A five-axis robotic arm for customs clearance verification

Abstract

The present invention discloses a five-axis mechanical arm for customs clearance verification, including a first movable shaft that can move up and down, a second movable shaft that is connected to the first movable shaft through a first connecting piece on the first movable shaft and can rotate freely, a third movable shaft that can move horizontally through a second connecting piece on the second movable shaft, a third connecting piece is provided at one end of the third movable shaft away from the output end of the second power device, a power device of the fourth movable shaft is located on the third connecting piece, a fourth connecting piece is connected to the output end of the fourth power device, and a fifth movable shaft is connected to one end of the fourth connecting piece away from the output end of the fourth power device. The present invention can determine the relevant technical parameters of the mechanical arm as a rotating arm span with a variable rotation radius of 600-900mm, a linear motion travel of 800mm in vertical height travel, a full travel of 3 seconds at the fastest, and a retractable arm increases the rotation radius of the mechanical arm, so that passenger information can be verified in a larger range.

Description

Technical Field

[0001] The invention relates to a verification device, more specifically to a mechanical arm of a verification device for verifying passengers during vehicle clearance. Background Art

[0002] Vehicle clearance verification is a rather cumbersome task, which requires both safety and efficiency. While increasing the number of verification methods, how to solve the problem of passengers being able to pass through facial recognition without getting off the vehicle, allowing passengers to experience the convenience of clearance, solving the problem of false face detection, and at the same time improving the safety and comfort of verification, ensuring safety and efficiency is an issue that needs to be addressed urgently. Summary of the invention

[0003] In response to the above technical problems, the present invention provides a five-axis robotic arm for customs clearance verification, and its specific technical solution is as follows.

[0004] A five-axis robot arm for customs clearance verification comprises a first movable axis that can move up and down, a second movable axis that is connected to the first movable axis through a first connecting piece on the first movable axis and can rotate freely, a third movable axis that can move horizontally through a second connecting piece on the second movable axis, a third connecting piece is provided at an end of the third movable axis away from an output end of a second power device, a power device of a fourth movable axis is located on the third connecting piece, an output end of the fourth power device is connected to a fourth connecting piece, and an end of the fourth connecting piece away from the output end of the fourth power device is connected to a fifth movable axis.

[0005] A five-axis robot arm is provided, wherein the first movable axis comprises a vertical column, a first connecting member is fixed on a slide rail of the column, and a second power device is fixed on the first connecting member.

[0006] A five-axis robot arm is provided, wherein a first power device is arranged at the lower part of the vertical column, and a power transmission device for transmitting the output power of the first power device to the first connecting member is arranged on the vertical column.

[0007] A five-axis robot arm is provided, wherein the power transmission device comprises a vertical rod-shaped body and rolling wheels respectively located at the upper and lower parts of the vertical columnar body, and a conveyor belt respectively passing around two rollers at the top and bottom of the vertical columnar body and respectively fixed at the upper and lower ends of a first connecting member, wherein the vertical rod-shaped body is located in a constraint arc-shaped body on the first connecting member on a side away from the first power device.

[0008] A five-axis robot arm is provided, wherein the output end of the second power device is connected to a second connecting member, and the second connecting member is a long strip block.

[0009] A five-axis robotic arm is provided, wherein a third power device is fixed to one end of the second connecting member, an output end of the third power device is connected to a wire rod power transmission device, a first guide rail and a second guide rail are provided on the inner side of the second connecting member, the first guide rail is connected to a first slider assembly, the second guide rail is connected to a second slider assembly, a moving member is provided above the two guide rails, and the moving member can move above the second connection along the direction of the guide rail.

[0010] A five-axis robot arm is provided, wherein a first slider assembly is connected to the first guide rail, the first slider assembly is fixed to the inner wall of the first side wall of the second connecting member, and the first guide rail is fixed to the outer wall of the moving member; a second slider assembly is connected to the second guide rail, the second slider assembly is fixed to the outer wall of the second side wall of the moving member, and the second slide rail is fixed to the second inner wall of the second connecting member.

[0011] A five-axis robot arm is provided, wherein the upper part of the moving part, close to the third power device, is provided with a side wall of the second connecting part fixed with the first guide rail. The body cooperates with the sensing device.

[0012] A five-axis robot arm is provided, wherein a fourth power device is fixed on a second connection member, on a third connection member which is away from one end of a third power device and connected to a third movable axis, and a fourth connection member is connected to an output end of the fourth power device and a lower part of the third connection member.

[0013] Provided is a five-axis robotic arm, wherein the lower surface of the third connecting member is fixed with two downwardly directed A body is fixed on the upper surface of the fourth connecting member with a A needle-shaped sensing element that matches the body.

[0014] A five-axis robotic arm is provided, wherein the output end of the fourth power device is connected to one end of a fourth connecting member, the other end of the fourth connecting member is connected to the output end of the fifth power device via a rotating connecting member, and the rotating connecting member is fixedly connected via a fixing hole on the fourth connecting member.

[0015] A five-axis robot arm is provided, wherein a vertical fixing device is fixed on one end of the fourth connecting member away from the fourth power device, and the fifth power device is connected to the vertical fixing device via a fastener.

[0016] A five-axis robot arm is provided, wherein two detection A needle-shaped sensing device is provided on the upper part of the movable connecting member, and the needle-shaped body can be moved from the stepped column when the stepped column rotates. The air passes through the gap in the middle of the body.

[0017] A five-axis robotic arm is provided, wherein the output part of the fifth power device is connected to a rotating connector, and the rotating connector includes a shell fixed on the fourth connector, a hollow rotating core located in the shell, and a stepped columnar body located inside the rotating core, transmitting power and connecting to a connecting mechanism of a spherical verification device.

[0018] A five-axis robot arm is provided, wherein a plurality of connection holes are arranged at the lower part of the stepped columnar body.

[0019] A five-axis robotic arm is provided, wherein the fixing holes at the bottom of the stepped cylindrical body, the fixing holes on the fourth connecting member and the connecting holes at the top of the connecting mechanism of the sphere verification device correspond one to one.

[0020] A five-axis robotic arm is provided, wherein the connection mechanism of the sphere verification device is a triangular connector, and a through hole is provided on the side of the right-angle portion of the connector.

[0021] A five-axis robot arm is provided, wherein an elliptical recessed portion is provided at the connection between the connecting body and the chamfered portion.

[0022] A five-axis robot arm is provided, wherein a clamping portion is provided between the elliptical recessed portion and the through hole of the direct portion.

[0023] A five-axis robot arm is provided, wherein the clamping parts are respectively close to the perforation positions on both sides.

[0024] The present invention also provides a verification device, including a five-axis robotic arm and a verification device, the verification device including a connecting part and a human-computer interaction part, the connecting part and the human-computer interaction part are connected through a ring-mounted connecting piece to form a spherical body, the human-computer interaction part includes an operating platform formed by an upper and lower cutting part and a horizontal cutting part, the operating part includes a display device, a voice interaction device, an image acquisition device, a fingerprint acquisition device, a sound playing device, a positioning device, and a fill light device, the display device is located on the upper and lower cutting parts, the image acquisition device is located on the upper part of the display device, fill light devices are provided on both sides of the image acquisition device, the fingerprint acquisition device is located in the horizontal cutting part, and the sound playing device is located at the lower part of the spherical verification device.

[0025] A verification device is provided, wherein the verification device is fixed on a five-axis mechanical arm through a connector.

[0026] A verification device is provided, wherein the verification device is fixed at the lower part of the third connecting plate of the five-axis robot arm.

[0027] A verification device is provided, wherein a plurality of connection holes for connecting a control console and a connection part are arranged on the circumference of the annular connection piece.

[0028] A verification device is provided, wherein a plurality of positioning pins are arranged on the circumference of the annular connecting piece.

[0029] A verification device is provided, wherein a barrier protrusion is arranged on the circumference of the annular connecting piece.

[0030] A verification device is provided, wherein the connection holes at the circumference of the annular connecting piece are located on the inner side wall of the circumference and on a platform protruding toward the center of the circle.

[0031] The present invention has the following beneficial effects: according to the project requirements and the relevant technical parameters of the mechanical arm, the arm span can be determined to have a variable rotation radius of 600-900mm (including the human-machine interaction platform), a linear motion stroke of 800mm in height, and a fastest action time of 3 seconds for the entire stroke. It can be fixed on the safety island. The existence of the retractable arm increases the rotation radius of the mechanical arm, and the passenger information can be verified in a larger range. The power transmission uses a ball screw, and the power transmission is stable, which avoids the vibration of the mechanical arm caused by the heavy object at the tail during the movement of the mechanical arm, which increases the verification time and reduces the verification accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of the five-axis robotic arm of the technical solution of the present invention.

[0033] FIG2-1 is a schematic diagram of the structure of the first and second movable axes of the mechanical arm of the technical solution of the present invention. Figure 1

[0034] FIG. 2-2 is a schematic diagram of the structure of the first and second moving axes of the mechanical arm of the technical solution of the present invention.

[0035] Figure 3-1 is a schematic diagram of the structure of the third, fourth and fifth moving axes of the robot arm of the technical solution of the present invention

[0036] FIG. 3-2 is a schematic diagram of the structure of the third movable axis transmission assembly of the robot arm of the present invention. Figure 1

[0037] FIG. 3-3 is a schematic diagram of the structure of the third movable axis transmission assembly of the robot arm of the present invention.

[0038] Figure 4 This is a schematic diagram of the fourth moving axis structure of the mechanical arm of the technical solution of the present invention

[0039] Figure 5 This is a schematic diagram of the stepped columnar structure of the technical solution of the present invention.

[0040] Figure 6 This is a schematic diagram of the structure of the movable connecting piece of the technical solution of the present invention.

[0041] Figure 7 This is a schematic diagram of the structure of the spherical verification device connector of the technical solution of the present invention

[0042] Figure 8This is a schematic diagram of the structure of the spherical verification device of the technical solution of the present invention

[0043] Fig. 9 This is a schematic diagram of the decomposition structure of the spherical verification device of the technical solution of the present invention

[0044] Fig.10 This is a schematic diagram of the annular connector of the spherical verification device structure of the technical solution of the present invention DETAILED DESCRIPTION

[0045] Combine the following Figure 1 - Fig.10 The present invention is described in detail.

[0046] A five-axis robot arm for customs clearance verification includes a first movable axis 100 that can move up and down, a second movable axis 200 that is connected to the first movable axis through a first connecting member 110 on the first movable axis and can rotate freely, a third movable axis 300 that can move horizontally through a second connecting member 220 on the second movable axis, a third connecting member 320 is provided at the end of the third movable axis away from the output end of the second power device, a power device of a fourth movable axis 400 is located on the third connecting member, the output end of the fourth power device is connected to a fourth connecting member 420, and the end of the fourth connecting member away from the output end of the fourth power device is connected to a fifth movable axis 500.

[0047] The first movable shaft 100 includes a vertical column 120, a first connecting member 110 is fixed on the vertical column 120, a first power device 130 is located at the lower part of the vertical column 120, the output end of the first power device 130 faces upward, two chains are provided on both sides of the vertical column 120, one end of the chain is connected to the first connecting member 110 respectively, a connecting plate 111 is fixed on the first connecting member 110, and a power transmission device for transmitting the output power of the first power device to the first connecting member is provided on the vertical column, including a A vertical ball screw (not shown in the drawings) and a rolling wheel 1421 and a rolling wheel 1422 respectively located at the upper part and the lower part of the vertical column, and a conveyor belt 143 respectively passing through the two rollers at the upper part and the lower part of the vertical column and fixed at the upper and lower ends of the first connecting member, the vertical column is located in the constraint arc on the first connecting member, and the constraint arc is located on the side of the first connecting member away from the second power device. The connecting plate 111 moves up and down under the joint action of the vertical ball screw and the conveyor belt 143 driven by the first power device 130.

[0048] The second movable axis 200 includes a second power device 210 and a second connecting member 220. In this embodiment, the second connecting member 220 is an elongated block. Both sides of the second connecting member 220 have upwardly protruding edges. The second power device is fixed to the connecting plate 111 through a fixing member 211. The motor output end of the second power device faces downward. The output end of the second power device 210 is fixedly connected to the bottom of one end of the elongated block structure of the second connecting member. The second connecting member 220 can rotate at a certain angle under the rotation of the second power device. A sensing device is provided below the fixing member 211. This sensing device can control the rotation of the second rotating shaft within a certain range.

[0049] The third movable shaft 300 includes a third power device 310 fixed to one end of the second connecting member 220, a threaded rod power transmission device 311 is connected to the output end of the third power device, two guide rails 312 are provided on the inner side of the second connecting member, namely a first guide rail 3121 and a second guide rail 3122, the two guide rails are respectively connected to a slider assembly 313, the first guide rail is connected to a first slider assembly 3131, the second guide rail is connected to a second slider assembly 3132, and a moving member 314 is provided above the two guide rails, and the moving member 314 can move above the second connecting member along the guide rail direction. The first guide rail 3121 is connected to a first slider assembly 3131, the first slider assembly 3131 is fixed to the inner side wall 2211 of the first side wall of the second connecting member, and the first guide rail is fixed to the outer side wall 3141 of the moving member; the second guide rail is connected to a second slider assembly 3132, the second slider assembly is fixed to the outer side wall 3142 of the second side wall of the moving member, and the second slide rail is fixed to the second inner side wall 2221 of the second connecting member. This connection method can be called "positive and negative connection". Of course, the connection method of the third movable axis guide rail and the slider can also be designed as: the two guide rails are fixed on the inner walls on both sides of the second connecting member, and the slider is fixed on the outer wall of the movable member 314, or the two guide rails are fixed on the outer wall of the movable member 314, and the two sliders are fixed on the inner wall of the second connecting member, which can also achieve the purpose of telescopic third axis. However, the effect that can be achieved by this "positive and negative connection" technical solution is that when the moving part 314 is not extended or retracted, if a force is applied to the tail end of the robot arm, there will be two force support points on the third moving axis, and the two force support points are in the form of a diagonal. This solution is better than the technical solution in which both guide rails are fixed on the second connecting part and the sliders are fixed on the moving part, or the technical solution in which each guide rail is fixed on the outer wall of the moving part 314 and the sliders are fixed on the inner wall of the second connecting part. It can withstand greater external forces when not extended or retracted, and has better value in resisting violent use. This is mainly because a fingerprint verification function is provided on the verification device at the tail end of the robot arm. The device needs to have direct physical contact with the person being verified, and it is inevitable that some people will use the device violently. Therefore, the safety performance of the device is better. The upper part of the moving part, close to the side of the third power device, is provided with a side wall on the second connecting part that is fixed with the first guide rail. The third connecting member 320 is provided at one end of the moving member 314 away from the third power device 310. The third connecting member 320 is in an arc shape, and a plurality of fixing holes are provided at the bottom of the third connecting member 320. At the end of the second connecting member away from the third power device, two rolling wheels can be provided at the lower part of the two side walls of the moving member 314. The rolling wheels can reduce the resistance of the moving member 314 when it is extended and retracted, and can also play a certain supporting role.

[0050] The fourth movable shaft 400 includes a fourth power device 410, which is fixed to the fixing hole of the third connecting member, and the output end of the fourth power device faces downward. Below the third connecting member, the output end of the fourth power device is connected to one end of the fourth connecting member 420 through a rotating movable member 430. The lower surface of the third connecting member is fixed with two downward-facing A body is fixed on the upper surface of the fourth connecting member with a A needle-shaped sensing element that matches the body.

[0051] The fifth movable shaft 500 includes a fifth power device 510, and a movable connecting member 530 fixed on the upper part of the fourth connecting member 420 between the fifth power device 510 and the fourth connecting member 420. The output end of the fifth power device 510 faces downward and is connected to the movable connecting member 530. The movable connecting member 530 is fixed on the upper part of the fourth connecting member 420. The movable connecting member 530 is driven by the fifth power device 510, thereby controlling the verification device on the movable connecting member 530.

[0052] The output part of the fifth power device is connected to the power movable connecting member 530, which includes a housing 531 fixed to the fourth connecting member, a hollow rotating core 532 located in the housing, and a stepped columnar body 533 located inside the rotating core, transmitting power and connecting the ball verification device connecting mechanism. A plurality of connecting holes 5331 are provided at the lower part of the stepped columnar body. A sensing device 534 is provided at the upper part of the movable connecting member, which includes a needle-shaped body 5341 fixed to the stepped columnar body and a needle-shaped body 5341 located on the upper vertical side wall of the fourth connecting member. The needle-shaped body 5342 can be rotated with the stepped columnar body. The fixing hole 5331 at the bottom of the stepped cylindrical body corresponds to the connection hole 525 at the top of the ball verification device connection mechanism. The ball verification device connection mechanism is a triangular connector, a through hole 521 is provided on the right angle side of the connector, an elliptical recessed portion 532 is provided at the connection of the chamfered portion of the connector, and a clamping portion 523 is provided between the elliptical recessed portion and the through hole of the right angle portion, and the clamping portion is close to the perforation positions on both sides.

[0053] The present invention also discloses a verification device, and its specific technical solution is as follows.

[0054] A sphere verification device 600 includes a connecting portion and a human-machine interaction portion. The connecting portion 610 and the human-machine interaction portion 620 are connected via a connecting piece to form a sphere.

[0055] The human-computer interaction unit 620 includes a display device 621, a voice interaction device, an image acquisition device 623, a fingerprint acquisition device 624, a sound playback device 625, a positioning device 626, and a fill light device. The connection unit and the human-computer interaction unit are connected to form a sphere through a ring-shaped connection member 630. The human-computer interaction unit 620 includes an operating platform formed by an upper and lower cutting portion and a horizontal cutting portion. For the convenience of operation and the operating platform being at an angle greater than a right angle, the display device 621 is located on the plane of the upper and lower cutting portions, and the voice interaction device is located on both sides of the image acquisition device. In this embodiment, there are two voice interaction devices, which are respectively located at the lower part of both sides of the display device. The image acquisition device 623 is located at the upper part of the display device. Fill light devices are provided on both sides of the image acquisition device. A rectangular recessed portion is provided in the middle part of the horizontal cutting portion and is recessed in the lower part of the plane. The fingerprint acquisition device 624 is located in the recessed portion. An arc-shaped cutting surface is provided at the lower part of the sphere near the front, and the sound playback device 625 is located on the arc-shaped cutting surface. A positioning device is provided on the two sides of the sound playing device 625. In this embodiment, the positioning device is an ultrasonic sensor. An ambient three-color light guide lamp is provided on the two sides of the sphere, the connection part 610 and the connection part of the human-computer interaction platform 620.

[0056] The verification device is fixed to the stepped columnar body 533 at the lower part of the fifth power device of the robot arm through a connector.

[0057] The annular connector 630 has a plurality of connection holes 631 for connecting the control console and the connection part on the circumference of the annular connector 630. The connection holes are located on the inner side wall of the circumference and on a platform 632 protruding toward the center of the circle. The annular connector has a plurality of positioning pins 633 on the circumference. The positioning pins protrude symmetrically on both sides and extend toward the connection part and the human-machine interaction part respectively. The positioning pins can position the connection part and the human-machine interaction part in different fixed positions. The annular connector has a barrier protrusion 634 on the circumference.

[0058] The above embodiments are preferred embodiments of the present invention. The present invention is not limited to the above embodiments. For ordinary technicians in this field, any obvious changes made without departing from the technical principles of the present invention are within the concept of the present invention and the protection scope of the attached claims.

Claims

1. A five-axis robotic arm for customs clearance verification, characterized in that: It includes a first moving shaft that can move up and down, a second moving shaft that is connected to the first moving shaft through a first connecting piece on the first moving shaft and can rotate freely, a third moving shaft that can move horizontally through a second connecting piece on the second moving shaft. At one end of the third moving shaft away from the output end of the second power device, there is a third connecting piece. The fourth power device of the fourth moving shaft is located on the third connecting piece. The output end of the fourth power device is connected with a fourth connecting piece, and one end of the fourth connecting piece away from the output end of the fourth power device is connected with a fifth moving shaft; The first moving shaft includes a vertical columnar body, and the first connecting piece is fixed on the slide rail of the vertical columnar body, and the second power device is fixed on the first connecting piece; A first power device is provided at the lower part of the vertical columnar body, and a power transmission device for transmitting the output power of the first power device to the first connecting piece is provided on the vertical columnar body; The power transmission device includes a vertical ball screw, rolling wheels located at the upper and lower parts of the vertical columnar body respectively, and conveyor belts that respectively bypass the two rollers at the upper and lower parts of the vertical columnar body and are respectively fixed at the upper and lower ends of the first connecting piece. The vertical ball screw is located in an arc-shaped restraint body on the side of the first connecting piece背离 the first power device; The output end of the second power device is connected with the second connecting piece, and the second connecting piece is a long strip-shaped block; One end of the second connecting piece is fixed with a third power device, and the output end of the third power device is connected with a screw power transmission device. The inner side of the second connecting piece is provided with a first guide rail and a second guide rail. The first guide rail is connected with a first slider assembly, and the second guide rail is connected with a second slider assembly. A moving piece is provided above the two guide rails, and the moving piece can move above the second connecting piece along the direction of the guide rail; The first guide rail is connected with a first slider assembly, and the first slider assembly is fixed on the inner side wall of the first side wall of the second connecting piece, and the first guide rail is fixed on the outer side wall of the moving piece; The second guide rail is connected with a second slider assembly, and the second slider assembly is fixed on the outer side wall of the second side wall of the moving piece, and the second guide rail is fixed on the second inner side wall of the second connecting piece. Rolling wheels are provided at the lower parts of the two side walls of the moving piece, and the rolling wheels are used to reduce the telescopic resistance of the moving piece and have a supporting effect; The output part of the fifth power device of the fifth moving shaft is connected with a movable connecting piece, and the movable connecting piece includes a housing fixed on the fourth connecting piece, a hollow rotating core located in the housing, and a stepped columnar body located inside the rotating core for transmitting power and connecting the spherical verification device connecting mechanism.

2. The five-axis robot arm according to claim 1, characterized in that: On the upper part of the moving piece, on the side close to the third power device, there is an induction device that cooperates with a U-shaped body fixed on the side wall of the first guide rail on the second connecting piece.

3. The five-axis robot arm according to claim 2, characterized in that: The fourth power device is fixed on the second connecting piece, at the end away from the third power device, on the third connecting piece connected to the third moving shaft. At the output end of the fourth power device, a fourth connecting piece is connected to the lower part of the third connecting piece.

4. The five-axis robot arm according to claim 3, characterized in that: Two downward-facing U-shaped bodies are fixed on the lower surface of the third connecting piece, and a needle-shaped induction piece that cooperates with the downward-facing U-shaped body is fixed on the upper surface of the fourth connecting piece.

5. The five-axis robot arm according to claim 4, characterized in that: The output end of the fourth power device is connected to one end of the fourth connecting member, and the other end of the fourth connecting member is connected to the output end of the fifth power device through a movable connecting member. The movable connecting member is fixedly connected through a fixing hole on the fourth connecting member.

6. The five-axis robot arm according to claim 5, characterized in that: A vertical fixing device is fixed on the end of the fourth connecting member away from the fourth power device, and the fifth power device is connected to the vertical fixing device through a fastener.

7. The five-axis robot arm according to claim 6, characterized in that: Two U-shaped bodies for detection are fixed on the inner side wall of the vertical fixing device. A needle-shaped induction device is provided on the upper part of the movable connecting member. The needle-shaped induction device can pass through the gap in the middle of the U-shaped body when rotating along with the stepped columnar body.

8. The five-axis robot arm according to claim 7, characterized in that: A plurality of connecting holes are provided at the lower part of the stepped columnar body.

9. The five-axis robot arm according to claim 8, characterized in that: The fixing holes at the bottom of the stepped columnar body correspond one by one to the connecting holes at the top of the spherical verification device connecting mechanism.

10. The five-axis robot arm according to claim 9, characterized in that: The spherical verification device connecting mechanism is a triangular connecting body, and a through hole is provided on the side surface of the right-angle part of the connecting body.

11. The five-axis robot arm according to claim 10, characterized in that: An oval concave part is provided at the connection part of the bevel-cut part of the connecting body.

12. The five-axis robot arm according to claim 11, characterized in that: A clamping part is provided between the oval concave part and the through hole of the right-angle part.

13. The five-axis robot arm according to claim 12, characterized in that: The clamping parts are respectively close to the perforation positions on both sides.

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