 is arranged on the bracket 15 through a gripper left sheet rotating shaft 16, and the gripper right sheet 18 is arranged on the bracket 15 through a gripper right sheet rotating shaft 19; a paw opening and closing electric push rod 14 is arranged between the ear part of the paw left sheet 17 and the ear part of the paw right sheet 18, the paw opening and closing electric push rod 14 is connected with a power device, and the opening and closing of the paw left sheet 17 and the paw right sheet 18 are controlled by controlling the expansion and contraction of the paw opening and closing electric push rod 14. The crawler chassis 1 is also provided with a comprehensive instrument bin 20, and in this embodiment, the comprehensive instrument bin 20 is arranged inside the crawler chassis 1. The comprehensive instrument bin 20 is electrically connected with the detection device, and the comprehensive instrument bin 20 and the detection device are electrically connected with the power device. The detection device comprises auxiliary working equipment such as a camera, a laser collimator, a neutron detector and the like, is arranged on the bracket 15, and is integrated with the arrangement of the instrument bin 20 and the detection device, so that the application range is enlarged.
In this embodiment, the driving of the mechanical arm is completed by four electric pushrods, the average weight of each pushrod is less than 1 kg, the total weight of the power supply box 4 and the control box 5 is not more than 15 kg, the total weight of the comprehensive instrument box 20 is 3 kg, the weight of the crawler chassis 1 is 33 kg, so that the total weight of the walking robot with the grabbing mass of 10 kg at least is not more than 51 kg, the mass of the pushrods is 1*4 =4 kg, the mass of the crawler chassis 1 is 33 kg, the mass of the comprehensive instrument box 20 is 3 kg, the mass of the power supply box 4 is 7 kg, the mass of the electric control box is 4 kg, and the total mass of the crawler chassis is 51 kg.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model, which are intended to be comprehended within the scope of the present utility model.
Claims (5)
1. Mechanical arm based on electric putter drive, its characterized in that: the crawler belt comprises a crawler belt chassis (1), wherein a large arm (7) is hinged above the crawler belt chassis (1), and the large arm (7) is connected with a large arm electric push rod (6); the large-arm electric push rod (6) is hinged on the crawler chassis (1); the large arm (7) is hinged with the middle and long arm (9); a middle arm electric push rod (8) is arranged between the large arm (7) and the middle long arm (9); the middle long arm (9) is hinged with the small arm (11), and only a small arm electric push rod (10) is arranged between the middle long arm (9) and the small arm (11); the middle and long arm (9) is hinged with a paw seat (13), and the paw seat (13) is connected with the small arm (11) through a connecting rod (12); an electric paw device (21) is arranged on the paw seat (13); the large arm electric push rod (6), the middle arm electric push rod (8), the small arm electric push rod (10) and the electric paw device (21) are electrically connected with the power device.
2. The mechanical arm driven by an electric push rod according to claim 1, wherein: the electric paw device (21) comprises a support (15), a paw left piece (17) and a paw right piece (18) are respectively connected to the support (15) in a rotating mode, a paw opening and closing electric push rod (14) is arranged between the paw left piece (17) and the paw right piece (18), and the paw opening and closing electric push rod (14) is connected with the power device.
3. The mechanical arm driven by an electric push rod according to claim 1, wherein: the crawler chassis (1) is internally provided with a comprehensive instrument bin (20), the comprehensive instrument bin (20) is electrically connected with a detection device, and the comprehensive instrument bin (20) and the detection device are electrically connected with the power device.
4. A mechanical arm based on electric push rod driving according to claim 3, characterized in that: the detection device comprises a camera, a laser collimator or a neutron detector.
5. The mechanical arm based on electric push rod driving according to any one of claims 1-4, wherein: the power device comprises a power supply box (4) and a control box (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323297781.9U CN221416615U (en) | 2023-12-05 | 2023-12-05 | Mechanical arm based on electric push rod driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323297781.9U CN221416615U (en) | 2023-12-05 | 2023-12-05 | Mechanical arm based on electric push rod driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221416615U true CN221416615U (en) | 2024-07-26 |
Family
ID=91975190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323297781.9U Active CN221416615U (en) | 2023-12-05 | 2023-12-05 | Mechanical arm based on electric push rod driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221416615U (en) |
-
2023
- 2023-12-05 CN CN202323297781.9U patent/CN221416615U/en active Active
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