A multi-functional robotic arm

Abstract

The present invention belongs to the technical field of robotic arms, and specifically relates to a multifunctional robotic arm comprising a robotic arm and a tracked vehicle. The robotic arm is mounted on the tracked vehicle, and a connecting base is provided on the robotic arm. A mounting frame is rotatably mounted on the connecting base. Clamps are symmetrically mounted on both sides of the mounting frame, and a linkage mechanism is provided between the clamps and the mounting frame. A rotating member is provided on the mounting frame, and the mounting frame is rotatably mounted on the connecting base via the rotating member. The multifunctional robotic arm also comprises a slide bar, which is slidably mounted on the mounting frame. In the multifunctional robotic arm, a cylinder drives the slide bar, which, through the coordination of a rack and a gear in the linkage mechanism, drives the clamps to open and close, thereby clamping explosives. When the clamps are fully opened, a brush extends, and a servo motor drives the brush via a synchronous wheel and a synchronous belt to clean dirt. The slide bar moves downward, the brush retracts, the clamps close, and the blades can break hard objects. The robotic arm integrates clamping, cleaning, and breaking functions, improving the efficiency and safety of dangerous operations and expanding application scenarios.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arms, and in particular relates to a multifunctional robotic arm. Background Art

[0002] As the core executive component of a fire-fighting bomb disposal robot, the robotic arm plays a critical role in firefighting and bomb disposal operations. With its flexible joints and powerful power system, it can freely extend and rotate in the narrow and complex explosive disposal environment, accurately grasping suspicious objects of varying shapes and weights, and safely transferring them by precisely locating key parts of explosives.

[0003] Traditional robotic arm equipment has relatively simple functions. In the existing technology, some robotic arms only have simple clamping functions and cannot meet the complex operation requirements such as clearing and exposing explosives buried in the soil and breaking down hard obstacles. Therefore, a multifunctional robotic arm is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a multifunctional robotic arm that can clean, expose and break down hard obstacles in order to solve the above problems.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] A multifunctional manipulator comprises a manipulator arm and a crawler vehicle, wherein the manipulator arm is arranged on the crawler vehicle, the manipulator arm is provided with a connecting seat, a mounting frame is rotatably provided on the connecting seat, clamping claws are symmetrically provided on both sides of the mounting frame, a linkage mechanism is provided between the clamping claws and the mounting frame, a rotating member is provided on the mounting frame, and the mounting frame is rotatably provided on the connecting seat via the rotating member;

[0007] Also included are:

[0008] A slide rod is slidably mounted on the mounting frame, and the linkage mechanism is driven by pushing the slide rod;

[0009] A brush, the brush being fixedly arranged at one end of the slide rod;

[0010] A cylinder, wherein the cylinder is fixedly mounted on the connecting seat, and an output end of the cylinder is rotatably connected to the sliding rod;

[0011] A servo motor is fixedly arranged on a connecting seat and is connected to a rotating member through a transmission assembly.

[0012] As a further optimization scheme of the present invention, sleeves are fixedly provided at both ends of the mounting frame. There are two mounting frames, and the two mounting frames are symmetrically arranged on both sides of the sleeve. A crossbeam is fixedly provided on the mounting frame, and an arc-shaped groove is provided on the crossbeam. A bell mouth is provided at one end of one of the sleeves.

[0013] As a further optimization scheme of the present invention, the rotating part includes a hollow shaft, which is rotatably set on the connecting seat, a clamping plate is fixedly set on the upper end of the hollow shaft, the hollow shaft is connected to the lower end of the mounting frame through the clamping plate, and a synchronous wheel A is fixedly set on the hollow shaft.

[0014] As a further optimization scheme of the present invention, the linkage mechanism includes a first connecting rod, a first transverse axis is fixedly provided at both ends of the first connecting rod, one end of the first connecting rod is rotatably connected to the crossbeam through the first transverse axis, the other end of the first connecting rod is rotatably connected to the bottom end of the clamping jaw through the first transverse axis, a second connecting rod is rotatably provided on the clamping jaw, a second transverse axis is fixedly provided at both ends of the second connecting rod, one end of the second connecting rod is rotatably connected to the clamping jaw through the second transverse axis, the other end of the second connecting rod is rotatably connected to the mounting frame through the second transverse axis, a gear is fixed on the first transverse axis, and the gear is located between the two mounting frames.

[0015] As a further optimization solution of the present invention, the sliding rod is slidably set in the sleeve, racks are fixedly set on both sides of the sliding rod, the racks are engaged with the gears, the racks are slidably set between the two beams, and the sliding rod is slidably set between the arc grooves.

[0016] As a further optimization solution of the present invention, the transmission assembly includes a synchronous wheel B connected to the output end of the servo motor, the synchronous wheel B is rotatably mounted on the connecting seat, and a synchronous belt is provided between the synchronous wheel B and the synchronous wheel A.

[0017] As a further optimization solution of the present invention, a ring is provided between the cylinder output end and the slide rod, and grooves are provided on the cylinder output end and the slide rod. The cylinder and the slide rod are connected to the ring through the groove, and the ring is slidably arranged in the sleeve.

[0018] As a further optimization solution of the present invention, a blade is provided at one end of the clamping jaw, a mounting bolt is provided between the blade and the clamping jaw, and anti-slip grooves are provided on one side of the clamping jaw.

[0019] As a further optimization solution of the present invention, the position of the brush corresponds to the bell mouth, and when the cylinder contracts, the brush is driven to slide into the sleeve through the bell mouth.

[0020] The beneficial effects of the present invention are:

[0021] Different from the existing technology, in actual use, the cylinder pushes the slide rod, which cooperates with the gear in the rack and linkage mechanism to drive the jaws to open and close, thereby clamping the explosives; when the jaws are opened to the maximum, the brush extends, and the servo motor drives the brush to clean the dirt through the synchronous wheel and synchronous belt; the slide rod moves down, the brush retracts, the jaws close, and the blade can break hard objects. The robot arm integrates clamping, cleaning, and demolition functions, improving the efficiency and safety of dangerous operations and expanding application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the connection structure of the connection base of the present invention;

[0024] Figure 3 This invention Figure 2 Schematic diagram of explosion structure;

[0025] Figure 4 This invention Figure 3 A in the middle is an enlarged structural diagram;

[0026] Figure 5 It is a schematic diagram of the cross-sectional structure of the sleeve ring of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the mounting frame of the present invention;

[0028] Figure 7 It is a schematic structural diagram of the clamping jaws in the closed state of the present invention.

[0029] In the figure: 1. Robotic arm; 2. Connecting seat; 3. Mounting frame; 31. Crossbeam; 311. Arc groove; 32. Sleeve; 321. Bell mouth; 4. Rotating part; 41. Hollow shaft; 42. Clamp; 43. Synchronous wheel A; 5. Gripper; 51. Blade; 511. Mounting bolt; 52. Anti-skid groove; 6. Linkage mechanism; 61. First connecting rod; 611. First transverse axis; 62. Second connecting rod; 621. Second transverse axis; 63. Gear; 7. Sliding rod; 71. Rack; 8. Brush; 9. Cylinder; 10. Servo motor; 11. Synchronous belt; 111. Synchronous wheel B; 12. Ring; 121. Groove; 13. Tracked vehicle. DETAILED DESCRIPTION

[0030] The present application is described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technicians in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0031] Example 1: Figure 1- Figure 7 As shown, a multifunctional robot arm includes a robot arm 1 and a crawler vehicle 13. The robot arm 1 is set on the crawler vehicle 13. A connecting seat 2 is set on the robot arm 1. A mounting frame 3 is rotatably set on the connecting seat 2. Clamps 5 are symmetrically set on both sides of the mounting frame 3. A blade 51 is set at one end of the clamping jaw 5. A mounting bolt 511 is set between the blade 51 and the clamping jaw 5. An anti-slip groove 52 is opened on one side of the clamping jaw 5. A linkage mechanism 6 is set between the clamping jaw 5 and the mounting frame 3. A slide rod 7 is slidably set on the mounting frame 3. The linkage mechanism 6 is driven by pushing the slide rod 7. A brush 8 is fixedly mounted on one end of the support 7, and a cylinder 9 is fixedly mounted on the connecting base 2. The output end of the cylinder 9 is rotatably connected to the slide 7. A servo motor 10 is fixedly mounted on the connecting base 2, and the servo motor 10 is connected to the rotating member 4 via a transmission assembly. The tracked vehicle 13 serves as a mobile carrier, capable of adapting to complex terrain, enhancing the maneuverability and application range of the robot arm. The robot arm 1 cooperates with the connecting base 2 to flexibly adjust the angle and position of the mounting frame 3 to meet the operational requirements of different working scenarios. The tracked vehicle 13 and the robot arm 1 are both prior art and will not be described in detail here. The arrangement of the gripper 5 and its auxiliary structures enables functions such as grasping and cutting. The anti-slip grooves 52 effectively increase friction when grasping objects and prevent them from slipping. The mounting bolts 511 facilitate the removal and replacement of the blade 51, improving maintenance convenience. The coordinated operation of the linkage mechanism 6, the slide 7, the cylinder 9, and the servo motor 10 provides power and control for the automated operation of the robot arm, enabling the robot arm to efficiently complete various tasks.

[0032] Sleeves 32 are fixedly provided at both ends of the mounting frame 3, and the brush 8 can slide into the sleeve 32. There are two mounting frames 3, and the mounting frames 3 are symmetrically arranged on both sides of the sleeve 32. A crossbeam 31 is fixedly provided on the mounting frame 3, and an arc-shaped groove 311 is provided on the crossbeam 31. One end of one sleeve 32 is provided with a bell mouth 321, and the bell mouth 321 corresponds to the position of the brush 8, which can guide the brush 8 to enter the sleeve 32. A rotating member 4 is provided on the mounting frame 3, and the mounting frame 3 is rotatably arranged on the connecting seat 2 through the rotating member 4. The slide bar 7 is slidably mounted in the sleeve 32. Racks 71 are provided on both sides of the slide bar 7. The racks 71 are slidably mounted between the two crossbeams 31. The slide bar 7 is slidably mounted between the two arcuate grooves 311. This allows the slide bar 7 to rotate synchronously with the mounting bracket 3. The sleeve 32 provides space for the brush 8 to be stored and slided, ensuring that the brush 8 can be retracted when not in use to prevent damage, while allowing it to be smoothly extended when in use. The provision of the bell mouth 321 helps the brush 8 to be extended and retracted more easily, reducing frictional resistance. The two symmetrically arranged mounting brackets 3 enhance the stability of the overall structure, enabling it to withstand greater external forces when performing tasks. The crossbeams 31 and the arcuate grooves 311 cooperate with the slide bar 7 and the racks 71 to precisely limit the sliding trajectory of the slide bar 7, ensuring that the slide bar 7 remains stable during movement, thereby enabling the linkage mechanism 6 to operate accurately and improve the accuracy of the robot arm's operation.

[0033] Rotating member 4 includes a hollow shaft 41, which is rotatably mounted on connecting base 2. A clamping plate 42 is provided at the upper end of hollow shaft 41, connecting hollow shaft 41 to the lower end of mounting frame 3 via clamping plate 42. A synchronous pulley A43 is provided on hollow shaft 41. The transmission assembly includes a synchronous pulley B111 connected to the output end of servo motor 10. Synchronous pulley B111 is rotatably mounted on connecting base 2. A synchronous belt 11 is provided between synchronous pulley B111 and synchronous pulley A43. The design of rotating member 4 enables flexible rotation of mounting frame 3. Hollow shaft 41, the core rotating component, is rotatably mounted on connecting base 2, allowing mounting frame 3 to rotate about hollow shaft 41, expanding the working range of the robot arm. Clamping plate 42 securely connects hollow shaft 41 to mounting frame 3, ensuring stable power transmission. The transmission assembly consisting of the synchronous wheel A43, the synchronous wheel B111 and the synchronous belt 11 can efficiently and stably transmit the power of the servo motor 10 to the hollow shaft 41, realize the precise rotation control of the mounting frame 3, and enable the brush 8 to perform cleaning work by self-rotation, thereby improving the working efficiency and cleaning effect of the robot arm.

[0034] The linkage mechanism 6 includes a first connecting rod 61, and a first transverse axis 611 is fixedly provided at both ends of the first connecting rod 61. One end of the first connecting rod 61 is rotatably connected to the crossbeam 31 through the first transverse axis 611, and the other end of the first connecting rod 61 is rotatably connected to the bottom end of the clamping jaw 5 through the first transverse axis 611. A second connecting rod 62 is rotatably provided on the clamping jaw 5, and a second transverse axis 621 is fixedly provided at both ends of the second connecting rod 62. One end of the second connecting rod 62 is rotatably connected to the clamping jaw 5 through the second transverse axis 621, and the other end of the second connecting rod 62 is rotatably connected to the mounting frame 3 through the second transverse axis 621. A gear 63 is fixed on the first transverse axis 611, and the gear 63 is located between the mounting frames 3, so that the gear 63 is protected by the mounting frames 3. The rack 71 engages with the gear 63. The design of the linkage mechanism 6 cleverly converts the linear motion of the slide bar 7 into the opening and closing motion of the clamping jaw 5. The first and second connecting rods 61 and 62 are rotatably connected to the mounting frame 3 and the clamping jaw 5 via a transverse axis, forming a stable four-bar mechanism that ensures smooth and reliable movement of the clamping jaw 5 during opening and closing. The meshing transmission between the gear 63 and the rack 71 accurately transmits the power of the slide bar 7 to the first connecting rod 61, achieving precise opening and closing control of the clamping jaw 5. This structural design not only simplifies the mechanical transmission process and reduces energy loss, but also improves the responsiveness and accuracy of the clamping jaw 5's movement, enabling the robot arm to quickly and stably grasp objects such as explosives, and enhancing the reliability of the robot arm in dangerous operations.

[0035] A collar 12 is provided between the output end of the cylinder 9 and the slide bar 7. A groove 121 is provided on both the output end of the cylinder 9 and the slide bar 7. The cylinder 9 and the slide bar 7 are connected to the collar 12 via the groove 121. The collar 12 is slidably disposed within the sleeve 32. The design of the connection between the cylinder 9 and the slide bar 7 via the collar 12 and the groove 121 enhances the flexibility and stability of the connection between the two. The output end of the cylinder 9 passes through the hollow shaft 41, and the collar 12 is able to slide within the sleeve 32. This allows the slide bar 7 to slide smoothly in a predetermined direction when the cylinder 9 pushes the slide bar 7. At the same time, the collar 12 ensures that the slide bar 7 and the cylinder 9 can rotate, avoiding the jamming phenomenon caused by an inflexible connection.

[0036] It should be noted that the working principle of the multifunctional robotic arm is:

[0037] The crawler vehicle 13, acting as a mobile carrier, adapts to complex terrain through its track structure, providing overall maneuverability and enabling flexible movement in a variety of scenarios. The robotic arm 1 works in conjunction with the connecting base 2. The extension and pitch adjustment of the robotic arm 1 drives the connecting base 2 to change the spatial position and angle of the mounting frame 3, meeting operational requirements at varying heights and angles.

[0038] The cylinder 9 is connected to the slide rod 7 via a collar 12. Grooves 121 at either end of the collar 12 fit into grooves in the cylinder output end and the slide rod 7, respectively, ensuring a stable connection while allowing the slide rod 7 to rotate relative to the cylinder. When the cylinder 9 output end extends or retracts, it pushes the slide rod 7 along the arcuate groove 311 within the sleeve 32. The racks 71 on either side of the slide rod 7 move synchronously and engage the gear 63, driving the gear 63 to rotate. Gear 63, via a first transverse axis 611, drives the first connecting rod 61 to swing. The first connecting rod 61, the bottom end of the clamping jaw 5, the second connecting rod 62, and the mounting bracket 3 form a four-bar mechanism. As the first connecting rod 61 pulls and pushes the clamping jaw 5 to rotate around the mounting bracket 3, the second connecting rod 62 swings synchronously to maintain smooth movement, enabling the opening and closing of the clamping jaw 5. When grasping an object, anti-slip grooves 52 on the inside of the clamping jaw 5 increase friction to prevent slippage. During cutting, the blade 51 is secured by mounting bolts 511, allowing for quick removal and replacement.

[0039] The brush 8 at the front end of the slide rod 7 is usually stored in the sleeve 32. When the slide rod 7 is pushed forward by the cylinder 9, it extends until the clamping jaws 5 are opened to the maximum angle. At this time, the brush 8 is fully extended. When the cylinder 9 pulls the slide rod 7 backward, the brush 8 retracts into the sleeve 32; the bell mouth 321 at one end of the sleeve 32 guides the brush 8 to move in and out smoothly, reducing friction; and when the clamping jaws 5 are fully closed, the blade 51 closes synchronously, and the arc groove 311 of the beam 31 limits the movement trajectory of the slide rod 7, ensuring its transmission accuracy with the rack 71 and gear 63 during sliding, and avoiding jamming of the clamping jaws 5. After the servo motor 10 is started, the synchronous wheel B111 at its output end drives the synchronous wheel A43 to rotate through the synchronous belt 11, thereby driving the mounting frame 3 connected to the hollow shaft 41 and the clamping plate 42 to rotate around the hollow shaft 41 as the axis, realizing 360° horizontal rotation of the mounting frame 3, thereby driving the brush 8 to rotate to clean the soil and expose explosives buried in the soil; when the cylinder 9 pulls the slide bar 7 backward, the brush 8 retracts into the sleeve 32, and the blade 51 closes, it can break hard soil or stones through high-speed rotation.

[0040] The entire system realizes multifunctional automated operations such as grasping, demolition, and cleaning through the coordination of the robotic arm 1, servo motor 10, cylinder 9 and linkage mechanism 6, and is suitable for operation needs in dangerous or complex environments.

[0041] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A multifunctional robot arm, comprising a robot arm (1) and a crawler vehicle (13), wherein the robot arm (1) is arranged on the crawler vehicle (13), and is characterized in that: The mechanical arm (1) is provided with a connecting seat (2), a mounting frame (3) is rotatably provided on the connecting seat (2), clamping claws (5) are symmetrically provided on both sides of the mounting frame (3), a linkage mechanism (6) is provided between the clamping claws (5) and the mounting frame (3), a rotating member (4) is provided on the mounting frame (3), and the mounting frame (3) is rotatably provided on the connecting seat (2) via the rotating member (4); Also included are: A slide rod (7), wherein the slide rod (7) is slidably arranged on the mounting frame (3), and the linkage mechanism (6) is driven to operate by pushing the slide rod (7); A brush (8), wherein the brush (8) is fixedly arranged at one end of the slide rod (7); A cylinder (9), wherein the cylinder (9) is fixedly mounted on the connecting seat (2), and an output end of the cylinder (9) is rotatably connected to the slide rod (7); A servo motor (10), the servo motor (10) being fixedly mounted on the connecting seat (2), and the servo motor (10) being connected to the rotating member (4) via a transmission assembly; Sleeves (32) are fixedly provided at both ends of the mounting frame (3), there are two mounting frames (3), and the two mounting frames (3) are symmetrically arranged on both sides of the sleeve (32), a crossbeam (31) is fixedly provided on the mounting frame (3), and an arc-shaped groove (311) is provided on the crossbeam (31), and a bell mouth (321) is provided at one end of one of the sleeves (32); The linkage mechanism (6) includes a first connecting rod (61), first transverse shafts (611) are fixedly provided at both ends of the first connecting rod (61), one end of the first connecting rod (61) is rotatably connected to the crossbeam (31) via the first transverse shaft (611), the other end of the first connecting rod (61) is rotatably connected to the bottom end of the clamping jaw (5) via the first transverse shaft (611), a second connecting rod (62) is rotatably provided on the clamping jaw (5), second transverse shafts (621) are fixedly provided at both ends of the second connecting rod (62), one end of the second connecting rod (62) is rotatably connected to the clamping jaw (5) via the second transverse shaft (621), the other end of the second connecting rod (62) is rotatably connected to the mounting frame (3) via the second transverse shaft (621), a gear (63) is fixedly provided on the first transverse shaft (611), and the gear (63) is located between the two mounting frames (3); The slide bar (7) is slidably arranged in the sleeve (32), racks (71) are fixedly arranged on both sides of the slide bar (7), the racks (71) are engaged with the gears (63), the racks (71) are slidably arranged between the two beams (31), and the slide bar (7) is slidably arranged between the arc grooves (311).

2. The multifunctional robotic arm according to claim 1, characterized in that: The rotating member (4) includes a hollow shaft (41), the hollow shaft (41) is rotatably mounted on the connecting seat (2), a clamping plate (42) is fixedly mounted on the upper end of the hollow shaft (41), the hollow shaft (41) is connected to the lower end of the mounting frame (3) via the clamping plate (42), and a synchronous wheel A (43) is fixedly mounted on the hollow shaft (41).

3. The multifunctional robotic arm according to claim 2, characterized in that: The transmission assembly comprises a synchronous wheel B (111) connected to the output end of the servo motor (10), the synchronous wheel B (111) being rotatably mounted on the connecting seat (2), and a synchronous belt (11) being provided between the synchronous wheel B (111) and the synchronous wheel A (43).

4. The multifunctional robotic arm according to claim 1, characterized in that: A collar (12) is provided between the output end of the cylinder (9) and the slide bar (7), and a groove (121) is provided on the output end of the cylinder (9) and the slide bar (7). The cylinder (9) and the slide bar (7) are connected to the collar (12) via the groove (121), and the collar (12) is slidably provided in the sleeve (32).

5. The multifunctional robotic arm according to claim 1, characterized in that: A blade (51) is provided at one end of the clamping jaw (5), a mounting bolt (511) is provided between the blade (51) and the clamping jaw (5), and an anti-slip groove (52) is provided on one side of the clamping jaw (5).

6. The multifunctional robotic arm according to claim 1, characterized in that: The brush (8) corresponds to the position of the bell mouth (321), and when the cylinder (9) contracts, it drives the brush (8) to slide into the sleeve (32) through the bell mouth (321).

Images