Mechanical arm capable of integrating multiple functions of grabbing, drilling and sawing

Abstract

The utility model discloses a mechanical arm capable of realizing the integration of multiple functions of grabbing, drilling and sawing, which comprises a mechanical arm body and an end effector, the end effector is provided with a fixing device, one side of the fixing device is provided with a connecting piece, and the fixing device is hinged with the driving end of the mechanical arm body through the connecting piece; a pair of clamping jaws, an electric saw and a drill bit are arranged on the other side of the fixing device, the clamping jaws are arranged at intervals, each clamping jaw comprises a large jaw and a small jaw which are matched with each other, the large jaws and the small jaws are hinged to the fixing device, the large jaws are driven by a second jaw motor, and the small jaws are driven by a first jaw motor; and an electric saw and a drill bit are arranged between the two clamping jaws. According to the mechanical arm, the fixing device is arranged, and the clamping jaw, the electric saw and the drill bit are arranged on one side of the fixing device; the clamping jaw achieves grabbing, and the electric saw and the drill bit finish drilling and sawing work separately. According to the device, one or more work of grabbing, drilling and sawing can be completed according to needs, and the requirements of disaster relief and post-disaster reconstruction can be better met.

Description

Technical Field

[0001] The utility model relates to a mechanical arm, in particular to a mechanical arm capable of realizing multifunctional integration of grabbing, drilling and sawing, and is applied to complex scenes such as emergency rescue, disaster relief and post-disaster reconstruction. Background Art

[0002] At present, in the fields of disaster relief and post-disaster reconstruction, most robotic arm devices with only one function are used to complete a single function.

[0003] For example, the Chinese patent with publication (announcement) number CN210335970U discloses a multifunctional robot for firefighting and disaster relief, including a crawler mobile chassis, a first robotic arm and a second robotic arm, wherein the first robotic arm and the second robotic arm are arranged side by side on the top surface of the crawler mobile chassis, and the second robotic arm 6 carries a robotic claw 7, which can grab inflammable and explosive materials in the fire scene and drag them to a safe place to prevent the inflammable and explosive materials from exploding and causing a secondary fire under the condition of long-term exposure. Firefighters do not need to enter the fire scene alone to remove the inflammable and explosive materials, thereby protecting their safety. The first robotic arm 3 and the second robotic arm 6 work together to remove dangerous materials while extinguishing the fire, thereby improving the efficiency of firefighting and disaster relief.

[0004] The problem is that only mechanical claws cannot complete the work of drilling and sawing. In the face of complex environments such as disaster relief and reconstruction, a mechanical arm device with a single grasping function cannot meet multiple functional requirements; and because disaster relief and post-disaster reconstruction are often complex environments, it is often impossible or difficult to enter multiple mechanical equipment at the same time, resulting in low efficiency in disaster relief and reconstruction. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a mechanical arm which can realize the multifunctional integration of grabbing, drilling and sawing. The mechanical arm can complete the multiple tasks of grabbing, drilling and sawing, and can better meet the needs of disaster relief and post-disaster reconstruction.

[0006] In order to solve the above technical problems, the utility model adopts the following technical means:

[0007] A robotic arm capable of realizing multifunctional integration of grabbing, drilling and sawing, comprises a robotic arm body, an end effector arranged on the robotic arm body, the end effector being hingedly connected to the driving end of the robotic arm body; the end effector is provided with a fixing device, a connecting piece is arranged on one side of the fixing device, and the fixing device is hingedly connected to the driving end of the robotic arm body through the connecting piece; a clamping jaw, an electric saw and a drill bit are arranged on the other side of the fixing device, a pair of clamping jaws are arranged at intervals, each clamping jaw comprises a large jaw and a small jaw which cooperate with each other, the large jaw and the small jaw are hingedly connected to the fixing device, the large jaw is driven by a second jaw motor, and the small jaw is driven by a first jaw motor; an electric saw and a drill bit are arranged between the two clamping jaws.

[0008] Compared with the prior art, the utility model adopting the above technical solution has the following outstanding features:

[0009] The mechanical arm is provided with a fixing device, and a clamp, an electric saw and a drill are provided on one side of the fixing device; the clamp realizes the grasping, and the electric saw and the drill respectively complete the drilling and sawing work. The device can complete one or more of the following tasks as needed, and can better meet the needs of disaster relief and post-disaster reconstruction.

[0010] As a further improvement to this technical solution:

[0011] The fixing device is provided with a clamping claw, and the sides of the electric saw and the drill bit are provided with a clamping claw groove, an electric saw groove and a drill bit groove; the electric saw and the drill bit are both hingedly connected to the fixing device, and a driving component is arranged at the hinge to drive the electric saw and the drill bit to rotate, so that the electric saw and the drill bit are respectively transferred into the electric saw groove and the drill bit groove after rotating.

[0012] By providing a clamping jaw groove, an electric saw groove and a drill groove, when the clamping jaw, the electric saw and the drill are in a non-working state, they can be respectively closed in the clamping jaw groove, the electric saw groove and the drill groove, thereby better protecting the working parts.

[0013] The connecting piece is hingedly connected to the driving end of the mechanical arm body through a direction conversion device.

[0014] The connection and rotation can be made more convenient and flexible by providing a direction conversion device.

[0015] The direction conversion device is provided with a conversion member motor 1, a conversion member 1, a conversion member 2, a connecting ring, and a conversion member motor 2; the conversion member motor 1 is connected and arranged at the driving end of the robot arm body, the rotation of the conversion member motor 1 drives the shaft 1 to rotate, the shaft 1 is connected to one end of the conversion member 1 and drives the conversion member 1 to rotate; the other end of the conversion member 1 is connected and arranged with the shaft 2 and the conversion member motor 2, the conversion member motor 2 drives the shaft 2 to rotate, the shaft 2 is connected and drives the conversion member 2 to rotate, and the conversion member 2 is connected to the connecting member through the connecting ring.

[0016] Through the above arrangement, the conversion component motor 1 and the conversion component motor 2 can both drive the end effector connected to the direction conversion device to adjust the position, making the adjustment more flexible and convenient.

[0017] The robotic arm body is provided with a circular chassis, a basic support part, a boom, a lower telescopic rod, an upper telescopic rod, and a forearm. The basic support part is installed above the circular chassis, the bottom end of the basic support part is connected to the circular chassis, the top end of the basic support part is hingedly connected to one end of the boom, the other end of the boom is hingedly connected to one end of the forearm, and the other end of the forearm is a driving end used to hinge-connect the end effector; the basic support part is connected to the lower telescopic rod to drive the boom; the upper telescopic rod is connected to the boom, and the upper telescopic rod is connected to drive the forearm.

[0018] Through the above settings, the upper arm and the lower arm can be rotated to adjust the position. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a stereogram of the utility model.

[0020] Figure 2 It is a stereoscopic diagram of the direction conversion device of the utility model.

[0021] Figure 3 It is a stereoscopic diagram of the end effector of the utility model.

[0022] Figure 4 It is a three-dimensional diagram of the electric saw of the utility model.

[0023] Figure 5 The utility model is a three-dimensional diagram of an electric drill.

[0024] Description of reference numerals:

[0025] 1-circular chassis, 2-basic support part, 3-big arm, 4-lower telescopic rod, 5-upper telescopic rod, 6-small arm, 7-direction conversion device, 8-end effector;

[0026] 701-conversion piece motor one, 702-conversion piece one, 703-conversion piece two, 704-connecting ring, 705-conversion piece motor two; 801-connecting piece, 802-fixing device, 803-claw motor one, 804-small claw, 805-large claw, 806-claw motor two, 807-electric saw, 815-electric drill motor one, 816-fixing ring, 817-electric drill motor two, 818-drill bit. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the embodiments.

[0028] See also Figure 1-5 It can be seen that the utility model is a mechanical arm capable of realizing the multifunctional integration of grabbing, drilling and sawing, which is composed of a mechanical arm body and an end effector arranged on the mechanical arm body.

[0029] The end effector 8 is hingedly connected to the driving end of the robot body; the end effector 8 is provided with a fixing device 802, a connecting piece 801 is provided on one side of the fixing device 802, and the fixing device 802 is hingedly connected to the driving end of the robot body through the connecting piece 801; the other side of the fixing device 802 is provided with a clamping jaw, an electric saw 807 and a drill bit 818, and the clamping jaws are arranged in a pair at intervals, and each clamping jaw includes a large jaw 805 and a small jaw 804 that cooperate with each other, and the large jaw 805 and the small jaw 804 are hingedly connected to the fixing device 802, the large jaw 805 is driven by the claw motor 2 806, and the small jaw 804 is driven by the claw motor 1 803; an electric saw 807 and a drill bit 818 are arranged between the two clamping jaws.

[0030] The mechanical arm is provided with a fixing device 802, and a clamping claw, an electric saw 807 and a drill 818 are provided on one side of the fixing device 802; the clamping claw realizes grasping, and the electric saw 807 and the drill 818 respectively complete the work of drilling and sawing. The device can complete one or more of the work of grasping, drilling and sawing according to the needs, and can better meet the needs of disaster relief and post-disaster reconstruction.

[0031] See also Figure 3 , Figure 4 , Figure 5 It can be seen that the fixing device 802 is provided with a clamping claw, and the sides of the electric saw 807 and the drill bit 818 are provided with a clamping claw groove, an electric saw groove and a drill bit groove; the electric saw 807 and the drill bit 818 are both hingedly connected to the fixing device 802, and a driving component is arranged at the hinge to drive the electric saw 807 and the drill bit 818 to rotate, so that the electric saw 807 and the drill bit 818 are rotated and then transferred into the electric saw groove and the drill bit groove respectively.

[0032] By setting the jaw groove, the electric saw groove and the drill bit groove, when the jaw, the electric saw 807 and the drill bit 818 are in a non-working state, they can be closed in the jaw groove, the electric saw groove and the drill bit groove respectively, so as to better protect the working parts.

[0033] The drill bit 818 is driven by the electric drill motor 817 to rotate and drill; the electric drill motor 817 is connected to the fixed ring 816, and the fixed ring 816 is connected to the driving shaft of the electric drill motor 815. The electric drill motor 815 drives the fixed ring 816 to rotate and drives the electric drill motor 817 and the drill bit 818 to rotate and adjust the position.

[0034] The connecting member 801 is hingedly connected to the driving end of the robot body through the direction conversion device 7.

[0035] The direction conversion device 7 can be provided to make the connection and rotation more convenient and flexible.

[0036] See also Figure 2It can be seen that the direction conversion device 7 is provided with a conversion member motor 1 701, a conversion member 1 702, a conversion member 2 703, a connecting ring 704, and a conversion member motor 2 705; the conversion member motor 1 701 is connected and arranged at the driving end of the robot body, the conversion member motor 1 701 rotates to drive the shaft 1 to rotate, the shaft 1 is connected to one end of the conversion member 1 702 to drive the conversion member 1 702 to rotate; the other end of the conversion member 1 702 is connected to the shaft 2 and the conversion member motor 2 705, the conversion member motor 2 705 drives the shaft 2 to rotate, the shaft 2 is connected to drive the conversion member 2 703 to rotate, and the conversion member 2 703 is connected to the connecting member 801 through the connecting ring 704.

[0037] Through the above arrangement, the conversion element motor 1 701 and the conversion element motor 2 705 can both drive the end effector 8 connected to the direction conversion device 7 to adjust the position, making the adjustment more flexible and convenient.

[0038] The robotic arm body is provided with a circular chassis 1, a basic support part 2, a large arm 3, a telescopic rod 4, a telescopic rod 5, and a small arm 6. The basic support part 2 is installed above the circular chassis 1, the bottom end of the basic support part 2 is connected to the circular chassis 1, the top of the basic support part 2 is hingedly connected to one end of the large arm 3, the other end of the large arm 3 is hingedly connected to one end of the small arm 6, and the other end of the small arm 6 is a driving end for hingedly connecting the end effector; the basic support part 2 is connected to the telescopic rod 5 below to drive the large arm 3; the telescopic rod 5 is connected to the large arm 3, and the telescopic rod 5 is connected to drive the small arm 6.

[0039] Through the above arrangement, both the upper arm 3 and the lower arm 6 can be rotated to adjust their positions.

[0040] The above description is only a preferred feasible embodiment of the present utility model, and does not limit the scope of rights of the present utility model. All equivalent structural changes made using the contents of the specification and drawings of the present utility model are included in the scope of rights of the present utility model.

Claims

1. A multifunctional integrated mechanical arm capable of grasping, drilling and sawing, comprising a mechanical arm body and an end effector arranged on the mechanical arm body, characterized in that: The end effector (8) is hingedly connected to the driving end of the robot arm body; The end effector (8) is provided with a fixing device (802), a connecting piece (801) is provided on one side of the fixing device (802), and the fixing device (802) is hingedly connected to the driving end of the robot arm body via the connecting piece (801); The other side of the fixing device (802) is provided with a clamping jaw, an electric saw (807) and a drill bit (818). The clamping jaws are arranged in a pair at intervals. Each clamping jaw comprises a large jaw (805) and a small jaw (804) that cooperate with each other. The large jaw (805) and the small jaw (804) are hingedly connected to the fixing device (802). The large jaw (805) is driven by a second jaw motor (806), and the small jaw (804) is driven by a first jaw motor (803). An electric saw (807) and a drill bit (818) are arranged between the two clamping jaws.

2. The mechanical arm capable of realizing multifunctional integration of grabbing, drilling and sawing according to claim 1, characterized in that: The fixing device (802) is provided with a clamping claw, and the electric saw (807) and the drill bit (818) are provided with a clamping claw groove, an electric saw groove and a drill bit groove on their sides; the electric saw (807) and the drill bit (818) are both hingedly connected to the fixing device (802), and a driving component is provided at the hinge to drive the electric saw (807) and the drill bit (818) to rotate, so that the electric saw (807) and the drill bit (818) are rotated and respectively transferred into the electric saw groove and the drill bit groove.

3. The mechanical arm capable of realizing multifunctional integration of grabbing, drilling and sawing according to claim 1, characterized in that: The connecting piece (801) is hingedly connected to the driving end of the mechanical arm body via a direction conversion device (7).

4. The mechanical arm capable of realizing multifunctional integration of grabbing, drilling and sawing according to claim 3 is characterized in that: The direction conversion device (7) is provided with a conversion member motor 1 (701), a conversion member 1 (702), a conversion member 2 (703), a connecting ring (704), and a conversion member motor 2 (705); the conversion member motor 1 (701) is connected to the driving end of the mechanical arm body, the conversion member motor 1 (701) rotates to drive shaft 1 to rotate, and shaft 1 is connected to one end of the conversion member 1 (702) to drive the conversion member 1 (702) to rotate; the other end of the conversion member 1 (702) is connected to shaft 2 and conversion member motor 2 (705), the conversion member motor 2 (705) drives shaft 2 to rotate, and shaft 2 is connected to drive the conversion member 2 (703) to rotate, and the conversion member 2 (703) is connected to the connecting member (801) via the connecting ring (704).

5. The mechanical arm capable of realizing multifunctional integration of grabbing, drilling and sawing according to claim 1, characterized in that: The mechanical arm body is provided with a circular chassis (1), a basic support part (2), a large arm (3), a lower telescopic rod (4), an upper telescopic rod (5), and a small arm (6). The basic support part (2) is installed above the circular chassis (1), the bottom end of the basic support part (2) is connected to the circular chassis (1), the top end of the basic support part (2) is hingedly connected to one end of the large arm (3), the other end of the large arm (3) is hingedly connected to one end of the small arm (6), and the other end of the small arm (6) is a driving end for hingedly connecting to an end effector; the basic support part (2) is connected to the lower telescopic rod (4) to drive the large arm (3); the upper telescopic rod (5) is connected to the upper telescopic rod (3), and the upper telescopic rod (5) is connected to drive the small arm (6).

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