Mechanical arm of intelligent mobile robot and intelligent mobile robot

Abstract

The present invention relates to the field of robot technology, and discloses a mechanical arm of an intelligent mobile robot, comprising: a base, a mechanical arm, a mechanical wrist and a mechanical claw connected in sequence from bottom to top, the mechanical arm is provided with three rotating joints, a rotating joint is provided on the base and the mechanical wrist, a clamping joint is provided on the mechanical claw, and the mechanical claw is used to grasp objects; an image acquisition device, the image acquisition device is installed on a stable platform at the top of the mechanical wrist, and is used to obtain images of objects to be grasped; a controller, the controller controls the base, the mechanical arm, the mechanical wrist and the mechanical claw to move according to the image information of the objects acquired by the image acquisition device. The present invention is equipped with an image acquisition device so that the mechanical arm has a visual function, realizes real-time detection of information such as the position, shape, and color of objects, provides more accurate visual information for the robot, realizes more precise operation and task execution, and improves the reliability of the mechanical arm's action process.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to a mechanical arm of an intelligent mobile robot and the intelligent mobile robot. Background Art

[0002] A robotic arm is a robot system that can simulate human arm movements and perform operations such as grabbing, moving, and placing objects. It consists of a base, connecting rods, joints, actuators, sensors, etc., and can play an important role in industrial automation, medical care, agriculture, education, and other fields. The use of a multi-degree-of-freedom robotic arm can accurately position the robotic gripper to the object to be grabbed, allowing for more flexible operations such as grabbing, moving, and placing.

[0003] In the prior art, the utility model patent with application number CN202221803936.4 discloses a highly stable five-axis rotating robot arm, including a robot arm rotating disk and a robot arm fixing assembly, wherein the robot arm rotating disk is installed at the inner upper end position of the robot arm fixing assembly. In the utility model, the five-axis robot arm is more stable and not easy to tilt when lifting heavy objects through the cooperation of the stabilizing assembly and the electric cylinder. The round rod connecting sleeve in the middle of the upper end of the fixed disk is sleeved on the output rod of the electric cylinder, and the round rod connecting sleeve is fastened to the output rod of the electric cylinder by using positioning bolts. Then, the electric cylinder is turned on to press the output rod of the electric cylinder downward, thereby pushing the fixed disk downward, so that the fixed disk is pressed and supported on the ground, and an anti-slip rubber sleeve is provided at the bottom end of the fixed disk to make it more stable and not easy to slide when supporting.

[0004] This robotic arm improves the stability of the grasping and carrying process, but in actual use, due to the different positions, shapes, colors and other information of the grasped objects, it is impossible to accurately grasp and carry the objects.

[0005] Therefore, it is necessary to propose a mechanical arm of an intelligent mobile robot and an intelligent mobile robot to at least partially solve the problems existing in the prior art. Summary of the invention

[0006] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0007] In order to at least partially solve the above problems, the present invention provides a mechanical arm of an intelligent mobile robot, comprising:

[0008] A base, a robotic arm, a robotic wrist and a robotic claw are connected in sequence from bottom to top. The robotic arm is provided with three rotation joints, the base and the robotic wrist are provided with a rotation joint, and the robotic claw is provided with a clamping joint. The robotic claw is used to grab objects;

[0009] Image acquisition device, which is installed on a stable platform at the top of the robotic wrist and is used to obtain images of the object to be grasped;

[0010] The controller controls the movement of the base, the robotic arm, the robotic wrist and the robotic claw according to the image information of the object obtained by the image acquisition device.

[0011] Preferably, the base includes: a large base plate, a mounting disc, an intermediate disc, a first servo and a column, the large base plate is mounted on the intelligent mobile robot platform, a plurality of columns are vertically connected to the large base plate, the mounting disc is connected to the top of the column, the intermediate disc is connected to the middle of the column, the first servo is mounted on the intermediate disc, and the output shaft of the first servo passes through the center of the mounting disc.

[0012] Preferably, the robotic arm includes: a first U-shaped bracket, a second U-shaped bracket, a second servo and a first multifunctional bracket, a chassis is arranged at the bottom of the first U-shaped bracket, the first U-shaped bracket is rotatably arranged above the mounting disk, and is connected to the output end of the first servo; two second U-shaped brackets are sequentially arranged above the first U-shaped bracket, and the first multifunctional bracket is connected between adjacent U-shaped brackets; the two first multifunctional brackets are connected to a second servo for driving the rotation of adjacent U-shaped brackets, and the top of the uppermost second U-shaped bracket is connected to a second servo, and the second servo is used to drive the robotic wrist and the second U-shaped bracket to rotate relative to each other.

[0013] Preferably, the robotic wrist includes: a second multifunctional bracket and a third servo, the second multifunctional bracket is connected to the second servo output end at the top of the robotic arm, the third servo is connected to the second multifunctional bracket, and is used to drive the robotic claw to rotate around its own axis, and the stabilizing platform is connected to the top of the second multifunctional bracket.

[0014] Preferably, the robotic gripper comprises: an end finger, a movable tooth plate, a connecting rod, a palm plate and a fourth servo, the palm plate is connected to the second multi-functional bracket; two movable tooth plates are symmetrically connected to one side of the palm plate, the two movable tooth plates are provided with incomplete gear teeth, and the incomplete gear teeth of the two movable tooth plates are meshingly connected; the fourth servo is connected to the other side of the palm plate, and the output end of the fourth servo is connected to the central axis of one of the movable gear plates; the two end fingers are symmetrically arranged at one end of the palm plate away from the robotic wrist, and the two end fingers are respectively hinged to the protruding sections of the two movable tooth plates; the two ends of the connecting rod are respectively hinged to the middle part of the end finger and the palm plate.

[0015] Preferably, the image acquisition device is installed on an L-shaped bracket, and the base plate of the L-shaped bracket includes a mounting plate, a through hole and a positioning column, the mounting plate is connected to the center of the base plate of the L-shaped bracket; the through holes are arranged at the four corners of the base plate of the L-shaped bracket; and the two positioning columns are respectively connected to both sides of the base plate of the L-shaped bracket.

[0016] Preferably, the stabilizing platform includes: a groove, an installation groove, a clamping groove, a threaded hole and a positioning hole, the groove is arranged at the center of the top of the stabilizing platform; the installation groove is arranged at the center of the groove, and the mounting plate is installed in the installation groove; two clamping grooves are symmetrically arranged on both sides of the installation groove, and a clamping plate is slidably arranged in the clamping groove, an elastic part is connected between the clamping plate and the side wall of the clamping groove, and the clamping plate is crimped to the side of the mounting plate; the position of the threaded hole corresponds to the through hole, and the bolt connects the through hole and the threaded hole; the positioning column is installed in the positioning hole.

[0017] Preferably, a stable locking unit is provided on the stable platform, and the stable locking unit is provided at the four corners of the stable platform, and the stable locking unit includes:

[0018] A rotating shaft, the rotating shaft is rotatably connected to a rotating groove of the stable platform;

[0019] A clamping seat, the clamping seat is connected to the top of the rotating shaft, a vertical slide groove, a first horizontal slide groove and a second horizontal slide groove are arranged on the clamping seat, the vertical slide groove is arranged on the side of the clamping seat away from the rotating shaft, the first horizontal slide groove and the second horizontal slide groove are respectively connected to the top and the middle of the clamping seat, and the height of the clamping seat is higher than the bottom plate of the L-shaped bracket;

[0020] The sliding column and the sliding plate are slidably connected in the vertical sliding groove. The sliding plate is located above the sliding column, and a spring is connected between the sliding column and the sliding plate;

[0021] The ball bearing is connected to the bottom end of the sliding column and is pressed on the top of the L-shaped bracket bottom plate.

[0022] Preferably, the stable locking unit further comprises:

[0023] A first rack, the first rack is slidably disposed in the first horizontal slide groove, one end of the first rack extends into the vertical slide groove and is clamped above the slide plate, the extended end is provided with an arc surface, and a spring is connected between the other end of the first rack and the end of the first horizontal slide groove;

[0024] A second rack, the second rack is slidably disposed in the second horizontal slide groove, one end of the second rack extends into the vertical slide groove, the extended end is provided with a conical surface, a spring is connected between the other end of the second rack and the end of the second horizontal slide groove, and a latching tooth is provided on the side wall of the slide column;

[0025] The transmission shaft is rotatably connected in the clamping seat, and the transmission shaft is connected with a first gear and a second gear. The first gear is meshed with the first rack, and the second gear is meshed with the second rack. The meshing directions of the first rack and the second rack and the gears are opposite.

[0026] Preferably, a pressure rod is slidably connected to the top of the pressing seat and is located above the vertical slide groove, and a spring is connected between the end of the pressure rod and the top of the pressing seat.

[0027] Preferably, the transmission shaft extends into the rotating shaft, and a limit ring assembly is arranged in the rotating groove, and the limit ring assembly includes:

[0028] An outer ring, the outer ring is connected to the inner wall of the rotating groove and is concentrically arranged on the outer side of the rotating shaft, and a plurality of sliding grooves are evenly arranged on the inner wall of the outer ring;

[0029] An inner ring, the inner ring is rotatably connected to the inner wall of the outer ring and is concentrically arranged on the outer side of the rotating shaft, a plurality of sliding blocks are evenly connected to the outer wall of the inner ring, the sliding blocks are slidably connected to the sliding grooves, a spring is connected between the sliding blocks and the ends of the sliding grooves, and a plurality of limiting teeth are evenly connected to the inner ring;

[0030] A third gear, the third gear is connected to the bottom end of the transmission shaft and is located in the shaft cavity;

[0031] The third rack, two third racks are slidably arranged in the rotating shaft cavity, and the two third racks are symmetrical relative to the center of the transmission shaft, the third rack is meshed and connected with the third gear, a spring is connected between the end of the third rack and the rotating shaft cavity, and a bending section is arranged at the end of the third rack.

[0032] Preferably, the present invention provides an intelligent mobile robot, comprising the above-mentioned mechanical arm.

[0033] Compared with the prior art, the present invention has at least the following beneficial effects:

[0034] The present invention provides a mechanical arm of an intelligent mobile robot, which is equipped with an image acquisition device so that the mechanical arm has visual functions, realizes real-time detection of information such as the position, shape, and color of objects, provides the robot with more accurate visual information, realizes more precise operation and task execution, and improves the reliability of the mechanical arm's movement process.

[0035] An intelligent mobile robot provided by the present invention comprises the mechanical arm and has the beneficial effects of the mechanical arm.

[0036] The mechanical arm of an intelligent mobile robot and the intelligent mobile robot described in the present invention, other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 It is a structural schematic diagram of the present invention;

[0039] Figure 2 It is a structural schematic diagram of the base in the present invention;

[0040] Figure 3 It is a schematic diagram of the structure of the mechanical arm in the present invention;

[0041] Figure 4 It is a schematic diagram of the structure of the mechanical wrist in the present invention;

[0042] Figure 5 It is a schematic diagram of the structure of the robot gripper in the present invention;

[0043] Figure 6 It is a structural schematic diagram of the bottom plate of the L-shaped bracket in the present invention;

[0044] Figure 7 It is a schematic diagram of the structure of the groove in the present invention;

[0045] Figure 8 It is a schematic diagram of the installation structure of the pressing seat in the present invention;

[0046] Fig. 9 It is a schematic diagram of the cross-sectional structure of the pressing seat in the present invention;

[0047] Fig.10 For the present invention Fig. 9 A schematic diagram of the local enlarged structure at point A in the middle;

[0048] Fig.11 For the present invention Fig. 9 A schematic diagram of the local enlarged structure at B in the middle;

[0049] Fig.12 For the present invention Fig. 9 A schematic diagram of the local enlarged structure at C in the middle;

[0050] Fig.13 It is a schematic diagram of the cross-sectional structure of the limit ring assembly in the present invention.

[0051] In the figure: 1. base; 2. robot arm; 3. robot wrist; 4. robot claw; 5. image acquisition device; 6. stable platform; 11. large bottom plate; 12. mounting disc; 13. middle disc; 14. first servo; 15. column; 21. first U-shaped bracket; 22. second U-shaped bracket; 23. second servo; 24. first multifunctional bracket; 31. second multifunctional bracket; 32. third servo; 41. end finger; 42. movable tooth plate; 43. connecting rod; 44. palm plate; 45. fourth servo; 51. L-shaped bracket; 53. mounting disc; 54. through hole; 55. positioning column; 60 . groove; 61. mounting groove; 62. clamping groove; 63. threaded hole; 64. positioning hole; 65. elastic member; 66. clamping plate; 71. rotating shaft; 72. clamping seat; 73. vertical slide groove; 74. first horizontal slide groove; 75. second horizontal slide groove; 76. slide column; 77. slide plate; 78. ball bearing; 79. first rack; 81. second rack; 82 latching tooth; 83. transmission shaft; 84. first gear; 85. second gear; 86. pressure rod; 91. outer ring; 92. inner ring; 93. sliding groove; 94. sliding block; 95. limiting tooth; 96. third gear; 97. third rack. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0053] It should be understood that terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0054] Embodiment 1:

[0055] like Figure 1 As shown, the present invention provides a mechanical arm of an intelligent mobile robot, comprising:

[0056] A base 1, a robotic arm 2, a robotic wrist 3 and a robotic gripper 4 are connected in sequence from bottom to top. The robotic arm 2 is provided with three rotation joints, the base 1 and the robotic wrist 3 are provided with a rotation joint, and the robotic gripper 4 is provided with a clamping joint. The robotic gripper 4 is used to grab objects;

[0057] An image acquisition device 5, which is mounted on a stable platform 6 at the top of the robotic wrist 3 and is used to acquire an image of the object to be grasped;

[0058] The controller controls the base 1, the robotic arm 2, the robotic wrist 3 and the robotic gripper 4 to move according to the image information of the object acquired by the image acquisition device 5.

[0059] The working principle and beneficial effects of the above technical solution are:

[0060] A mechanical arm of an intelligent mobile robot. When in use, a controller controls the base 1, the mechanical arm 2, the mechanical wrist 3 and the mechanical claw 4 of the mechanical arm to move, and adjusts the position of the mechanical claw 4 to be close to an object to be grasped; an image acquisition device 5 on the mechanical wrist 3 acquires an image of the object, and detects the position, shape, color and other information of the object through the acquired image, and plans a grasping path and action process according to the image information of the object. Then, the controller controls the base 1, the mechanical arm 2, the mechanical wrist 3 and the mechanical claw 4 to move, and each joint of the mechanical arm can realize five rotational degrees of freedom and one clamping degree of freedom, so as to accurately grasp, carry and place objects.

[0061] Through the above structural design, a mechanical arm of an intelligent mobile robot is provided, which is equipped with an image acquisition device 5 so that the mechanical arm has visual functions, realizes real-time detection of information such as the position, shape, and color of objects, provides the robot with more accurate visual information, realizes more precise operation and task execution, and improves the reliability of the mechanical arm's movement process.

[0062] Embodiment 2:

[0063] like Figure 2 As shown, on the basis of the above-mentioned embodiment 1, the base 1 includes: a large base plate 11, a mounting disc 12, an intermediate disc 13, a first servo 14 and a column 15, the large base plate 11 is installed on the intelligent mobile robot platform, a plurality of columns 15 are vertically connected to the large base plate 11, the mounting disc 12 is connected to the top of the column 15, the intermediate disc 13 is connected to the middle of the column 15, the first servo 14 is installed on the intermediate disc 13, and the output shaft of the first servo 14 passes through the center of the mounting disc 12.

[0064] The working principle and beneficial effects of the above technical solution are:

[0065] When the base 1 is in use, the large bottom plate 11 is installed on the intelligent mobile robot platform or other fixed platform; the middle disc 13 is used to fix the main body of the first servo 14, and the mounting disc 12 is used to fix the output shaft of the first servo 14 so that it is located at the center of the mounting disc 12; the output shaft of the first servo 14 drives the mechanical arm 2 to rotate, thereby realizing the rotation of the mechanical arm 2, the mechanical wrist 3 and the mechanical claw 4 above the base 1, and adjusting the angle of the upper part of the base 1.

[0066] Embodiment 3:

[0067] like Figure 3As shown, on the basis of the above-mentioned embodiment 2, the robot arm 2 includes: a first U-shaped bracket 21, a second U-shaped bracket 22, a second steering gear 23 and a first multi-functional bracket 24, a chassis is arranged at the bottom of the first U-shaped bracket 21, the first U-shaped bracket 21 is rotatably arranged above the mounting disk 12, and is connected to the output end of the first steering gear 14; two second U-shaped brackets 22 are arranged in sequence above the first U-shaped bracket 21, and the first multi-functional bracket 24 is connected between adjacent U-shaped brackets; the second steering gear 23 is connected to the two first multi-functional brackets 24 for driving the rotation of adjacent U-shaped brackets, and the top of the uppermost second U-shaped bracket 22 is connected to the second steering gear 23, and this second steering gear 23 is used to drive the robot wrist 3 and the second U-shaped bracket 22 to rotate relative to each other.

[0068] The working principle and beneficial effects of the above technical solution are:

[0069] The arm part of the robot 2 is formed by the first U-shaped bracket 21, two second U-shaped brackets 22 and two first multifunctional brackets 24 to form the main body of the robot 2. The base of the first U-shaped bracket 21 is used to fix the bottom of the robot 2 and is connected to the output shaft of the first steering gear 14; the first multifunctional bracket 24 is used to connect adjacent U-shaped brackets, and two second steering gears 23 are arranged on the first multifunctional bracket 24. The two second steering gears 23 are controlled separately to form two rotational degrees of freedom at the connection between adjacent U-shaped brackets; a second steering gear 23 is arranged at the top of the second U-shaped bracket 22 at the top to form a rotational degree of freedom at the connection between the second U-shaped bracket 22 and the robot wrist 3. By controlling the three second steering gears 23 separately, the angle control of the three joints of the robot 2 is realized, and then the posture control of the robot 2 is realized.

[0070] Embodiment 4:

[0071] like Figure 4 As shown, based on the above-mentioned embodiment 3, the robotic wrist 3 includes: a second multi-functional bracket 31 and a third servo 32, the second multi-functional bracket 31 is connected to the output end of the second servo 23 at the top of the robotic arm 2, the third servo 32 is connected to the second multi-functional bracket 31, and is used to drive the robotic claw 4 to rotate around its own axis, and the stabilizing platform 6 is connected to the top of the second multi-functional bracket 31.

[0072] The working principle and beneficial effects of the above technical solution are:

[0073] The second multi-functional bracket 31 is used to connect the manipulator gripper 4 and the manipulator arm 2, and the action output by the third servo 32 drives the manipulator gripper 3 to rotate as a whole, thereby forming the manipulator gripper 3 to rotate around its own axis. The image acquisition device 5 is fixed by the stable platform 6 on the second multi-functional bracket 31 to ensure that the image acquisition device 5 can capture the required target and will not interfere with the movement of the manipulator arm, thereby ensuring the normal operation of the robot.

[0074] Embodiment 5:

[0075] like Figure 5 As shown, on the basis of the above-mentioned embodiment 4, the robotic gripper 4 includes: an end finger 41, a movable tooth plate 42, a connecting rod 43, a palm plate 44 and a fourth servo 45, the palm plate 44 is connected to the second multi-functional bracket 31; two movable tooth plates 42 are symmetrically connected to one side of the palm plate 44, the two movable tooth plates 42 are provided with incomplete gear teeth, and the incomplete gear teeth of the two movable gear plates 42 are meshed and connected; the fourth servo 45 is connected to the other side of the palm plate 44, and the output end of the fourth servo 45 is connected to the central axis of one of the movable gear plates 42; the two end fingers 41 are symmetrically arranged at one end of the palm plate 44 away from the robotic wrist 3, and the two end fingers 41 are respectively hinged to the protruding sections of the two movable tooth plates 42; the two ends of the connecting rod 43 are respectively hinged to the middle part of the end finger 41 and the palm plate 44.

[0076] The working principle and beneficial effects of the above technical solution are:

[0077] When the manipulator gripper 4 is in use, the fourth servo 45 is started to move, and the fourth servo 45 drives one of the movable tooth plates 42 to rotate, and the two movable tooth plates 42 are meshed and transmitted, so that the movable tooth plate 43 on the other side rotates in the opposite direction, and the two movable tooth plates 43 drive the two end fingers 41 to approach each other, so that the manipulator gripper 4 can grasp the object, and the movement of the end fingers 41 is kept stable by the connecting rod 43. The strip groove is provided in the part of the end fingers 41 that clamps the object, which can provide a more stable fixing method of the manipulator gripper, prevent shaking or loosening during the working process, and improve the reliability and stability of the manipulator gripper.

[0078] Embodiment 6:

[0079] like Figure 4 , 6 As shown in , 7, on the basis of the above-mentioned embodiment 1, the image acquisition device 5 is installed on the L-shaped bracket 51, and the bottom plate of the L-shaped bracket 51 includes a mounting plate 53, a through hole 54 and a positioning column 55. The mounting plate 53 is connected to the center of the bottom plate of the L-shaped bracket 51; the through hole 54 is arranged at the four corners of the bottom plate of the L-shaped bracket 51; and two positioning columns 55 are respectively connected to the two sides of the bottom plate of the L-shaped bracket 51.

[0080] The stabilizing platform 6 includes: a groove 60, a mounting groove 61, a clamping groove 62, a threaded hole 63 and a positioning hole 64. The groove 60 is arranged at the center of the top of the stabilizing platform 6; the mounting groove 61 is arranged at the center of the groove 60, and the mounting plate 53 is installed in the mounting groove 61; the two clamping grooves 62 are symmetrically arranged on both sides of the mounting groove 61, and a clamping plate 66 is slidably arranged in the clamping groove 62, and an elastic member 65 is connected between the clamping plate 66 and the side wall of the clamping groove 62, and the clamping plate 66 is crimped to the side of the mounting plate 53; the position of the threaded hole 63 corresponds to the through hole 54, and the bolt connects the through hole 54 with the threaded hole 63; the positioning column 55 is installed in the positioning hole 64.

[0081] The working principle and beneficial effects of the above technical solution are:

[0082] The image acquisition device 5 is installed on the stable platform 6 through the L-shaped bracket 51. During installation, the four positioning columns 55 on the bottom plate of the L-shaped bracket 5 are aligned with the positioning holes 64 on the stable platform 6 and inserted into the positioning holes 64; the mounting plate 53 on the bottom plate of the L-shaped bracket 5 is aligned with the mounting groove 61 of the stable platform 6 and inserted into the mounting groove 61. The clamping plate 66 in the clamping groove 62 keeps the mounting plate 53 pressed under the action of the spring, and then the through hole 54 and the threaded hole 63 are connected by bolts to achieve stable installation of the L-shaped bracket 51, and then achieve stable installation of the image acquisition device 5, thereby ensuring the position accuracy of image acquisition.

[0083] Embodiment 7:

[0084] like Figure 8-12 As shown, on the basis of the above-mentioned embodiment 6, a stabilizing locking unit is provided on the stabilizing platform 6, and the stabilizing locking unit is provided at the four corners of the stabilizing platform 6, and the stabilizing locking unit includes:

[0085] A rotating shaft 71, the rotating shaft 71 is rotatably connected to the rotating groove 67 of the stabilizing platform 6;

[0086] A clamping seat 72 is connected to the top of the rotating shaft 71. A vertical slide groove 73, a first horizontal slide groove 74 and a second horizontal slide groove 75 are provided on the clamping seat 72. The vertical slide groove 73 is provided on the side of the clamping seat 72 away from the rotating shaft 71. The first horizontal slide groove 74 and the second horizontal slide groove 75 are respectively connected to the top and the middle of the clamping seat 72. The height of the clamping seat 72 is higher than the bottom plate of the L-shaped bracket 51.

[0087] The slide post 76 and the slide plate 77 are slidably connected in the vertical slide groove 73. The slide plate 77 is located above the slide post 76, and a spring is connected between the slide post 76 and the slide plate 77;

[0088] The ball bearing 78 is connected to the bottom end of the sliding column 76 and is pressed onto the top of the bottom plate of the L-shaped bracket 51 .

[0089] The working principle and beneficial effects of the above technical solution are:

[0090] The stable locking unit is arranged at the four corners of the stable platform 6. When the L-shaped bracket 51 is installed, the pressing seat 72 is rotated to rotate around the rotating shaft 71 to keep it away from the groove 60, so that the installation of the L-shaped bracket 51 is not blocked. After the L-shaped bracket 51 is installed, the pressing seat 72 is rotated to move the ball 78 to the top of the L-shaped bracket 51. Under the action of the spring, the ball 78 presses the top of the L-shaped bracket 51 to maintain the installation stability of the L-shaped bracket 51. At the same time, when the bolts are loosened, the ball 78 can prevent the L-shaped bracket 51 from falling out. During the movement of the mechanical arm, the spring is used to reduce the shaking of the image acquisition device 5. The sliding column 76 is used to fix the ball 78, and the sliding sheet 77 is used to fix and the end of the spring.

[0091] Embodiment 8:

[0092] like Figure 8-12 As shown, based on the above embodiment 7, the stable locking unit further includes:

[0093] A first rack 79, the first rack 79 is slidably disposed in the first horizontal slide groove 74, one end of the first rack 79 extends into the vertical slide groove 73 and is clamped above the slide plate 77, the extended end is provided with an arc surface, and a spring is connected between the other end of the first rack 79 and the end of the first horizontal slide groove 74;

[0094] The second rack 81 is slidably disposed in the second horizontal slide groove 75. One end of the second rack 81 extends into the vertical slide groove 73. The extended end is provided with a conical surface. A spring is connected between the other end of the second rack 81 and the end of the second horizontal slide groove 75. The side wall of the slide column 76 is provided with a latching tooth 82.

[0095] The transmission shaft 83 is rotatably connected to the clamping seat 72. The transmission shaft 83 is connected to a first gear 84 and a second gear 85. The first gear 84 is meshed with the first rack 79, and the second gear 85 is meshed with the second rack 81. The meshing directions of the first rack 79 and the second rack 81 with the gears are opposite.

[0096] The working principle and beneficial effects of the above technical solution are:

[0097] When the bolt is loosened and the displacement after loosening is within the first preset range, the arc surface of the first rack 79 abuts against the top of the slide plate 77, which can keep the position of the slide plate 77 stable and prevent sliding; when the displacement after loosening exceeds the first preset range, the slide post 76 and the slide plate 77 continue to move upward, and the first rack 79 cannot maintain the position of the slide plate 77 stable. The slide plate 77 squeezes the arc surface at the end of the first rack 79, causing the first rack 79 to move out of the vertical slide groove 73 and slide in the direction away from the vertical slide groove 73. The first rack 79 meshes with the first gear 74 to drive the transmission shaft 83 to rotate, causing the second gear 85 to rotate accordingly, and the second gear 85 meshes with the second rack 81 to drive the second rack 81 to slide in the direction close to the vertical slide groove 73, so that the conical surface of the second rack 81 is engaged with the latch tooth 82, thereby limiting the slide post 76 and preventing the slide post 76 from moving any more. At this time, the second preset range of displacement has not been reached.

[0098] Through the above-mentioned structural design, when the bolts of the L-shaped bracket 51 become loose, by setting the stable locking unit, when the displacement is within the second preset amplitude, the ball 78 can swing slightly with the L-shaped bracket 51, thereby reducing the impact caused by the rigid collision of the structural parts when loose; and the displacement is controlled within the second preset amplitude, so that the L-shaped bracket 51 will no longer continue to loosen, and the L-shaped bracket 51 has a limiting effect; while reducing the shock of the image acquisition device 5, its self-locking limiting ability is improved, the stability of the shooting process is maintained, and the image quality of the image acquisition device 5 is controlled within an effective range.

[0099] Embodiment 9:

[0100] like Fig. 9 As shown, based on the above-mentioned embodiment 8, a pressure rod 86 is slidably connected to the top of the clamping seat 72 and is located above the vertical slide groove 73. A spring is connected between the end of the pressure rod 86 and the top of the clamping seat 72.

[0101] The working principle and beneficial effects of the above technical solution are:

[0102] A pressure sensor is provided on the second rack 81. When the conical surface of the second rack 81 engages with the latch tooth 82 and limits the sliding column 76, the pressure on the second rack 81 reaches a preset value, and the controller activates the warning unit to prompt the staff to perform maintenance; the staff presses the rod 86 downward, and the pressure rod 86 squeezes the slide 77 downward, and the first rack 79 is reset and moved into the vertical slide groove 73 under the action of the spring, the transmission shaft 83 and the slave gear are reversed, and the second rack 81 is reset under the action of the spring, and the limit on the sliding column 76 is released, so that the L-shaped bracket 51 is convenient to be taken out for maintenance.

[0103] Embodiment 10:

[0104] like Fig. 9 ,13 As shown, on the basis of the above-mentioned embodiment 9, the transmission shaft 83 extends into the rotating shaft 71, and a limiting ring assembly is arranged in the rotating groove 67, and the limiting ring assembly includes:

[0105] An outer ring 91, the outer ring 91 is connected to the inner wall of the rotating groove 67 and is concentrically arranged outside the rotating shaft 71, and a plurality of sliding grooves 93 are evenly arranged on the inner wall of the outer ring 91;

[0106] The inner ring 92 is rotatably connected to the inner wall of the outer ring 91 and is concentrically arranged on the outer side of the rotating shaft 71. A plurality of sliding blocks 94 are evenly connected to the outer wall of the inner ring 92. The sliding blocks 94 are slidably connected to the sliding grooves 93. A spring is connected between the sliding blocks 94 and the ends of the sliding grooves 93. A plurality of limiting teeth 95 are evenly connected to the inner ring 92.

[0107] A third gear 96, the third gear 96 is connected to the bottom end of the transmission shaft 83 and is located in the cavity of the rotating shaft 71;

[0108] The third rack 97, two third racks 97 are slidably disposed in the cavity of the rotating shaft 71, and the two third racks 97 are symmetrical relative to the center of the transmission shaft 83, the third rack 97 is meshed and connected with the third gear 96, a spring is connected between the end of the third rack 97 and the cavity of the rotating shaft 71, and a bending section is arranged at the end of the third rack 97.

[0109] The working principle and beneficial effects of the above technical solution are:

[0110] When the limiting ring assembly is in use, as the transmission shaft 83 rotates, the third gear 96 is driven to rotate synchronously, and the third gear 96 is meshed with the two third racks 97 for transmission, so that the two third racks 97 move outward until the bent section of the rack 97 contacts the limiting teeth 95 on the inner ring 92; the bent section of the rack 97 slides along the inclined surface of the limiting teeth 95, and the limiting teeth 95 limit the rack 97 to prevent the pressing seat 72 itself from rotating during the locking process of the L-shaped bracket 51 by the pressing seat 72, thereby effectively realizing the stable limiting of the L-shaped bracket 51 and preventing the pressing seat 72 from shifting due to the squeezing of the ball 78 during the shaking of the L-shaped bracket 51. A sliding groove 93 is provided on the outer ring 91, and a sliding block 94 is provided on the inner ring 92. When the bent section of the rack 97 slides along the inclined surface of the limiting tooth 95, a small rotation margin is provided so that the bent section of the rack 97 can move to contact the inner ring 92 body, thereby improving the limiting stability.

[0111] Embodiment 11:

[0112] Based on any one of the above embodiments 1-10, an intelligent mobile robot includes the above-mentioned robotic arm.

[0113] The working principle and beneficial effects of the above technical solution are:

[0114] An intelligent mobile robot comprises the mechanical arm and has the beneficial effects of the mechanical arm.

[0115] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0116] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0117] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A mechanical arm of an intelligent mobile robot, characterized in that: include: A base (1), a mechanical arm (2), a mechanical wrist (3) and a mechanical claw (4) are connected in sequence from bottom to top, the mechanical arm (2) is provided with three rotation joints, the base (1) and the mechanical wrist (3) are provided with a rotation joint, the mechanical claw (4) is provided with a clamping joint, and the mechanical claw (4) is used to grasp an object; An image acquisition device (5), the image acquisition device (5) being mounted on a stable platform (6) at the top of the mechanical wrist (3) and used to acquire an image of an object to be grasped; A controller, which controls the movement of the base (1), the robotic arm (2), the robotic wrist (3) and the robotic gripper (4) based on the image information of the object acquired by the image acquisition device (5); The image acquisition device (5) is mounted on an L-shaped bracket (51); the bottom plate of the L-shaped bracket (51) comprises a mounting plate (53), a through hole (54) and a positioning column (55); the mounting plate (53) is connected to the center of the bottom plate of the L-shaped bracket (51); the through hole (54) is arranged at the four corners of the bottom plate of the L-shaped bracket (51); Two positioning columns (55) are respectively connected to two sides of the bottom plate of the L-shaped bracket (51); The stabilizing platform (6) comprises: a groove (60), a mounting groove (61), a clamping groove (62), a threaded hole (63) and a positioning hole (64), wherein the groove (60) is arranged at the center of the top of the stabilizing platform (6); the mounting groove (61) is arranged at the center of the groove (60), and the mounting plate (53) is installed in the mounting groove (61); two clamping grooves (62) are symmetrically arranged on both sides of the mounting groove (61), a clamping plate (66) is slidably arranged in the clamping groove (62), an elastic member (65) is connected between the clamping plate (66) and the side wall of the clamping groove (62), and the clamping plate (66) is crimped to the side of the mounting plate (53); the position of the threaded hole (63) corresponds to the through hole (54), and the through hole (54) and the threaded hole (63) are connected by a bolt; the positioning column (55) is installed in the positioning hole (64); A stabilizing locking unit is provided on the stabilizing platform (6), and the stabilizing locking unit is provided at the four corners of the stabilizing platform (6). The stabilizing locking unit comprises: A rotating shaft (71), the rotating shaft (71) is rotatably connected to the rotating groove (67) of the stabilizing platform (6); A clamping seat (72), the clamping seat (72) is connected to the top of the rotating shaft (71), and a vertical slide groove (73), a first horizontal slide groove (74) and a second horizontal slide groove (75) are provided on the clamping seat (72), the vertical slide groove (73) is provided on the side of the clamping seat (72) away from the rotating shaft (71), the first horizontal slide groove (74) and the second horizontal slide groove (75) are respectively connected to the top and the middle of the clamping seat (72), and the height of the clamping seat (72) is higher than the bottom plate of the L-shaped bracket (51); A sliding column (76) and a sliding plate (77), wherein the sliding column (76) and the sliding plate (77) are slidably connected in the vertical sliding groove (73), the sliding plate (77) is located above the sliding column (76), and a spring is connected between the sliding column (76) and the sliding plate (77); A ball bearing (78), the ball bearing (78) is connected to the bottom end of the sliding column (76) and is pressed onto the top of the bottom plate of the L-shaped bracket (51); A first rack (79), the first rack (79) is slidably disposed in the first horizontal slide groove (74), one end of the first rack (79) extends into the vertical slide groove (73) and is clamped above the slide plate (77), the extended end is provided with an arc surface, and a spring is connected between the other end of the first rack (79) and the end of the first horizontal slide groove (74); A second rack (81), the second rack (81) is slidably disposed in the second horizontal slide groove (75), one end of the second rack (81) extends into the vertical slide groove (73), the extended end is provided with a conical surface, a spring is connected between the other end of the second rack (81) and the end of the second horizontal slide groove (75), and a latching tooth (82) is provided on the side wall of the slide column (76); A transmission shaft (83) is rotatably connected to the pressing seat (72). A first gear (84) and a second gear (85) are connected to the transmission shaft (83). The first gear (84) is meshingly connected to the first rack (79), and the second gear (85) is meshingly connected to the second rack (81). The meshing directions of the first rack (79) and the second rack (81) with the gears are opposite.

2. The mechanical arm of an intelligent mobile robot according to claim 1, characterized in that: The base (1) comprises: a large base plate (11), a mounting disc (12), an intermediate disc (13), a first steering gear (14) and a column (15); the large base plate (11) is mounted on an intelligent mobile robot platform; a plurality of columns (15) are vertically connected to the large base plate (11); the mounting disc (12) is connected to the top of the column (15); the intermediate disc (13) is connected to the middle of the column (15); the first steering gear (14) is mounted on the intermediate disc (13); and the output shaft of the first steering gear (14) passes through the center of the mounting disc (12).

3. The mechanical arm of an intelligent mobile robot according to claim 2, characterized in that: The mechanical arm (2) comprises: a first U-shaped bracket (21), a second U-shaped bracket (22), a second steering gear (23) and a first multifunctional bracket (24); a chassis is arranged at the bottom of the first U-shaped bracket (21); the first U-shaped bracket (21) is rotatably arranged above the mounting disc (12) and is connected to the output end of the first steering gear (14); two second U-shaped brackets (22) are arranged in sequence above the first U-shaped bracket (21); the first multifunctional bracket (24) is connected between adjacent U-shaped brackets; the second steering gear (23) is connected to the two first multifunctional brackets (24) for driving the rotation of adjacent U-shaped brackets; the top of the second U-shaped bracket (22) is connected to the second steering gear (23); the second steering gear (23) is used to drive the mechanical wrist (3) and the second U-shaped bracket (22) to rotate relative to each other.

4. The mechanical arm of an intelligent mobile robot according to claim 3, characterized in that: The robotic wrist (3) comprises: a second multifunctional bracket (31) and a third steering gear (32); the second multifunctional bracket (31) is connected to the output end of the second steering gear (23) at the top end of the robotic arm (2); the third steering gear (32) is connected to the second multifunctional bracket (31) and is used to drive the robotic gripper (4) to rotate around its own axis; and the stabilizing platform (6) is connected to the top end of the second multifunctional bracket (31).

5. The mechanical arm of an intelligent mobile robot according to claim 4, characterized in that: The mechanical gripper (4) comprises: an end finger (41), a movable tooth plate (42), a connecting rod (43), a palm plate (44) and a fourth steering gear (45), wherein the palm plate (44) is connected to the second multifunctional bracket (31); two movable tooth plates (42) are symmetrically connected to one side of the palm plate (44), the two movable tooth plates (42) are provided with incomplete gear teeth, and the incomplete gear teeth of the two movable gear plates (42) are meshed and connected; the fourth steering gear (45) is connected to the other side of the palm plate (44), and the output end of the fourth steering gear (45) is connected to the central axis of one of the movable gear plates (42); the two end fingers (41) are symmetrically arranged at one end of the palm plate (44) away from the mechanical wrist (3), and the two end fingers (41) are respectively hinged to the protruding sections of the two movable tooth plates (42); and the two ends of the connecting rod (43) are respectively hinged to the middle part of the end finger (41) and the palm plate (44).

6. An intelligent mobile robot, characterized in that: A robotic arm comprising any one of claims 1-5.

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