Large-sized redundant mechanical arm for handling explosive and rescue

Abstract

The invention relates to a large scale redundancy manipulator used for handling explosion and rescuing, pertaining to the technical field of mechanical engineering. In the invention, a lumbar mechanism, a large arm, a mid-arm, a small arm, a wrist mechanism and a paw are connected in series, thus obtaining a wingspan not more than 5 metres. The large arm realizes pitching movement relative to the lumbar mechanism under the action of a first push rod; the mid-arm realizes the pitching movement relative to the large arm under the action of a second push rod; the small arm realizes the pitching movement relative to the mid-arm under the action of a third push rod; the wrist mechanism realizes the pitching movement relative to the small arm under the action of a forth push rod; the paw which is driven by the wrist mechanism turns around relative to the wrist mechanism; 7 degrees of freedom are provided including the paw. The invention realizes the manipulator with high load, large wingspan, high redundancy and high precision, provides possibility for solving the problem of energy supply for long-term working and has high applicability in dangerous and complicated fields such as explosion disposal and rescuing.

Description

technical field [0001] The invention relates to a manipulator in the technical field of mechanical engineering, specifically, a large-scale redundant manipulator for explosive rescue. Background technique [0002] In the operation of many dangerous fields, such as the operation of removing bombs and mines, the operation of emergency rescue, the handling of dangerous goods in the nuclear industry or the chemical industry, etc., it is required to use manipulators to automatically or semi-automatically replace traditional operations. , to complete the specified operations, reduce risk factors, and improve work efficiency. [0003] Through searching novelty to prior art, it is found that both at home and abroad, there are certain researches on the development of manipulators used in dangerous fields, and certain achievements have been obtained. Such as the F6A manipulator of American Remotec (Raymotec Company), has 6 degrees of freedom, the arm span is 1.4 meters, the load capa...

AI Technical Summary

Problems solved by technology

[0004] Domestic and foreign manipulators in the field of explosive rescue generally have the following shortcomings: (1) The load capacity is small and cannot adapt to the removal of larger explosives

(4) Not capable of working long hours

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