The invention discloses a mine blasting four-foot movable mechanical arm with a two-stage torque increasing structure. The mine blasting four-foot movable mechanical arm comprises a six-degree-of-freedom mechanical arm, four two-stage torque increasing leg and foot mechanisms, a sensing mechanism and a detonator box opening and closing mechanism. And the detonator box opening and closing mechanism is used for automatically opening and closing the detonator box when the mechanical arm works. The second-stage torque-increasing leg and foot mechanism comprises a rack, parallel legs, wheel feet, a stepping motor, a first second-stage torque-increasing driving mechanism and a second second-stage torque-increasing driving mechanism. The two-stage torque-increasing leg and foot mechanism is distributed in a front-elbow and rear-knee mode and cooperates together, complex actions such as automatic walking, steering and obstacle crossing of the mine blasting robot can be achieved, the two-stage torque-increasing leg and foot mechanism can serve as an independent lifting mechanism when the mechanical arm works and the height is not enough, the height of the mechanical arm is increased, and the working range of the mechanical arm is enlarged. The problems that an existing movable mechanical arm is poor in walking and obstacle avoidance capacity, small in working range, poor in stability and safety and the like are solved.
本发明公开了一种具有二级增扭结构的矿山爆破四足移动机械臂,包括六自由度机械臂和四个二级增扭腿足机构,感知机构,雷管盒开合机构。所述雷管盒开合机构用于雷管盒在机械臂工作时自动开合。所述二级增扭腿足机构包括机架、并联腿、轮足、步进电机、二级增扭驱动机构一和二级增扭驱动机构二。所述二级增扭腿足机构前肘后膝式分布,共同协作,既可实现矿山爆破机器人自动行走、转向、越障等复杂动作,也可在机械臂工作时可达高度不够时作为独立的升降机构,提升机械臂的高度,增大机械臂的工作范围。本发明克服了现有移动机械臂行走和避障能力差,工作范围小、稳定性和安全性差等问题。
Mine blasting four-foot movable mechanical arm with two-stage torque increasing structure
一种具有二级增扭结构的矿山爆破四足移动机械臂
2024-09-24
Patent
Electronic Resource
Chinese