Mechanical arm for track inspection robot

Abstract

The mechanical arm for the track inspection robot comprises the base and the driving piece, the driving piece is arranged at the top of the base, the driving piece is used for driving the mechanical arm to ascend and descend, the mechanical arm only adopts the mode that a single driving motor and a speed reducer are combined, the difficulty of control precision is lowered, and the control precision is improved. Synchronous rotation of the lower power arm and the upper power arm is achieved through mutual meshing of a first gear and a second gear, the structure is more compact, and the stability of the whole power arm system structure can be improved through an upper auxiliary force arm and a lower auxiliary force arm; the combined design of the photoelectric switch, the upper limiting photoelectric switch baffle and the lower limiting photoelectric switch baffle is adopted for detecting the motion position of the mechanical arm, stable operation of the mechanical arm is ensured, various detection devices can be carried through the top plate of the connecting base according to the inspection task requirement, corresponding tasks are executed under the motion of the mechanical arm, flexibility is high, and the robot is suitable for different working scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm for a track inspection robot. Background Art

[0002] Most of the robotic arms used in traditional rail-mounted inspection robots adopt transmission methods such as synchronous belts and chains. Due to the complex operating environment of the integrated pipeline corridor, when the inspection robot faces high-load inspection tasks, the robotic arms using transmission methods such as synchronous belts and chains may have problems such as transmission errors and position deviations due to elastic deformation and tightness in the transmission process, which may become a problem in some applications that require high-precision positioning and repeatability. At the same time, the carrying capacity of the transmission belt or chain is limited. Exceeding its rated load may cause transmission failure or damage. In addition, synchronous belt and chain transmission usually require a certain installation space, and the transmission layout is relatively fixed, which may limit the design and layout of the robotic arm, making it difficult to achieve an ideal mechanical structure layout in some special application scenarios. Utility Model Content

[0003] In view of the above situation, the utility model provides a mechanical arm for a track inspection robot.

[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0005] A mechanical arm for a rail inspection robot comprises a base and a driving member, wherein a lower power arm and a lower pull rod are hingedly connected to the base, the lower pull rod is arranged parallel to the lower power arm and spaced apart, and the driving member is used to drive the lower power arm to rotate;

[0006] The free end of the lower power arm is keyed to a first spindle, and the first spindle is keyed to a first gear;

[0007] The free end of the lower pull rod is rotatably connected to a second spindle, a second gear is keyed to the second spindle, the second gear is meshed with the first gear, and the second spindle and the first spindle are both rotatably arranged on a rectangular cover;

[0008] An upper pull rod is hinged at one end of the first core shaft away from the lower power arm, and a connecting seat is hinged at the free end of the upper pull rod. An upper power arm is key-connected to one end of the second core shaft away from the lower pull rod. The upper power arm is arranged parallel to the upper pull rod and spaced apart, and the upper power arm is hinged to the connecting seat.

[0009] Preferably, a reducer mounting plate and a lower auxiliary force arm fixing seat are provided on the top of the base, the drive member is arranged on the reducer mounting plate, a lower auxiliary force arm is hinged on the lower auxiliary force arm fixing seat, the lower auxiliary force arm is arranged parallel to and spaced apart from the lower power arm, and the free end of the lower auxiliary force arm is rotatably connected to the first core shaft.

[0010] Preferably, one end of the second core shaft away from the upper power arm is rotatably connected to an upper auxiliary force arm, the free end of the upper auxiliary force arm is hinged to the connecting seat, and the upper auxiliary force arm is arranged parallel to the upper power arm and spaced apart.

[0011] Preferably, the connecting seat comprises a connecting seat long bracket, a connecting seat short bracket and a connecting seat top plate, the connecting seat long bracket and the connecting seat short bracket are symmetrically arranged at the bottom of the connecting seat top plate, the upper power arm and the upper pull rod are both hinged to the connecting seat long bracket, and the upper auxiliary force arm is hinged to the connecting seat short bracket;

[0012] A detection device is installed on the top of the connecting seat top plate.

[0013] Preferably, the driving member includes a driving motor and a reducer, the output shaft of the driving motor is drivingly connected to the input shaft of the reducer, the output end of the reducer is provided with a torque arm, and the torque arm is connected to the lower power arm.

[0014] Preferably, an upper limit photoelectric switch baffle and a lower limit photoelectric switch baffle are provided on the torque arm at intervals;

[0015] The base is provided with a photoelectric switch, and the photoelectric switch is used to detect the positions of the upper limit photoelectric switch baffle and the lower limit photoelectric switch baffle.

[0016] Compared with the related art, the beneficial technical effects of the utility model are:

[0017] 1. The rail inspection robot arm described in the utility model adopts a combination of a single drive motor and a reducer, which reduces the difficulty of control accuracy, makes the assembly process more convenient, can output a higher torque to meet the load requirements, and also simplifies the control problems at the software level. Operators can complete tasks quickly and improve work efficiency. According to the requirements of the inspection tasks, various types of detection equipment can be installed through the provided connection seat, which has high flexibility.

[0018] 2. The rail inspection robot robot arm described in the utility model rotates through the mutual meshing of the first gear and the second gear. Compared with transmission methods such as synchronous belts and chains, the structure of the robot arm is more compact and the rigidity is higher. By optimizing the design of the first gear and the second gear, the movement rigidity and positioning accuracy of the robot arm are continuously optimized. During the lifting process of the robot arm, the upper auxiliary force arm and the lower auxiliary force arm can provide additional support points, increase the structural stability of the entire power arm system, and adopt a combination design of photoelectric switches and upper and lower limit photoelectric switch baffles to detect the movement position of the robot arm, thereby ensuring the long-term stable operation of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 This is a front view of the mechanical arm of the track inspection robot of the utility model;

[0021] Figure 3 for Figure 2 Schematic diagram of the transmission structure of the first gear and the second gear;

[0022] Figure 4 This is a schematic diagram of the structure of the connecting seat of the mechanical arm of the track inspection robot of the utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the lower power arm of the mechanical arm of the track inspection robot of the utility model;

[0024] Figure 6 It is a left view of the mechanical arm of the track inspection robot of the utility model;

[0025] Figure 7 for Figure 6 A schematic diagram of the structure enlargement in the middle;

[0026] Figure 8 This is a top view of the mechanical arm of the track inspection robot of the utility model;

[0027] Fig. 9 for Figure 8 Enlarged schematic diagram of the structure at point B in the middle.

[0028] Explanations in the figure: 1. Detection equipment; 2. Upper auxiliary force arm; 3. Upper power arm; 4. Rectangular cover; 5. Upper pull rod; 6. Lower auxiliary force arm; 7. Upper power arm; 8. Torque arm; 9. Lower auxiliary force arm fixing seat; 10. Base; 11. Second gear; 12. Second spindle; 13. First spindle; 14. First gear 15. Reducer mounting plate; 16. Lower pull rod; 17. Connecting seat top plate; 18. Limiting shaft; 19. Connecting seat long bracket; 20. Flange shaft one; 21. Connecting seat short plate; 22. Lower limit photoelectric switch baffle; 23. Upper limit photoelectric switch baffle; 24. Photoelectric switch; 25. Photoelectric switch beam; 26. Reducer; 27. Drive motor; 28. Flange shaft two; 29. ​​Power arm spacer. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. The following embodiments are used to illustrate the utility model.

[0030] Please refer to Figures 1 to 9 , a technical solution provided by the utility model:

[0031] Embodiment 1:

[0032] A mechanical arm for a rail inspection robot comprises a base 10 and a driving member, a reducer mounting plate 15 is provided on the top of the base 10, the driving member is arranged on the reducer mounting plate 15, a lower power arm 7 and a lower pull rod 16 are hingedly connected through the reducer mounting plate 15, the lower pull rod 16 is arranged parallel to the lower power arm 7 and spaced apart, which helps to ensure that the mechanical arm maintains stability and balance during movement, the free end of the lower power arm 7 is keyed to a first spindle 13 for transmitting torque, the first spindle 13 is keyed to a first gear 14, the free end of the lower pull rod 16 is rotatably connected to a second spindle 12, the second spindle 12 is keyed to a second gear 11, The second gear 11 and the first gear 14 mesh with each other to realize synchronous rotation. The first gear 14 and the second gear 11 are symmetrically provided with power arm spacers 29 on both sides. The power arm spacers 29 can reduce the loss of the first gear 14 and the second gear 11 caused by contact with other components during operation, thereby extending the service life. The second spindle 12 and the first spindle 13 are both rotatably provided on the rectangular cover 4. The rectangular cover 4 can effectively protect the first gear 14 and the second gear 11 from the intrusion of dust, moisture and other substances, and can also provide external protection to prevent the first gear 14 and the second gear 11 from being subjected to external impact or damage.

[0033] The driving member is used to drive the lower power arm 7 to rotate. The end of the first core shaft 13 away from the lower power arm 7 is hinged with an upper pull rod 5, and the free end of the upper pull rod 5 is hinged with a connecting seat. The end of the second core shaft 12 away from the lower pull rod 16 is keyed to the upper power arm 3 for transmitting torque. The upper power arm 3 and the upper pull rod 5 are arranged in parallel and at intervals, so that the mechanical arm is subjected to more uniform force during movement, which helps to reduce vibration and deformation. The upper power arm 3 is hinged with the connecting seat.

[0034] Embodiment 2:

[0035] On the basis of Example 1, a lower auxiliary lever arm fixing seat 9 is also provided on the top of the base 10, and a lower auxiliary lever arm 6 is hinged on the lower auxiliary lever arm fixing seat 9. The free end of the lower auxiliary lever arm 6 is rotatably connected to the first core shaft 13. The lower auxiliary lever arm 6 is arranged in parallel and spaced apart from the lower power arm 7. The lower auxiliary lever arm fixing seat 9 can withstand certain vibrations and pressures to ensure that the lower auxiliary lever arm 6 remains stable and safe during operation.

[0036] Embodiment 3:

[0037] Based on Example 1-2, the end of the second core shaft 12 away from the upper power arm 3 is rotatably connected to the upper auxiliary force arm 2, the free end of the upper auxiliary force arm 2 is hinged to the connecting seat, and the upper auxiliary force arm 2 is arranged parallel to the upper power arm 3, which helps to improve the structural stability and rigidity of the robot arm, thereby facilitating the bearing of loads and torques in various working scenarios.

[0038] Embodiment 4:

[0039] On the basis of embodiments 1-3, the connecting seat includes a long connecting seat bracket 19, a short connecting seat bracket 21 and a connecting seat top plate 17. The upper end of the long connecting seat bracket 19 is hinged to the free end of the upper power arm 3 through a limit shaft 18, the lower end of the long connecting seat bracket 19 is hinged to the free end of the upper pull rod 5 through a flange shaft 1 20, and the short connecting seat bracket 21 is hinged to the free end of the upper auxiliary force arm 2 through a flange shaft 2 28. The long connecting seat bracket 19 and the short connecting seat bracket 21 are symmetrically arranged at the bottom of the connecting seat top plate 17, which can form a good support frame, which is helpful to optimize the overall mechanical structure design;

[0040] According to the inspection task requirements, the top of the connecting seat top plate 17 can be used as an installation platform for various types of detection equipment 1, making the installation, adjustment and maintenance of the components of the detection equipment 1 more convenient and efficient, reducing the operator's work difficulty and time cost, and is suitable for different work scenarios.

[0041] Embodiment 5:

[0042] On the basis of Examples 1-4, the driving part of the mechanical arm includes a driving motor 27 and a reducer 26, the output shaft of the driving motor 27 is drivingly connected to the input shaft of the reducer 26, the reducer 26 can convert the high-speed and low-torque output of the driving motor 27 into a low-speed and high-torque output to provide appropriate torque and control speed, meet the mechanical arm's requirements for torque and speed, and reduce the direct impact of the load on the driving motor 27, protecting the driving motor 27 from overload, and a torque arm 8 is provided at the output end of the reducer 26, and the torque arm 8 is fastened to the lower power arm 7 by a plurality of bolts for transmitting torque, and an upper limit photoelectric switch baffle 23 and a lower limit photoelectric switch baffle 22 are provided on the torque arm 8 at intervals, and a photoelectric switch 24 is provided on the base 10, and the photoelectric switch 24 is used to detect the positions of the upper limit photoelectric switch baffle 23 and the lower limit photoelectric switch baffle 22;

[0043] The upper limit photoelectric switch baffle 23 and the lower limit photoelectric switch baffle 22 control the start and stop of the drive motor 27 by blocking the light beam 25 of the photoelectric switch 24, thereby controlling the movement of the robot arm and limiting the robot arm to not exceed the specified lifting range to ensure safe operation.

[0044] Working principle: the base 10 is used to conveniently mount the robot arm on the bottom of the inspection robot. When in use, the lower power arm 7 is driven to rotate by the driving motor 27. The free end key of the lower power arm 7 is connected to the first spindle 13, so that the first spindle 13 rotates. The rotation of the first spindle 13 drives the upper pull rod 5, the lower auxiliary force arm 6 and the first gear 14 to rotate respectively. The first gear 14 and the second gear 11 are meshed with each other and rotate synchronously. The rotation of the second gear 11 then drives the second spindle 12 to rotate, thereby driving the upper power arm 3, the upper auxiliary force arm 2 and the lower pull rod 16 to rotate respectively, so as to realize the lifting and lowering of the robot arm. The upper limit photoelectric switch baffle 23 and the lower limit photoelectric switch baffle 22 control the start and stop of the driving motor 27 by blocking the light beam 25 of the photoelectric switch 24, so as to realize the control of the movement of the robot arm, thereby limiting the lifting range of the robot arm. Various detection equipment 1 can be installed on the top of the connecting seat top plate 17 to complete the inspection task under the lifting and lowering movement of the robot arm.

[0045] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A mechanical arm for a rail inspection robot, characterized in that: It comprises a base (10) and a driving member, wherein a lower power arm (7) and a lower pull rod (16) are hingedly connected to the base (10), the lower pull rod (16) is arranged parallel to and spaced from the lower power arm (7), and the driving member is used to drive the lower power arm (7) to rotate; The free end of the lower power arm (7) is keyed to a first core shaft (13), and the upper key of the first core shaft (13) is keyed to a first gear (14); The free end of the lower pull rod (16) is rotatably connected to a second core shaft (12), a second gear (11) is keyed to the second core shaft (12), the second gear (11) is meshed with the first gear (14), and the second core shaft (12) and the first core shaft (13) are both rotatably arranged on a rectangular cover (4); The end of the first core shaft (13) away from the lower power arm (7) is hinged to an upper pull rod (5), and the free end of the upper pull rod (5) is hinged to a connecting seat. The end of the second core shaft (12) away from the lower pull rod (16) is key-connected to an upper power arm (3), and the upper power arm (3) is arranged parallel to the upper pull rod (5) and spaced apart, and the upper power arm (3) is hinged to the connecting seat.

2. A mechanical arm for a rail inspection robot according to claim 1, characterized in that: A reducer mounting plate (15) and a lower auxiliary force arm fixing seat (9) are provided on the top of the base (10); the drive member is provided on the reducer mounting plate (15); a lower auxiliary force arm (6) is hingedly connected to the lower auxiliary force arm fixing seat (9); the lower auxiliary force arm (6) is arranged in parallel and spaced relation with the lower power arm (7); and the free end of the lower auxiliary force arm (6) is rotatably connected to the first core shaft (13).

3. A mechanical arm for a rail inspection robot according to claim 2, characterized in that: One end of the second core shaft (12) away from the upper power arm (3) is rotatably connected to an upper auxiliary force arm (2), the free end of the upper auxiliary force arm (2) is hinged to the connecting seat, and the upper auxiliary force arm (2) and the upper power arm (3) are arranged in parallel and at intervals.

4. A mechanical arm for a rail inspection robot according to claim 3, characterized in that: The connecting seat comprises a connecting seat long bracket (19), a connecting seat short bracket (21) and a connecting seat top plate (17); the connecting seat long bracket (19) and the connecting seat short bracket (21) are symmetrically arranged at the bottom of the connecting seat top plate (17); the upper power arm (3) and the upper pull rod (5) are both hinged to the connecting seat long bracket (19); and the upper auxiliary force arm (2) is hinged to the connecting seat short bracket (21); A detection device (1) is installed on the top of the connection seat top plate (17).

5. The mechanical arm for a rail inspection robot according to claim 2, characterized in that: The driving member comprises a driving motor (27) and a reducer (26); the output shaft of the driving motor (27) is drivingly connected to the input shaft of the reducer (26); a torque arm (8) is provided at the output end of the reducer (26); and the torque arm (8) is connected to the lower power arm (7).

6. A mechanical arm for a rail inspection robot according to claim 5, characterized in that: An upper limit photoelectric switch baffle (23) and a lower limit photoelectric switch baffle (22) are provided on the torque arm (8) at intervals; A photoelectric switch (24) is provided on the base (10), and the photoelectric switch (24) is used to detect the positions of the upper limit photoelectric switch baffle (23) and the lower limit photoelectric switch baffle (22).

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