A synchronous telescopic arm and patrol robot thereof

Abstract

The present invention discloses a synchronous telescopic arm and a patrol robot thereof, wherein the synchronous telescopic arm comprises a frame and a driving device arranged on the frame, wherein a first connecting rod assembly is rotatably connected to the frame, wherein the free end of the first connecting rod assembly is rotatably connected to an intermediate connecting seat, wherein a second connecting rod assembly is rotatably connected to the intermediate connecting seat, wherein the free end of the second connecting rod assembly is rotatably connected to an active connecting seat, and when the driving device drives the first connecting rod assembly to rotate relative to the frame, the second connecting rod assembly rotates synchronously relative to the first connecting rod assembly. When the present invention is used, a camera is installed on the active connecting seat, so that the telescopic arm can carry the camera through a fence door into a prison cell for shooting, and abnormal conditions and potential hidden dangers in the prison cell can be discovered in time, which is conducive to further improving the safety supervision level of the prison.

Description

Technical Field

[0001] The invention relates to robot technology, in particular to a synchronous telescopic arm and a patrol robot thereof. Background Art

[0002] Patrol robots are designed to replace prison guards on duty to perform night patrols in cells, check the rest and nighttime activities of prisoners, reduce the work pressure of on-duty prison guards, reduce the risk of prison guards handling, and improve the safety supervision level of prisons. However, most existing patrol robots only patrol and shoot outside the cell fence when patrolling, and their cameras cannot extend into the cell to shoot, and thus cannot effectively detect abnormal conditions and potential hazards in the cell. Summary of the invention

[0003] The purpose of the present invention is to provide a synchronous telescopic arm, which can carry a camera through the fence door into the cell for shooting, in order to solve the problem that most of the existing patrol robots only patrol and shoot outside the cell fence door during patrol, and their cameras cannot be extended into the cell for shooting. The telescopic arm can carry a camera through the fence door into the cell for shooting, so as to timely discover abnormal situations and potential hidden dangers in the cell, which is conducive to further improving the safety supervision level of the prison.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A synchronous telescopic arm comprises a frame and a driving device arranged on the frame, wherein a first connecting rod assembly is rotatably connected to the frame, a free end of the first connecting rod assembly is rotatably connected to an intermediate connecting seat, a second connecting rod assembly is rotatably connected to the intermediate connecting seat, and a free end of the second connecting rod assembly is rotatably connected to a movable connecting seat, when the driving device drives the first connecting rod assembly to rotate relative to the frame, the second connecting rod assembly rotates synchronously with the first connecting rod assembly.

[0006] The present invention has a first connecting rod assembly rotatably connected to a frame, an intermediate connecting seat rotatably connected to the free end of the first connecting rod assembly, a second connecting rod assembly rotatably connected to the intermediate connecting seat, and a movable connecting seat rotatably connected to the free end of the second connecting rod assembly. When the first connecting rod assembly is driven by a driving device to rotate relative to the frame, the second connecting rod assembly rotates synchronously relative to the first connecting rod assembly. When in use, a camera is installed on the movable connecting seat, so that the telescopic arm can carry the camera through a fence door into a prison cell for shooting, so that abnormal conditions and potential hazards in the prison cell can be discovered in time, which is conducive to further improving the safety supervision level of the prison.

[0007] As a preferred embodiment of the present invention, the first connecting rod assembly includes two first active connecting rods and a first driven connecting rod, and the first active connecting rod, the first driven connecting rod, the frame and the intermediate connecting seat form a parallelogram motion mechanism; the second connecting rod assembly includes two second active connecting rods and a second driven connecting rod, and the second active connecting rod, the second driven connecting rod, the intermediate connecting seat and the movable connecting seat also form a parallelogram motion mechanism, and an intermediate connecting rod is also rotatably connected between the first driven connecting rod and the second active connecting rod. The first active link, the first driven link, the frame and the intermediate connecting seat form a parallelogram motion mechanism, and the second active link, the second driven link, the intermediate connecting seat and the movable connecting seat form another parallelogram motion mechanism, and the intermediate connecting seat is also rotatably connected with the first driven link and the second active link. When the driving device drives the first active link to rotate relative to the frame, the first driven link follows the rotation and drives the second active link to rotate synchronously through the intermediate connecting rod, thereby realizing the extension and retraction of the telescopic arm. After adopting the above-mentioned two-stage parallelogram linkage mechanism, the camera can always be in a horizontal state during the extension and retraction process, which can better adapt to the situation of the cell fence door and facilitate the adjustment of the camera's shooting pitch angle during subsequent shooting.

[0008] As a preferred solution of the present invention, the driving device includes a driving motor, a worm is connected to the output shaft of the driving motor, a turbine adapted to the worm is provided on the frame, and two first active connecting rods are fixedly connected to the two sides of the turbine. The driving motor drives the worm to rotate, and then drives the turbine to rotate, so that the two first active connecting rods can rotate relative to the frame. The above-mentioned worm gear structure is conducive to making the driving device structure more compact and meeting the application requirements of the robot.

[0009] As a preferred solution of the present invention, the turbine is provided with a rotating shaft running through both sides of the turbine along the central axis, and both ends of the rotating shaft are connected to the frame. With this mounting structure, the turbine can rotate around the rotating shaft on the frame, thereby driving the first active connecting rod to rotate relative to the frame. This method forms a stable support for the turbine, which is conducive to ensuring the smooth rotation of the turbine.

[0010] As a preferred solution of the present invention, the intermediate connecting rod is in an I-shape, the two first driven connecting rods are correspondingly connected to the two ends on one side of the intermediate connecting rod, and the two second active connecting rods are correspondingly connected to the two ends on the other side of the intermediate connecting rod. By using an I-shaped intermediate connecting rod to connect the two first driven connecting rods and the second active connecting rod, the two first driven connecting rods and the second active connecting rod can be operated synchronously, thereby ensuring that when the driving device drives the first connecting rod assembly to rotate relative to the frame, the second connecting rod assembly rotates synchronously relative to the first connecting rod assembly.

[0011] As a preferred solution of the present invention, both sides of the first active connecting rod and the second active connecting rod are provided with sealing plates. After adopting the above solution, the space formed between the two opposite sealing plates can be used to lay control cables, thereby realizing concealed wiring.

[0012] As a preferred solution of the present invention, the first connecting rod assembly and the second connecting rod assembly are connected to the intermediate connecting seat through a pin shaft, and the second connecting rod assembly is connected to the movable connecting seat through a pin shaft. The first connecting rod assembly and the second connecting rod assembly are connected to the intermediate connecting seat and the movable connecting seat through a pin shaft, so that the telescopic arm is easier to assemble during production.

[0013] As a preferred solution of the present invention, the positions of the first connecting rod assembly and the second connecting rod assembly that match the pin are inlaid with copper sleeves. By providing the copper sleeves, the wear resistance of the first connecting rod assembly and the second connecting rod assembly when rotating relative to the pin is increased.

[0014] As a preferred solution of the present invention, a steering gear for controlling the pitch angle of the camera is arranged on the movable connection seat. By arranging the steering gear on the movable connection seat, the camera can perform a pitch action relative to the horizontal plane when shooting, which is conducive to expanding the shooting range of the camera.

[0015] The present invention also provides a patrol robot, comprising the above-mentioned synchronous telescopic arm. After the above-mentioned synchronous telescopic arm is adopted on the patrol robot, when the robot is patrolling, the telescopic arm can carry a camera through the fence door to enter the cell for shooting, so as to timely discover abnormal conditions and potential hidden dangers in the cell, thereby improving the safety supervision level of the prison.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0017] 1. The present invention is characterized in that a first connecting rod assembly is rotatably connected to a frame, an intermediate connecting seat is rotatably connected to a free end of the first connecting rod assembly, a second connecting rod assembly is rotatably connected to the intermediate connecting seat, and a movable connecting seat is rotatably connected to a free end of the second connecting rod assembly. When the first connecting rod assembly is driven by a driving device to rotate relative to the frame, the second connecting rod assembly rotates synchronously relative to the first connecting rod assembly. When in use, a camera is installed on the movable connecting seat, so that the telescopic arm can carry the camera through a fence door into a prison cell for shooting, so that abnormal conditions and potential hidden dangers in the prison cell can be discovered in time, which is conducive to further improving the safety supervision level of the prison;

[0018] 2. The present invention forms a parallelogram motion mechanism by making the first active link, the first driven link, the frame and the intermediate connecting seat, and another parallelogram motion mechanism by making the second active link, the second driven link, the intermediate connecting seat and the movable connecting seat, and the intermediate connecting seat, and the first driven link and the second active link are also rotatably connected with the intermediate link. When the driving device drives the first active link to rotate relative to the frame, the first driven link follows the rotation and drives the second active link to rotate synchronously through the intermediate link, thereby realizing the extension and retraction of the telescopic arm. After adopting the above two-stage parallelogram linkage mechanism, the camera can always be in a horizontal state during the extension and retraction process, which can better adapt to the situation of the cell fence door and facilitate the adjustment of the camera's shooting pitch angle during subsequent shooting.

[0019] 3. The present invention uses a driving motor to drive the worm to rotate, and then drives the turbine to rotate, so as to realize the rotation of the two first active connecting rods relative to the frame. The use of the above-mentioned worm gear structure is conducive to making the structure of the driving device more compact and meeting the application requirements of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a stereoscopic diagram of the synchronous telescopic arm in the present invention.

[0021] Figure 2 for Figure 1 main view.

[0022] Figure 3 for Figure 2 A partial enlarged view of point A in the figure.

[0023] Figure 4 for Figure 2 A partial enlarged view of point B in FIG.

[0024] Figure 5 A schematic diagram of the drive device.

[0025] Figure 6 It is a schematic diagram of the connection between the first connecting rod assembly, the second connecting rod assembly and the intermediate connecting seat.

[0026] Figure 7 It is a schematic diagram of the connection between the second connecting rod assembly and the movable connecting seat.

[0027] Markings in the figure: 1-frame, 11-side plate, 12-connecting plate, 13-concave space, 2-driving device, 21-driving motor, 22-worm, 23-turbine, 24-support, 25-rotating shaft, 3-first connecting rod assembly, 31-first active connecting rod, 32-first driven connecting rod, 4-middle connecting seat, 5-second connecting rod assembly, 51-second active connecting rod, 52-second driven connecting rod, 6-active connecting seat, 61-servo, 62-camera, 7-middle connecting rod, 8-pin shaft, 9-sealing plate, 10-nylon spacer. DETAILED DESCRIPTION

[0028] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] Example 1

[0031] This embodiment provides a synchronous telescopic arm;

[0032] like Figure 1-Figure 7 As shown, the synchronous telescopic arm in this embodiment includes a frame 1 and a driving device 2 arranged on the frame 1, the frame 1 is rotatably connected to a first connecting rod assembly 3, the free end of the first connecting rod assembly 3 is rotatably connected to an intermediate connecting seat 4, the intermediate connecting seat 4 is rotatably connected to a second connecting rod assembly 5, the free end of the second connecting rod assembly 5 is rotatably connected to a movable connecting seat 6, when the driving device 2 drives the first connecting rod assembly 3 to rotate relative to the frame 1, the second connecting rod assembly 5 rotates synchronously relative to the first connecting rod assembly 3.

[0033] The present invention has a first connecting rod assembly rotatably connected to a frame, an intermediate connecting seat rotatably connected to the free end of the first connecting rod assembly, a second connecting rod assembly rotatably connected to the intermediate connecting seat, and a movable connecting seat rotatably connected to the free end of the second connecting rod assembly. When the first connecting rod assembly is driven by a driving device to rotate relative to the frame, the second connecting rod assembly rotates synchronously relative to the first connecting rod assembly. When in use, a camera is installed on the movable connecting seat, so that the telescopic arm can carry the camera through a fence door into a prison cell for shooting, so that abnormal conditions and potential hazards in the prison cell can be discovered in time, which is conducive to further improving the safety supervision level of the prison.

[0034] In this embodiment, the first connecting rod assembly 3 includes two first active connecting rods 31 and two first driven connecting rods 32, and the first active connecting rods 31, the first driven connecting rods 32 form a parallelogram motion mechanism with the frame 1 and the intermediate connecting seat 4; the second connecting rod assembly 5 includes two second active connecting rods 51 and two second driven connecting rods 52, and the second active connecting rods 51, the second driven connecting rods 52 also form a parallelogram motion mechanism with the intermediate connecting seat 4 and the movable connecting seat 6, and the first driven connecting rod 32 and the second active connecting rod 51 are also rotatably connected with an intermediate connecting rod 7. The first active link, the first driven link, the frame and the intermediate connecting seat form a parallelogram motion mechanism, and the second active link, the second driven link, the intermediate connecting seat and the movable connecting seat form another parallelogram motion mechanism, and the intermediate connecting seat is also rotatably connected with the first driven link and the second active link. When the driving device drives the first active link to rotate relative to the frame, the first driven link follows the rotation and drives the second active link to rotate synchronously through the intermediate connecting rod, thereby realizing the extension and retraction of the telescopic arm. After adopting the above-mentioned two-stage parallelogram linkage mechanism, the camera can always be in a horizontal state during the extension and retraction process, which can better adapt to the situation of the cell fence door and facilitate the adjustment of the camera's shooting pitch angle during subsequent shooting.

[0035] In this embodiment, the driving device 2 includes a driving motor 21, a worm 22 is connected to the output shaft of the driving motor 21, a turbine 23 adapted to the worm 22 is provided on the frame 1, and two first active connecting rods 31 are fixedly connected to the two sides of the turbine 23. The driving motor drives the worm to rotate, and then drives the turbine to rotate, so that the two first active connecting rods can rotate relative to the frame. The above-mentioned worm gear structure is conducive to making the driving device structure more compact and meeting the application requirements of the robot. In this embodiment, the driving motor 21, the worm 22 and the turbine 23 are all installed on the support 24, and the support 24 is connected to the frame 1.

[0036] In this embodiment, the turbine 23 is provided with a rotating shaft 25 passing through both sides of the turbine along the central axis, and both ends of the rotating shaft 25 are connected to the support 24, and the support 24 is connected to the frame 1. With this mounting structure, the turbine can rotate around the rotating shaft on the frame, thereby driving the first active connecting rod to rotate relative to the frame. This method forms a stable support for the turbine, which is conducive to ensuring the smooth rotation of the turbine.

[0037] In this embodiment, the frame 1 includes two side panels 11 arranged in parallel and spaced apart, a connecting plate 12 is arranged between the two side panels 11, the connecting plate 12 and the two side panels 11 form a concave space 13, both ends of the rotating shaft 25 of the turbine 23 are installed on the support 24, and the two sides of the support 24 are connected to the two side panels 11, so that the turbine is located in the concave space, and after the telescopic arm is retracted, the first connecting rod assembly 3 and the second connecting rod assembly 5 are also retracted into the concave space 13.

[0038] In this embodiment, the intermediate connecting rod 7 is in an I-shape, the two first driven connecting rods 32 are correspondingly connected to the two ends on one side of the intermediate connecting rod 7, and the two second active connecting rods 51 are correspondingly connected to the two ends on the other side of the intermediate connecting rod 7. By using an I-shaped intermediate connecting rod to connect the two first driven connecting rods and the second active connecting rod, the two first driven connecting rods and the second active connecting rod can be operated synchronously, thereby ensuring that when the driving device drives the first connecting rod assembly to rotate relative to the frame, the second connecting rod assembly rotates synchronously relative to the first connecting rod assembly.

[0039] In this embodiment, a sealing plate 9 is provided on both sides of the first active connecting rod 31 and the second active connecting rod 51, and the sealing plate 9 is connected to the first active connecting rod 31 and the second active connecting rod 51 by screws. After adopting the above solution, the space formed between the two opposite sealing plates can be used to lay control cables, thereby realizing concealed wiring.

[0040] In this embodiment, the first connecting rod assembly 3 and the second connecting rod assembly 5 are connected to the intermediate connecting seat 4 through the pin shaft 8, and the second connecting rod assembly 5 is connected to the movable connecting seat 6 through the pin shaft 8. The first connecting rod assembly and the second connecting rod assembly are connected to the intermediate connecting seat and the movable connecting seat through the pin shaft, so that the telescopic arm is more convenient to assemble during production. In order to facilitate the installation of the pin shaft and the connecting rod, a nylon spacer 10 is sleeved on the pin shaft, and the nylon spacer is used to separate the two connecting rods on the pin shaft.

[0041] In this embodiment, the positions of the first connecting rod assembly and the second connecting rod assembly that match the pin shaft are inlaid with copper sleeves, that is, the copper sleeves are inlaid on the first active connecting rod, the first driven connecting rod, the second active connecting rod and the second driven connecting rod, and the above connecting rods are assembled and connected with the pin shaft through the copper sleeves. By providing the copper sleeves, the wear resistance of the first connecting rod assembly and the second connecting rod assembly when rotating relative to the pin shaft is increased.

[0042] In this embodiment, a steering gear 61, preferably a dual-axis steering gear, is provided on the movable connection seat 6 for controlling the pitch angle of the camera 62. By providing the steering gear on the movable connection seat, the camera can perform a pitch action relative to the horizontal plane when shooting, which is conducive to expanding the shooting range of the camera.

[0043] Example 2

[0044] This embodiment provides a patrol robot, including the synchronous telescopic arm described in Embodiment 1. After the synchronous telescopic arm is used on the patrol robot, the robot can carry a camera through the telescopic arm through the fence door to enter the cell for shooting when patrolling, so as to timely discover abnormal conditions and potential hidden dangers in the cell, thereby improving the safety supervision level of the prison.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A synchronous telescopic arm, characterized in that: The invention comprises a frame and a driving device arranged on the frame, wherein a first connecting rod assembly is rotatably connected to the frame, a free end of the first connecting rod assembly is rotatably connected to an intermediate connecting seat, a second connecting rod assembly is rotatably connected to the intermediate connecting seat, and a free end of the second connecting rod assembly is rotatably connected to a movable connecting seat, and when the driving device drives the first connecting rod assembly to rotate relative to the frame, the second connecting rod assembly rotates synchronously relative to the first connecting rod assembly; The first connecting rod assembly includes two first active connecting rods and a first driven connecting rod, and the first active connecting rod, the first driven connecting rod, the frame and the intermediate connecting seat form a parallelogram motion mechanism; the second connecting rod assembly includes two second active connecting rods and a second driven connecting rod, and the second active connecting rod, the second driven connecting rod, the intermediate connecting seat and the movable connecting seat also form a parallelogram motion mechanism, and the first driven connecting rod and the second active connecting rod are rotatably connected with an intermediate connecting rod; The driving device comprises a driving motor, a worm is connected to the output shaft of the driving motor, a turbine adapted to the worm is provided on the frame, and two sides of the turbine are correspondingly fixedly connected to two first active connecting rods; The movable connection seat is provided with a steering gear for controlling the pitch angle of the camera.

2. The synchronous telescopic arm according to claim 1, characterized in that: The turbine is provided with a rotating shaft penetrating through two sides of the turbine along the central axis, and two ends of the rotating shaft are connected to the frame.

3. The synchronous telescopic arm according to claim 1, characterized in that: The intermediate connecting rod is in an I-shape, the two first driven connecting rods are correspondingly connected to the two ends on one side of the intermediate connecting rod, and the two second active connecting rods are correspondingly connected to the two ends on the other side of the intermediate connecting rod.

4. The synchronous telescopic arm according to claim 1, characterized in that: Sealing plates are provided on both sides of the first active connecting rod and the second active connecting rod.

5. The synchronous telescopic arm according to claim 1, characterized in that: The first connecting rod assembly and the second connecting rod assembly are connected to the middle connecting seat via a pin shaft, and the second connecting rod assembly is connected to the movable connecting seat via a pin shaft.

6. The synchronous telescopic arm according to claim 5, characterized in that: Copper sleeves are embedded in positions on the first connecting rod assembly and the second connecting rod assembly that match the pin shaft.

7. A patrol robot, characterized in that: It comprises a synchronous telescopic arm as claimed in any one of claims 1 to 6.

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