Single-degree-of-freedom large-stroke foldable mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a single-degree-of-freedom large-stroke foldable mechanical arm which comprises a driving box, one side of the driving box is rotationally connected with a first driving arm and a first driven arm, one side of the first driving arm and one side of the first driven arm are rotationally connected with a first gear box, and the other side of the first gear box is rotationally connected with a second gear box. And one side of the first gear box is rotationally connected with a second driving arm and a second driven arm. Compared with the prior art, the foldable mechanical arm has the advantages that the foldable mechanical arm can be unfolded and folded under the driving of the motor, only the height of the mounting seat is changed in the working process, the structure is simple, the degree of freedom is single, the size of the device can be reduced through folding, large-stroke stretching and retracting can be conducted, the practicability of the device is guaranteed, and the practicability of the device is improved. And through the arrangement of a photoelectric switch and a target positioning block, rotation of the sector gear can be detected, over-travel work is avoided, and the practicability of the device is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a single-degree-of-freedom, large-stroke foldable mechanical arm. Background Art

[0002] The inspection robot is a wheeled robot that integrates multiple sensors. It is programmable and can simulate manual operations to replace traditional manual inspection robots. Inspection robots usually have a lifting structure to adjust the position of the pan / tilt table. However, although the existing lifting structure is simple in structure, it is usually large in size and has a short stroke, which cannot meet the inspection needs.

[0003] In this regard, the utility model provides a single-degree-of-freedom, large-stroke, foldable mechanical arm to solve this problem. Utility Model Content

[0004] The purpose of the present invention is to solve at least one of the above technical deficiencies.

[0005] To this end, one purpose of the utility model is to provide a single-degree-of-freedom, large-stroke, foldable robotic arm to solve the problems mentioned in the background technology and overcome the deficiencies in the prior art.

[0006] In order to achieve the above-mentioned purpose, an embodiment of one aspect of the utility model provides a single-degree-of-freedom large-stroke foldable robotic arm, including a drive box, one side of the drive box is rotatably connected to a first drive arm and a first slave arm, one side of the first drive arm and the first slave arm is rotatably connected to a first gear box, one side of the first gear box is rotatably connected to a second drive arm and a second slave arm, one side of the second drive arm and the second slave arm is rotatably connected to a second gear box, one side of the second gear box is rotatably connected to a third drive arm and a third slave arm, one side of the third drive arm and the third slave arm is rotatably connected to a third gear box, one side of the third gear box is rotatably connected to a fourth drive arm and a fourth slave arm, one side of the fourth drive arm and the fourth slave arm is rotatably connected to a mounting base, and a pan-tilt head is fixedly installed on one side of the mounting base.

[0007] Preferably, any of the above schemes is that a motor is fixedly mounted on one side of the drive box, a driving gear is fixedly mounted on the output end of the motor, a rotating shaft is rotatably connected inside the drive box, a fan gear is fixedly mounted outside the rotating shaft, the fan gear is meshed with the driving gear, and one side of the rotating shaft is fixedly connected to one side of the first drive arm.

[0008] Preferably, any of the above schemes is that the first gear box, the second gear box and the third gear box are each rotatably connected with two gears inside, and a plurality of the gears form a group of two, and the two gears in the same group are meshed.

[0009] Preferably, any of the above schemes has one side of one of the gears fixedly mounted to one side of the first driving arm by bolts, one side of two of the gears fixedly connected to one side of the second driving arm by bolts, one side of two of the gears fixedly connected to one side of the third driving arm by bolts, and one side of one of the gears fixedly mounted to one side of the fourth driving arm by bolts.

[0010] The technical effect achieved by adopting the above solution is: it is easy to control the synchronous movement of the driving arm.

[0011] Preferably, any of the above schemes has a target positioning block fixedly mounted on both sides of the sector gear, and two photoelectric switches fixedly mounted inside the drive box.

[0012] The technical effect achieved by adopting the above scheme is: it is used for limiting and avoiding overtravel operation.

[0013] Preferably, any of the above schemes has a first positioning column fixedly connected to one side of the drive box and the mounting seat, wherein the outside of one of the first positioning columns is rotatably connected to the inside of the first driven arm, and the outside of the other first positioning column is rotatably connected to the inside of the fourth driven arm.

[0014] Preferably, any of the above schemes is that a second positioning column is fixedly connected to both sides of the first gear box, the second gear box and the third gear box, and the first gear box and the third gear box are the same in shape and size.

[0015] Preferably, any of the above schemes is that the outside of one of the second positioning columns is rotationally connected to the inside of the first slave arm, the outsides of two of the second positioning columns are rotationally connected to the inside of the second slave arm, the outsides of two of the second positioning columns are rotationally connected to the inside of the third slave arm, and the outside of another of the second positioning columns is rotationally connected to the inside of the fourth slave arm.

[0016] Preferably, any of the above schemes is that a third positioning column is fixedly mounted on one side of the mounting seat, and the outside of the third positioning column is rotatably connected to the inside of the fourth driving arm.

[0017] The technical effect achieved by adopting the above solution is: providing a rotation center for the driven arm.

[0018] Compared with the prior art, the advantages and beneficial effects of the utility model are:

[0019] The utility model forms a foldable mechanical arm through a driving box, a first gear box, a second gear box, a third gear box and a mounting seat in cooperation with a first driving arm, a first driven arm, a second driving arm, a second driven arm, a third driving arm, a third driven arm, a fourth driving arm and a fourth driven arm. The foldable mechanical arm can be unfolded and folded under the drive of a motor, and only the height of the mounting seat will change during the operation. The structure is simple and the degree of freedom is single, that is, the volume of the device can be reduced by folding and a large stroke can be performed, thereby ensuring the practicability of the device. The photoelectric switch and the target positioning block are set to detect the rotation of the sector gear to avoid over-travel operation, thereby further improving the practicability of the device.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will become apparent from the following description or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 It is a schematic diagram of the structure in the unfolded state according to an embodiment of the utility model;

[0023] Figure 2 It is a schematic diagram of the structure in a folded state according to an embodiment of the utility model;

[0024] Figure 3 It is a structural schematic diagram of a driving box according to an embodiment of the utility model;

[0025] Figure 4 It is a schematic diagram of the internal structure of the driving box according to an embodiment of the utility model;

[0026] Figure 5 It is a structural schematic diagram of a first gear box according to an embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of the internal structure of the first gearbox according to an embodiment of the utility model;

[0028] Figure 7 It is a structural schematic diagram of the second gear box according to an embodiment of the utility model;

[0029] Figure 8 This is a schematic diagram of the internal structure of the second gear box according to an embodiment of the utility model;

[0030] Fig. 9 It is a schematic structural diagram of a mounting base according to an embodiment of the utility model.

[0031] In the figure: 1-driving box, 11-first driving arm, 12-first driven arm, 13-motor, 14-driving gear, 15-rotating shaft, 16-sector gear, 17-target positioning block, 18-photoelectric switch, 2-first gear box, 21-second driving arm, 22-second driven arm, 3-second gear box, 31-third driving arm, 32-third driven arm, 4-third gear box, 41-fourth driving arm, 42-fourth driven arm, 5-mounting seat, 6-pan head, 7-gear, 8-first positioning column, 9-second positioning column. DETAILED DESCRIPTION

[0032] Example: Figures 1 to 9 As shown, a single-degree-of-freedom large-stroke foldable mechanical arm comprises a driving box 1, a fixing plate is fixedly installed on the top of the driving box 1, and a plurality of through holes are arranged on the fixing plate so as to be installed with a walking mechanism through bolts, so as to drive the mechanical arm to move through the walking mechanism, so as to facilitate the inspection of the pan-tilt head. This part of the technology is simple and the utility model has not been improved, so it is not described here. A first driving arm 11 and a first driven arm 12 are rotatably connected on one side of the driving box 1, and a first gear box 2 is rotatably connected on one side of the first driving arm 11 and the first driven arm 12, and a second driving arm 21 and a second driven arm 22 are rotatably connected on one side of the first gear box 2, and a second driving arm 21 and a second driven arm 22 are rotatably connected on one side of the second driving arm 21 and the second driven arm 22. A second gear box 3 is rotatably connected on one side of the second gear box 3, and a third driving arm 31 and a third driven arm 32 are rotatably connected on one side of the second gear box 3, and the second driving arm 21, the second driven arm 22, the third driving arm 31 and the first driven arm The three slave arms 32 have the same length, the first driving arm 11, the first slave arm 12, the fourth driving arm 41 and the fourth slave arm 42 have the same length, and the second driving arm 21, the second slave arm 22, the third driving arm 31 and the third slave arm 32 are arranged in parallel, the second driving arm 21, the second slave arm 22, the fourth driving arm 41 and the fourth slave arm 42 are arranged in parallel, and the distances between the corresponding driving arms and the corresponding slave arms are the same, so the movement process is similar to a parallelogram with a fixed angle change on one side, the third driving arm 31 and the third slave arm 32 are rotatably connected to a third gear box 4 on one side, the third gear box 4 is rotatably connected to a fourth driving arm 41 and a fourth slave arm 42 on one side, the fourth driving arm 41 and the fourth slave arm 42 are rotatably connected to a mounting seat 5, and a pan-tilt head 6 is fixedly installed on one side of the mounting seat 5, the pan-tilt head is an existing inspection platform, and the utility model has not made any improvements, so it will not be repeated here.

[0033] A motor 13 is fixedly installed on one side of the driving box 1, and a driving gear 14 is fixedly installed on the output end of the motor 13. A rotating shaft 15 is rotatably connected inside the driving box 1, and a fan gear 16 is fixedly installed outside the rotating shaft 15. The fan gear 16 is meshed with the driving gear 14. One side of the rotating shaft 15 is fixedly connected to one side of the first driving arm 11. The motor 13 adopts an existing stepping motor or servo motor that can achieve precise control.

[0034] The first gear box 2, the second gear box 3 and the third gear box 4 are all rotatably connected inside with two gears 7. The shapes and specifications of the gears 7 are the same. The gears 7 are grouped in pairs, and the two gears 7 in the same group are meshed with each other. A rotating shaft is fixedly installed on one side of the gear 7 and is fixed to the corresponding driving arm through the rotating shaft. For the convenience of display, the gear 7 and the rotating shaft are shown as a whole in the attached drawings, but it does not affect the technical personnel's implementation according to the plan. In order to promote smoother rotation of the rotating parts, bearings are provided. The specific installation is relatively mature and will not be described in detail.

[0035] One side of one of the gears 7 is fixedly mounted to one side of the first driving arm 11 by bolts, one side of two of the gears 7 is fixedly connected to one side of the second driving arm 21 by bolts, one side of two of the gears 7 is fixedly connected to one side of the third driving arm 31 by bolts, and one side of one of the gears 7 is fixedly mounted to one side of the fourth driving arm 41 by bolts.

[0036] A target positioning block 17 is fixedly installed on both sides of the sector gear 16, and two photoelectric switches 18 are fixedly installed inside the drive box 1. The target positioning block 17 is detected by the photoelectric switch 18. When the target positioning block 17 is detected, the main controller controls the motor 13 to stop rotating to avoid over-rotation, thereby achieving a limiting effect.

[0037] A first positioning column 8 is fixedly connected to one side of the drive box 1 and the mounting seat 5, wherein the outside of one first positioning column 8 is rotatably connected to the inside of the first driven arm 12, and the outside of the other first positioning column 8 is rotatably connected to the inside of the fourth driven arm 42.

[0038] A second positioning column 9 is fixedly connected to both sides of the first gear box 2, the second gear box 3 and the third gear box 4. The first gear box 2 and the third gear box 4 have the same shape and size. Due to the same structure, the third gear box 4 is not further shown in the drawings. For details, please refer to Figure 5 and Figure 6 .

[0039] The outside of one of the second positioning columns 9 is connected to the inside of the first slave arm 12 for rotation, the outsides of two of the second positioning columns 9 are connected to the inside of the second slave arm 22 for rotation, the outsides of two of the second positioning columns 9 are connected to the inside of the third slave arm 32 for rotation, and the outside of the other second positioning column 9 is connected to the inside of the fourth slave arm 42 for rotation.

[0040] A third positioning column 10 is fixedly mounted on one side of the mounting seat 5 , and the outside of the third positioning column 10 is rotatably connected to the inside of the fourth driving arm 41 .

[0041] The motor 13 and the photoelectric switch 18 in the present invention are electrically connected to the external main controller and the 220V AC power through a transformer. When used in conjunction with the walking mechanism of the inspection robot, the motor is connected to the battery and the main controller of the inspection robot through a wire. The inspection robot is an existing well-known technology and will not be described in detail. The main controller can be a conventional known device such as a computer for control. The electrical components provided by the present invention are only used for the present technical solution according to the structural characteristics of the product. The product will be adjusted and modified after purchase to make it more compatible with and in line with the technical solution of the present invention. It is a technical solution for the best application of the present technical solution. The model of the product can be replaced and modified according to the required technical parameters. It is well known to the technical personnel in this field. Therefore, the technical personnel in this field can clearly obtain the corresponding use effect through the technical solution provided by the present invention.

[0042] A single-degree-of-freedom, large-stroke foldable robotic arm, the working principle is as follows:

[0043] 1) When in use, the motor 13 drives the driving gear 14 to rotate, and the driving gear 14 drives the sector gear 16 to rotate, thereby driving the rotating shaft 15 and the first driving arm 11 connected thereto to rotate;

[0044] 2) Since the second driving arm 21, the second driven arm 22, the third driving arm 31 and the third driven arm 32 have the same length, the first driving arm 11, the first driven arm 12, the fourth driving arm 41 and the fourth driven arm 42 have the same length, and the second driving arm 21, the second driven arm 22, the third driving arm 31 and the third driven arm 32 are arranged in parallel, and the second driving arm 21, the second driven arm 22, the fourth driving arm 41 and the fourth driven arm 42 are arranged in parallel, during the unfolding and folding process, the first gear box 2, the second gear box 3, the third gear box 4 and the mounting seat 5 will not change in angle, and the mounting seat 5 will only change in height, forming a single-degree-of-freedom mechanical arm, and its unfolded state is shown in FIG. Figure 1 , folded state see Figure 2 , that is, the robot arm can be folded and stored, and can also be extended and retracted over a long stroke;

[0045] 3) Two photoelectric switches 18 are also provided in the drive box 1 to cooperate with the target positioning block 17 on the sector gear 16 to perform intelligent limiting to avoid overtravel operation.

[0046] Compared with the prior art, the utility model has the following beneficial effects: the utility model forms a foldable mechanical arm through the drive box 1, the first gear box 2, the second gear box 3, the third gear box 4 and the mounting seat 5 in conjunction with the first drive arm 11, the first driven arm 12, the second drive arm 21, the second driven arm 22, the third drive arm 31, the third driven arm 32, the fourth drive arm 41 and the fourth driven arm 42, which can be unfolded and folded under the drive of the motor 13, and the mounting seat 5 will only change in height during operation. The structure is simple and the degree of freedom is single, that is, the volume of the device can be reduced by folding, and a large stroke can be extended and retracted, thereby ensuring the practicability of the device. Through the setting of the photoelectric switch 18 and the target positioning block 17, the rotation of the sector gear 16 can be detected to avoid over-travel operation, thereby further improving the practicability of the device.

Claims

1. A single-degree-of-freedom, large-stroke, foldable robotic arm, characterized by: The invention comprises a driving box (1), one side of the driving box (1) is rotatably connected to a first driving arm (11) and a first driven arm (12), one side of the first driving arm (11) and the first driven arm (12) is rotatably connected to a first gear box (2), one side of the first gear box (2) is rotatably connected to a second driving arm (21) and a second driven arm (22), one side of the second driving arm (21) and the second driven arm (22) is rotatably connected to a second gear box (3), and the second gear box One side of the third driving arm (3) is rotatably connected to a third driving arm (31) and a third driven arm (32); one side of the third driving arm (31) and the third driven arm (32) is rotatably connected to a third gear box (4); one side of the third gear box (4) is rotatably connected to a fourth driving arm (41) and a fourth driven arm (42); one side of the fourth driving arm (41) and the fourth driven arm (42) is rotatably connected to a mounting seat (5); one side of the mounting seat (5) is fixedly mounted with a pan head (6).

2. A single-degree-of-freedom, large-stroke foldable robotic arm according to claim 1, characterized in that: A motor (13) is fixedly mounted on one side of the drive box (1), a driving gear (14) is fixedly mounted on the output end of the motor (13), a rotating shaft (15) is rotatably connected inside the drive box (1), a sector gear (16) is fixedly mounted outside the rotating shaft (15), the sector gear (16) is meshed with the driving gear (14), and one side of the rotating shaft (15) is fixedly connected to one side of the first driving arm (11).

3. A single-degree-of-freedom, large-stroke foldable robotic arm according to claim 2, characterized in that: The first gear box (2), the second gear box (3) and the third gear box (4) are all rotatably connected with two gears (7) inside, and a plurality of the gears (7) form a group of two, and the two gears (7) in the same group are meshed.

4. The single-degree-of-freedom, large-stroke foldable robotic arm according to claim 3, characterized in that: One side of one of the gears (7) is fixedly mounted to one side of the first driving arm (11) by means of bolts, one side of two of the gears (7) is fixedly connected to one side of the second driving arm (21) by means of bolts, one side of two of the gears (7) is fixedly connected to one side of the third driving arm (31) by means of bolts, and one side of one of the gears (7) is fixedly mounted to one side of the fourth driving arm (41) by means of bolts.

5. The single-degree-of-freedom, large-stroke foldable robotic arm according to claim 4, characterized in that: A target positioning block (17) is fixedly mounted on both sides of the sector gear (16), and two photoelectric switches (18) are fixedly mounted inside the drive box (1).

6. The single-degree-of-freedom, large-stroke foldable mechanical arm according to claim 5, characterized in that: A first positioning column (8) is fixedly connected to one side of the drive box (1) and the mounting seat (5), wherein the outside of one of the first positioning columns (8) is rotatably connected to the inside of the first driven arm (12), and the outside of the other first positioning column (8) is rotatably connected to the inside of the fourth driven arm (42).

7. The single-degree-of-freedom, large-stroke foldable robotic arm according to claim 6, characterized in that: A second positioning column (9) is fixedly connected to both sides of the first gear box (2), the second gear box (3) and the third gear box (4); the first gear box (2) and the third gear box (4) are of the same shape and size.

8. The single-degree-of-freedom, large-stroke foldable mechanical arm according to claim 7, characterized in that: The exterior of one of the second positioning columns (9) is rotationally connected to the interior of the first driven arm (12), the exteriors of two of the second positioning columns (9) are rotationally connected to the interior of the second driven arm (22), the exteriors of two of the second positioning columns (9) are rotationally connected to the interior of the third driven arm (32), and the exterior of another of the second positioning columns (9) is rotationally connected to the interior of the fourth driven arm (42).

9. The single-degree-of-freedom, large-stroke foldable robotic arm according to claim 8, characterized in that: A third positioning column (10) is fixedly mounted on one side of the mounting seat (5), and the outside of the third positioning column (10) is rotatably connected to the inside of the fourth driving arm (41).

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