Multifunctional robot arm

Abstract

The invention belongs to the technical field of robot arms, and particularly relates to a multifunctional robot arm which comprises a mechanical arm and a crawler, the mechanical arm is arranged on the crawler, a connecting base is arranged on the mechanical arm, a mounting frame is rotationally arranged on the connecting base, clamping jaws are symmetrically arranged on the two sides of the mounting frame, and a linkage mechanism is arranged between the clamping jaws and the mounting frame. A rotating part is arranged on the mounting frame, and the mounting frame is rotationally arranged on the connecting seat through the rotating part; the sliding rod is arranged on the mounting frame in a sliding manner; according to the multifunctional robot arm, the air cylinder pushes the sliding rod, the rack is matched with a gear in the linkage mechanism, the clamping jaw is driven to be opened and closed, and explosive clamping is achieved; when the clamping jaw is opened to the maximum extent, the brush extends out, and the servo motor drives the brush to clean soil through the synchronous wheel and the synchronous belt; and the sliding rod moves downwards, the brush retracts, the clamping jaw is closed, and the blade can break hard objects. The manipulator integrates the functions of clamping, sweeping and forcible entry, the dangerous operation efficiency and safety are improved, and the application scene is expanded.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arms, and particularly relates to a multi-functional robotic arm. Background Art

[0002] As the core execution component of a fire and explosive disposal robot, the robotic arm plays a key role in fire and explosive disposal operations. With its highly flexible joints and powerful power system, it can freely extend and rotate in narrow and complex explosive disposal environments, accurately grasp suspicious items of different shapes and weights, and achieve safe transfer by accurately positioning the key parts of the explosives.

[0003] Traditional robotic arm devices have relatively single functions. In the prior art, some robotic arms only have simple clamping functions and cannot meet the complex operation requirements such as cleaning and exposing buried explosives and demolishing hard obstacles. Therefore, a multi-functional robotic arm is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-functional robotic arm that can perform cleaning and exposure and demolish hard obstacles in order to solve the above problems.

[0005] The present invention achieves the above purpose through the following technical solutions: A multi-functional robotic arm includes a robotic arm and a tracked vehicle. The robotic arm is arranged on the tracked vehicle. A connecting seat is arranged on the robotic arm. A mounting frame is rotatably arranged on the connecting seat. Claw jaws are symmetrically arranged on both sides of the mounting frame. A linkage mechanism is arranged between the claw jaws and the mounting frame. A rotating member is arranged on the mounting frame. The mounting frame is rotatably arranged on the connecting seat through the rotating member; It further includes: A sliding rod that is slidably arranged on the mounting frame, and the linkage mechanism is driven to act by pushing the sliding rod; A brush that is fixedly arranged at one end of the sliding rod; A cylinder that is fixedly arranged on the connecting seat, and the output end of the cylinder is rotatably connected to the sliding rod; A servo motor that is fixedly arranged on the connecting seat, and the servo motor is connected to the rotating member through a transmission component.

[0006] As a further optimized solution of the present invention, sleeves are fixedly arranged at both ends of the mounting frame. There are two mounting frames, and the two mounting frames are symmetrically arranged on both sides of the sleeve. A cross beam is fixedly arranged on the mounting frame. An arc-shaped groove is arranged on the cross beam. A bell mouth is arranged at one end of one of the sleeves.

[0007] As a further optimized solution of the present invention, the rotating member includes a hollow shaft, the hollow shaft is rotatably arranged on the connecting seat, a clamping plate is fixedly arranged at the upper end of the hollow shaft, the hollow shaft is connected to the lower end of the mounting bracket through the clamping plate, and a synchronous pulley A is fixedly arranged on the hollow shaft.

[0008] As a further optimized solution of the present invention, the linkage mechanism includes a first connecting rod, first transverse shafts are fixedly arranged at both ends of the first connecting rod, one end of the first connecting rod is rotatably connected to the cross beam through the first transverse shaft, the other end of the first connecting rod is rotatably connected to the bottom end of the jaw through the first transverse shaft, a second connecting rod is rotatably arranged on the jaw, second transverse shafts are fixedly arranged at both ends of the second connecting rod, one end of the second connecting rod is rotatably connected to the jaw through the second transverse shaft, the other end of the second connecting rod is rotatably connected to the mounting bracket through the second transverse shaft, and a gear is fixedly arranged on the first transverse shaft, and the gear is located between the two mounting brackets.

[0009] As a further optimized solution of the present invention, the sliding rod is slidably arranged in the sleeve, racks are fixedly arranged on both sides of the sliding rod, the racks are engaged with the gear, the racks are slidably arranged between the two cross beams, and the sliding rod is slidably arranged between the arc-shaped grooves.

[0010] As a further optimized solution of the present invention, the transmission assembly includes a synchronous pulley B connected to the output end of the servo motor, the synchronous pulley B is rotatably installed on the connecting seat, and a synchronous belt is arranged between the synchronous pulley B and the synchronous pulley A.

[0011] As a further optimized solution of the present invention, a collar is arranged between the output end of the cylinder and the sliding rod, grooves are opened on both the output end of the cylinder and the sliding rod, the cylinder and the sliding rod are connected through the grooves and the collar, and the collar is slidably arranged in the sleeve.

[0012] As a further optimized solution of the present invention, a blade is arranged at one end of the jaw, a mounting bolt is arranged between the blade and the jaw, and anti-slip lines are opened on one side of the jaw.

[0013] As a further optimized solution of the present invention, the brush corresponds to the position of the flared opening. When the cylinder contracts, it drives the brush to slide into the sleeve through the flared opening.

[0014] The beneficial effects of the present invention are as follows: Different from the prior art, in the actual use process, the cylinder pushes the sliding rod, and through the cooperation of the rack and the gear in the linkage mechanism, it drives the jaw to open and close to realize the clamping of explosives; when the jaw opens to the maximum, the brush extends out, and the servo motor drives the brush to clean the soil through the synchronous pulley and the synchronous belt; the sliding rod moves down, the brush retracts, the jaw closes, and the blade can break through hard objects. This robotic arm integrates the functions of clamping, cleaning, and breaking, improves the efficiency and safety of dangerous operations, and expands the application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the connection structure of the connection seat of the present invention; Figure 3 The present invention Figure 2 Schematic diagram of explosion structure; Figure 4 The present invention Figure 3 The enlarged structural diagram at A in the middle; Figure 5 It is a schematic diagram of the cutaway structure of the sleeve ring of the present invention; Figure 6 It is a schematic diagram of the structure of the mounting frame of the present invention; Figure 7 It is a schematic diagram of the structure of the clamping jaws in the closed state of the present invention.

[0016] In the figure: 1. Robot arm; 2. Connecting seat; 3. Mounting frame; 31. Crossbeam; 311. Arc groove; 32. Sleeve; 321. Bell mouth; 4. Rotating part; 41. Hollow shaft; 42. Clamp; 43. Synchronous wheel A; 5. Clamp; 51. Blade; 511. Mounting bolt; 52. Anti-skid pattern; 6. Linkage mechanism; 61. First connecting rod; 611. First horizontal axis; 62. Second connecting rod; 621. Second horizontal axis; 63. Gear; 7. Sliding rod; 71. Rack; 8. Brush; 9. Cylinder; 10. Servo motor; 11. Synchronous belt; 111. Synchronous wheel B; 12. Ring; 121. Groove; 13. Track vehicle. DETAILED DESCRIPTION

[0017] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0018] Example 1: Figure 1 - Figure 7As shown in the figure, a multifunctional robotic arm includes a robotic arm 1 and a crawler vehicle 13. The robotic arm 1 is arranged on the crawler vehicle 13. A connecting seat 2 is arranged on the robotic arm 1. A mounting frame 3 is rotatably arranged on the connecting seat 2. Claw jaws 5 are symmetrically arranged on both sides of the mounting frame 3. A blade 51 is arranged at one end of the claw jaw 5. An installation bolt 511 is arranged between the blade 51 and the claw jaw 5. An anti-slip pattern 52 is arranged on one side of the claw jaw 5. A linkage mechanism 6 is arranged between the claw jaw 5 and the mounting frame 3. A sliding rod 7 is slidably arranged on the mounting frame 3. The linkage mechanism 6 is driven to act by pushing the sliding rod 7. A brush 8 is fixedly arranged at one end of the sliding rod 7. A cylinder 9 is fixedly arranged on the connecting seat 2. The output end of the cylinder 9 is rotatably connected to the sliding rod 7. A servo motor 10 is fixedly arranged on the connecting seat 2. The servo motor 10 is connected to a rotating member 4 through a transmission component. The crawler vehicle 13, as a mobile carrier, can adapt to complex terrains, enhancing the mobility and application range of the robotic arm. The robotic arm 1 cooperates with the connecting seat 2 to flexibly adjust the angle and position of the mounting frame 3 to meet the operation requirements in different working scenarios. The crawler vehicle 13 and the robotic arm 1 are both prior arts and will not be elaborated here. The setting of the claw jaw 5 and its affiliated structures realizes functions such as grasping and cutting. The anti-slip pattern 52 can effectively increase the friction when grasping an object and prevent it from slipping. The installation bolt 511 facilitates the disassembly and replacement of the blade 51, improving the maintenance convenience. The coordinated work of the linkage mechanism 6, the sliding rod 7, the cylinder 9 and the servo motor 10 provides power and control guarantees for the automated operation of the robotic arm, enabling the robotic arm to efficiently complete various tasks.

[0019] Sleeves 32 are fixedly arranged at both ends of the mounting frame 3. The brush 8 can slide into the sleeves 32. There are two mounting frames 3, and the mounting frames 3 are symmetrically arranged on both sides of the sleeves 32. A cross beam 31 is fixedly arranged on the mounting frame 3. An arc-shaped groove 311 is arranged on the cross beam 31. A flared opening 321 is arranged at one end of one of the sleeves 32. The flared opening 321 corresponds to the position of the brush 8 and can guide the brush 8 into the sleeve 32. A rotating member 4 is arranged on the mounting frame 3. The mounting frame 3 is rotatably arranged on the connecting seat 2 through the rotating member 4. The sliding rod 7 is slidably arranged in the sleeve 32. Rack teeth 71 are arranged on both sides of the sliding rod 7. The rack teeth 71 are slidably arranged between the two cross beams 31. The sliding rod 7 is slidably arranged between the two arc-shaped grooves 311. In this way, the sliding rod 7 rotates synchronously with the mounting frame 3. The sleeves 32 provide a storage and sliding space for the brush 8, ensuring that the brush 8 can be retracted when not in use to avoid damage, and can smoothly extend when in use. The setting of the flared opening 321 helps the brush 8 to extend and retract more easily, reducing the frictional resistance. The two symmetrically arranged mounting frames 3 enhance the stability of the overall structure, enabling it to withstand greater external forces when performing tasks. The cross beam 31 and the arc-shaped groove 311 cooperate with the sliding rod 7 and the rack teeth 71 to precisely limit the sliding trajectory of the sliding rod 7, ensuring that the sliding rod 7 remains stable during movement, so that the linkage mechanism 6 can act accurately, improving the accuracy of the operation of the robotic arm.

[0020] The rotating member 4 includes a hollow shaft 41 which is rotatably arranged on the connecting seat 2. At the upper end of the hollow shaft 41, there is a clamping plate 42. The hollow shaft 41 is connected to the lower end of the mounting bracket 3 through the clamping plate 42. A synchronous pulley A43 is arranged on the hollow shaft 41. The transmission assembly includes a synchronous pulley B111 connected to the output end of the servo motor 10. The synchronous pulley B111 is rotatably mounted on the connecting seat 2. A synchronous belt 11 is arranged between the synchronous pulley B111 and the synchronous pulley A43. The design of the rotating member 4 realizes the flexible rotation of the mounting bracket 3. As the core component of rotation, the hollow shaft 41 is rotatably arranged on the connecting seat 2, enabling the mounting bracket 3 to rotate around the hollow shaft 41, thus broadening the working range of the robot arm. The clamping plate 42 firmly connects the hollow shaft 41 and the mounting bracket 3, ensuring the stability of power transmission. The transmission assembly composed of the synchronous pulley A43, the synchronous pulley B111 and the synchronous belt 11 can efficiently and stably transmit the power of the servo motor 10 to the hollow shaft 41, realizing the precise rotation control of the mounting bracket 3, enabling the brush 8 to perform cleaning work through self-rotation, and improving the working efficiency and cleaning effect of the robot arm.

[0021] The linkage mechanism 6 includes a first connecting rod 61. At both ends of the first connecting rod 61, there are first transverse shafts 611 fixedly arranged. One end of the first connecting rod 61 is rotatably connected to the cross beam 31 through the first transverse shaft 611. The other end of the first connecting rod 61 is rotatably connected to the bottom end of the jaw 5 through the first transverse shaft 611. A second connecting rod 62 is rotatably arranged on the jaw 5. At both ends of the second connecting rod 62, there are second transverse shafts 621 fixedly arranged. One end of the second connecting rod 62 is rotatably connected to the jaw 5 through the second transverse shaft 621. The other end of the second connecting rod 62 is rotatably connected to the mounting bracket 3 through the second transverse shaft 621. A gear 63 is fixedly arranged on the first transverse shaft 611. The gear 63 is located between the mounting brackets 3, thereby protecting the gear 63 through the mounting brackets 3. The rack 71 engages with the gear 63. The design of the linkage mechanism 6 cleverly converts the linear motion of the slide bar 7 into the opening and closing motion of the jaw 5. The first connecting rod 61 and the second connecting rod 62 are rotatably connected to the mounting bracket 3 and the jaw 5 through transverse shafts, forming a stable four-bar mechanism, ensuring the smooth and reliable movement of the jaw 5 during the opening and closing process. The meshing transmission between the gear 63 and the rack 71 can accurately transmit the power of the slide bar 7 to the first connecting rod 61, realizing the precise opening and closing control of the jaw 5. This structural design not only simplifies the mechanical transmission process, reduces energy loss, but also improves the response speed and accuracy of the movement of the jaw 5, enabling the robot arm to quickly and stably grip objects such as explosives, and enhancing the reliability of the robot arm in dangerous operations.

[0022] A collar 12 is provided between the output end of the cylinder 9 and the slide bar 7. Grooves 121 are formed on both the output end of the cylinder 9 and the slide bar 7. The cylinder 9 and the slide bar 7 are connected through the grooves 121 and the collar 12. The collar 12 is slidably arranged in the sleeve 32. The design of connecting the cylinder 9 and the slide bar 7 through the collar 12 and the grooves 121 enhances the flexibility and stability of the connection between the two. The output end of the cylinder 9 passes through the hollow shaft 41. The collar 12 can slide in the sleeve 32, enabling the slide bar 7 to slide smoothly along a predetermined direction when the cylinder 9 pushes the slide bar 7. At the same time, the collar 12 ensures that the slide bar 7 and the cylinder 9 can rotate relative to each other, avoiding the jamming phenomenon caused by inflexible connection.

[0023] It should be noted that the working principle of this multi-functional robotic arm is as follows: The crawler vehicle 13 serves as a mobile carrier, adapting to complex terrains through its crawler structure, providing mobility for the whole, and being able to move flexibly in various scenarios. The robotic arm 1 cooperates with the connecting seat 2. By adjusting the telescoping and pitching of the robotic arm 1, the connecting seat 2 is driven to change the spatial position and angle of the mounting frame 3, meeting the operation requirements at different heights and angles.

[0024] The cylinder 9 is connected to the slide bar 7 through the collar 12. The grooves 121 at both ends of the collar 12 are respectively embedded in the grooves of the output end of the cylinder and the slide bar 7, ensuring both connection stability and allowing the slide bar 7 to rotate relative to the cylinder. When the output end of the cylinder 9 expands and contracts, it pushes the slide bar 7 to slide along the arc-shaped groove 311 in the sleeve 32. The racks 71 on both sides of the slide bar 7 move synchronously and engage with the gear 63, driving the gear 63 to rotate. The gear 63 drives the first connecting rod 61 to swing through the first horizontal shaft 611. The first connecting rod 61, the bottom end of the jaw 5, the second connecting rod 62, and the mounting frame 3 form a four-bar mechanism: when the first connecting rod 61 pulls and pushes the jaw 5 to rotate around the mounting frame 3, the second connecting rod 62 swings synchronously to maintain smooth movement, realizing the opening and closing action of the jaw 5. When grasping an object, the anti-slip lines 52 on the inner side of the jaw 5 increase the friction force to prevent slipping; during cutting operations, the blade 51 is fixed through the mounting bolt 511 and can be quickly disassembled and replaced.

[0025] The brush 8 at the front end of the sliding rod 7 is usually stored in the sleeve 32. When the sliding rod 7 is pushed forward by the cylinder 9, it extends until the clamping jaw 5 opens to the maximum angle. At this time, the brush 8 is fully extended. When the cylinder 9 pulls the sliding rod 7 backward, the brush 8 retracts into the sleeve 32. The flared opening 321 at one end of the sleeve 32 guides the smooth entry and exit of the brush 8, reducing friction. When the clamping jaw 5 is fully closed, the blade 51 closes synchronously. The arc-shaped groove 311 of the cross beam 31 restricts the movement trajectory of the sliding rod 7, ensuring the transmission accuracy between the sliding rod 7, the rack 71, and the gear 63 during its sliding, and avoiding jamming of the clamping jaw 5. After the servo motor 10 is started, the synchronous pulley B111 at its output end drives the synchronous pulley A43 to rotate through the synchronous belt 11, and then drives the mounting bracket 3 connected to the hollow shaft 41 and the clamping plate 42 to rotate around the hollow shaft 41, realizing the 360° horizontal rotation of the mounting bracket 3, thereby driving the brush 8 to rotate to clean the soil and expose the explosives buried in the soil. When the cylinder 9 pulls the sliding rod 7 backward and the brush 8 retracts into the sleeve 32 and the blade 51 closes, it can break and disassemble hard soil or stones by high-speed rotation.

[0026] The whole system realizes multi-functional automated operations such as grasping, breaking, and cleaning through the coordination of the robotic arm 1, the servo motor 10, the cylinder 9, and the linkage mechanism 6, and is suitable for the operation requirements in dangerous or complex environments.

[0027] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A multi-functional robotic arm, comprising a robotic arm (1) and a crawler vehicle (13), the robotic arm (1) being arranged on the crawler vehicle (13), characterized in that: A connecting seat (2) is provided on the robotic arm (1). An installation frame (3) is rotatably provided on the connecting seat (2). Claw jaws (5) are symmetrically provided on both sides of the installation frame (3). A linkage mechanism (6) is provided between the claw jaws (5) and the installation frame (3). A rotating member (4) is provided on the installation frame (3). The installation frame (3) is rotatably provided on the connecting seat (2) through the rotating member (4). It further includes: A sliding rod (7), which is slidably provided on the installation frame (3), and the linkage mechanism (6) is driven to act by pushing the sliding rod (7). A brush (8), which is fixedly provided at one end of the sliding rod (7). A cylinder (9), which is fixedly provided on the connecting seat (2), and the output end of the cylinder (9) is rotatably connected to the sliding rod (7). A servo motor (10), which is fixedly provided on the connecting seat (2), and the servo motor (10) is connected to the rotating member (4) through a transmission component.

2. The multifunctional robotic arm according to claim 1, characterized in that: Sleeves (32) are fixedly provided at both ends of the installation frame (3). There are two installation frames (3), and the two installation frames (3) are symmetrically provided on both sides of the sleeve (32). A cross beam (31) is fixedly provided on the installation frame (3). An arc-shaped groove (311) is provided on the cross beam (31). A flared opening (321) is provided at one end of one of the sleeves (32).

3. The multifunctional robotic arm according to claim 1, wherein: The rotating member (4) includes a hollow shaft (41), the hollow shaft (41) is rotatably provided on the connecting seat (2), a clamping plate (42) is fixedly provided at the upper end of the hollow shaft (41), the hollow shaft (41) is connected to the lower end of the installation frame (3) through the clamping plate (42), and a synchronous pulley A (43) is fixedly provided on the hollow shaft (41).

4. The multifunctional robotic arm according to claim 2, characterized in that: The linkage mechanism (6) includes a first connecting rod (61). First transverse shafts (611) are fixedly provided at both ends of the first connecting rod (61). One end of the first connecting rod (61) is rotatably connected to the cross beam (31) through the first transverse shaft (611). The other end of the first connecting rod (61) is rotatably connected to the bottom end of the claw jaw (5) through the first transverse shaft (611). A second connecting rod (62) is rotatably provided on the claw jaw (5). Second transverse shafts (621) are fixedly provided at both ends of the second connecting rod (62). One end of the second connecting rod (62) is rotatably connected to the claw jaw (5) through the second transverse shaft (621). The other end of the second connecting rod (62) is rotatably connected to the installation frame (3) through the second transverse shaft (621). A gear (63) is fixedly provided on the first transverse shaft (611), and the gear (63) is located between the two installation frames (3).

5. A multi-functional robotic arm according to claim 4, characterized in that: The sliding rod (7) is slidably provided in the sleeve (32). Rack teeth (71) are fixedly provided on both sides of the sliding rod (7). The rack teeth (71) are engaged with the gear (63). The rack teeth (71) are slidably provided between the two cross beams (31). The sliding rod (7) is slidably provided between the arc-shaped grooves (311).

6. The multifunctional robot arm according to claim 3, wherein: The transmission assembly includes a synchronous pulley B (111) connected to the output end of the servo motor (10). The synchronous pulley B (111) is rotatably mounted on the connecting seat (2), and a synchronous belt (11) is provided between the synchronous pulley B (111) and the synchronous pulley A (43).

7. The multifunctional robotic arm according to claim 2, characterized in that: A collar (12) is provided between the output end of the cylinder (9) and the slide bar (7). Grooves (121) are formed in both the output end of the cylinder (9) and the slide bar (7). The cylinder (9) and the slide bar (7) are connected through the grooves (121) and the collar (12), and the collar (12) is slidably disposed in the sleeve (32).

8. A multi-functional robotic arm according to claim 1, characterized in that: A blade (51) is provided at one end of the jaw (5). An installation bolt (511) is provided between the blade (51) and the jaw (5), and anti-slip threads (52) are formed on one side of the jaw (5).

9. The multifunctional robotic arm according to claim 2, characterized in that: The brush (8) corresponds to the position of the flared opening (321). When the cylinder (9) contracts, it drives the brush (8) to slide into the sleeve (32) through the flared opening (321).

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