Rotary assembly mechanical arm of inspection robot

Abstract

The utility model provides a rotary assembly mechanical arm of an inspection robot, which belongs to the technical field of robots, and comprises a driving device and a clamping device, the driving device comprises a base, a large arm rod, a small arm rod and a wrist rod; the clamping device comprises a first motor, a fixing plate installed at the spindle end of the first motor, a driving rod rotationally installed on one side of the middle of the fixing plate and a clamping plate rotationally installed at the end of the driving rod. The base is additionally arranged and used for being in butt joint with the robot base body, the position of the clamping device can be adjusted by simulating operation of the arm in the direction of the rotating adjusting component of the robot base body, the book sorting device is suitable for sorting books at different positions, and the book sorting device is suitable for secondary sorting and classification of idle books in library inspection. The clamping device simulates the overturning action of the hand, conducts overturning adjustment on the fixing plate provided with the driving rod and the clamping plate, simulates the action of the finger part to conduct clamping action on books, and carries out carrying and sorting.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a rotary assembly mechanical arm of an inspection robot. Background Art

[0002] Inspection robots are robots that can autonomously navigate, avoid obstacles and move, and use sensors and cameras to monitor and collect data on equipment, environment and facilities in real time. Their main functions include autonomous navigation, high-definition image recording, anomaly detection, environmental monitoring, data analysis and report generation, etc.

[0003] With the increase in national reading rate, libraries have provided people with good conditions for reading. However, the problem of inconvenient book storage and organization has emerged. The traditional way of storing and organizing books is mainly for administrators to collect and record information, which is complex and inefficient, affecting other important work of administrators and causing waste of human resources. In large libraries, book organization is indeed a considerable workload and has high requirements on the administrator's physical strength and accuracy. Utility Model Content

[0004] The utility model aims to provide a rotary assembly mechanical arm of an inspection robot, aiming to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A rotary assembly mechanical arm of an inspection robot, comprising:

[0007] The driving device comprises a base, a large arm rod installed at the front end of the base, a small arm rod installed at the front end of the large arm rod, and a wrist rod rotatably installed at the front end of the small arm rod;

[0008] The clamping device includes a first motor, a fixing plate installed at the main shaft end of the first motor, a driving rod rotatably installed on one side of the middle of the fixing plate, and a clamping plate rotatably installed at the end of the driving rod. The first motor is connected to the middle position of the wrist rod by bolts.

[0009] As a preferred solution of the utility model, the inner side wall of the clamping plate is hinged with a connecting rod, and the other end of the connecting rod is connected to the end side wall of the fixing plate through a rotating shaft.

[0010] As a preferred solution of the utility model, the driving rods and the clamping plates are symmetrically arranged in two groups, and meshing rack structures are provided on the inner side walls of the two groups of driving rods.

[0011] As a preferred solution of the utility model, a second motor is connected to the other side of the fixing plate by bolts, and the main shaft end of the second motor is connected to a group of the driving rods.

[0012] As a preferred solution of the utility model, a third motor is connected to the middle position of the lower end of the base by bolts, a shell is installed on the side wall of the third motor, and the end of the shell is clamped on the side wall of the base.

[0013] As a preferred solution of the utility model, the inner side wall of the lower end of the large arm is connected to a fourth motor by bolts, and the main shaft end of the fourth motor is fixedly installed on the upper side wall of the base. The upper end of the large arm is connected to a fifth motor by bolts, and the main shaft end of the fifth motor is fixedly connected to the lower side wall of the small arm.

[0014] As a preferred solution of the utility model, a sixth motor is connected to the inner side of the front end of the small arm rod by bolts, and the main shaft of the sixth motor is fixedly connected to the side wall of the wrist rod.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The present application adds a base for docking and installation with the robot base, which can rotate along the robot base to adjust the direction of the upper end component. The upper arm rod, the lower arm rod and the wrist rod can cooperate with each other in turn above the base to rotate and adjust the angles between the upper arm rod, the lower arm rod and the wrist rod, and adds driving components such as motors that are combined with each other. The driving device simulates the operation of the arm to adjust the position of the clamping device, which is suitable for sorting books in different positions and for secondary sorting and classification of idle books during library inspections. Machines replace manual handling and sorting of books, thereby improving the quality and efficiency of book sorting, saving manpower, material and financial resources, and achieving the effect of quickly and accurately placing books.

[0017] The present application adds a first motor, a fixed plate, a driving rod and a splint to form the main structure of the clamping device. The first motor is installed in the middle of the wrist rod. When the first motor is running, it can simulate the flipping action of the hand and flip and adjust the fixed plate on which the driving rod and the splint are installed to facilitate the docking of the driving rod and the splint with the book. The combination of the driving rod and the splint is used to simulate the action of the fingers. When running, the book is clamped, the book is clamped, and the position is adjusted for transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0019] Figure 1 This is one of the overall structural diagrams of the utility model;

[0020] Figure 2 This is the second schematic diagram of the overall structure of the utility model;

[0021] Figure 3 This is the third schematic diagram of the overall structure of the utility model;

[0022] Figure 4 It is a schematic diagram of the left structure of the utility model;

[0023] Figure 5 It is a schematic diagram of the right side structure of the utility model.

[0024] In the figure: 100, driving device; 101, base; 102, upper arm rod; 103, lower arm rod; 104, wrist rod; 105, third motor; 106, housing; 107, fourth motor; 108, fifth motor; 109, sixth motor; 200, clamping device; 201, first motor; 202, fixing plate; 203, driving rod; 204, clamping plate; 205, connecting rod; 206, second motor. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0028] Example 1

[0029] Reference Figure 1-5 , is the first embodiment of the utility model, which provides a patrol robot rotary assembly mechanical arm, including,

[0030] The driving device 100 includes a base 101 , a large arm rod 102 installed at the front end of the base 101 , a small arm rod 103 installed at the front end of the large arm rod 102 , and a wrist rod 104 rotatably installed at the front end of the small arm rod 103 .

[0031] Among them, the base 101, the upper arm rod 102, the small arm rod 103 and the wrist rod 104 constitute the main structure of the robot arm driving device 100. The base 101 is used for docking and installation with the robot base, and can rotate along the robot base to adjust the direction of the upper end component. The upper arm rod 102, the small arm rod 103 and the wrist rod 104 can cooperate with each other in turn above the base 101, and rotate to adjust the angles between the upper arm rod 102, the small arm rod 103 and the wrist rod 104 to adapt to the sorting operation of books in different positions, which is suitable for secondary sorting and classification of books during library inspections.

[0032] Specifically, a third motor 105 is connected to the middle position of the lower end of the base 101 by bolts, a shell 106 is installed on the side wall of the third motor 105 , and an end of the shell 106 is clamped on the side wall of the base 101 .

[0033] Among them, a shell 106 with a third motor 105 is added to dock with the base 101, and the shell 106 is installed on the side wall of the inspection robot. The third motor 105 is driven by the robot to operate. The third motor 105 can drive the base 101 to rotate along the side wall of the shell 106, and adjust the position of the installed components on the base 101 to meet different usage requirements.

[0034] Furthermore, the inner wall of the lower end of the upper arm rod 102 is connected to the fourth motor 107 by bolts, and the main shaft end of the fourth motor 107 is fixedly installed on the upper end side wall of the base 101. The upper end of the upper arm rod 102 is connected to the fifth motor 108 by bolts, and the main shaft end of the fifth motor 108 is fixedly connected to the lower end side wall of the small arm rod 103.

[0035] Among them, the fourth motor 107 and the fifth motor 108 are installed at both ends of the big arm rod 102, which can adjust their own angles and the angle of the small arm rod 103 along the base 101 and the big arm rod 102 in turn, so as to adjust the position of the end of the small arm rod 103, which is convenient for adjustment.

[0036] Preferably, a sixth motor 109 is connected to the inner side of the front end of the small arm rod 103 by bolts, and the main shaft of the sixth motor 109 is fixedly connected to the side wall of the wrist rod 104.

[0037] Among them, a sixth motor 109 is installed at the front end of the small arm rod 103 and connected to the wrist rod 104. The sixth motor 109 is driven by the inspection robot to operate. Based on the connection of the small arm rod 103, with the cooperation of the main shaft of the sixth motor 109, the wrist rod 104 can be driven to rotate, and then the clamping device 200 installed at the end of the wrist rod 104 can be adjusted.

[0038] When in use, the shell 106 is installed on the side wall of the inspection robot, and the robot drives the third motor 105 to operate. The third motor 105 can drive the base 101 to rotate along the side wall of the shell 106, adjust the position of the installed components on the base 101, and then drive the fourth motor 107 and the fifth motor 108 in turn to adjust the position of the upper arm rod 102 and the lower arm rod 103. The sixth motor 109 is then driven by the inspection robot to operate, and based on the connection with the lower arm rod 103, the wrist rod 104 is driven to rotate, thereby adjusting the clamping device 200 installed at the end of the wrist rod 104.

[0039] In summary, the present application adds a base 101 for docking and installation with the robot base, which can be rotated along the robot base to adjust the direction of the upper end component. The upper arm rod 102, the lower arm rod 103 and the wrist rod 104 can cooperate with each other in turn above the base 101, and rotate to adjust the angles between the upper arm rod 102, the lower arm rod 103 and the wrist rod 104. In addition, driving components such as motors that are combined with each other are added. The driving device 100 simulates the operation of the arm to adjust the position of the clamping device 200, which is suitable for sorting books in different positions, suitable for secondary sorting and classification of idle books during library inspections, and easy to adjust.

[0040] Example 2

[0041] Reference Figure 1-5 , which is the second embodiment of the utility model. Different from the previous embodiment, this embodiment provides a clamping device 200 for the mechanical arm of the inspection robot, including:

[0042] The first motor 201, a fixed plate 202 installed at the main shaft end of the first motor 201, a driving rod 203 rotatably installed on one side of the middle of the fixed plate 202 and a clamping plate 204 rotatably installed at the end of the driving rod 203, the first motor 201 is connected to the middle position of the wrist rod 104 by bolts.

[0043] Among them, the first motor 201, the fixed plate 202, the driving rod 203 and the splint 204 constitute the main structure of the clamping device 200. The first motor 201 is installed in the middle of the wrist rod 104. When the first motor 201 is running, it can simulate the flipping action of the hand, and flip and adjust the fixed plate 202 on which the driving rod 203 and the splint 204 are installed, so as to facilitate the docking of the driving rod 203 and the splint 204 with the book. The combination of the driving rod 203 and the splint 204 is used to simulate the action of the fingers, and the book is clamped during operation, the book is clamped, and the position is adjusted for transportation.

[0044] Specifically, a connecting rod 205 is hinged on the inner side wall of the clamping plate 204, and the other end of the connecting rod 205 is connected to the end side wall of the fixing plate 202 through a rotating shaft.

[0045] Among them, a connecting rod 205 is installed on the inner wall of the splint 204. The connecting rod 205 can limit the splint 204 based on the connection with the fixed plate 202, so that the splints 204 on both sides of the end of the fixed plate 202 must rotate along the end of the connecting rod 205, and then fit together to clamp the objects.

[0046] Furthermore, the driving rods 203 and the clamping plates 204 are symmetrically arranged in two groups, and the inner side walls of the two groups of driving rods 203 are provided with meshing rack structures.

[0047] Among them, the combination of the symmetrically arranged clamping plates 204 and the driving rods 203 is convenient for rotating and adjusting the positions along the side walls of the fixed plate 202. The driving rods 203 are connected by rack meshing. Rotating one set of driving rods 203 can drive the other set of driving rods 203 to rotate synchronously, clamping or releasing the books, which is convenient for transferring and sorting the books.

[0048] Preferably, the other side of the fixing plate 202 is connected to a second motor 206 via bolts, and the main shaft end of the second motor 206 is connected to a set of driving rods 203 .

[0049] A second motor 206 is installed on the side wall of the fixing plate 202 and connected to the driving rod 203. The second motor 206 is driven by the inspection robot to work, and the second motor 206 drives the driving rod 203 to rotate synchronously, thereby starting to simulate the action of fingers clamping a book.

[0050] When in use, the inspection robot drives the first motor 201 to operate, which can simulate the flipping action of the hand, and flips and adjusts the fixed plate 202 equipped with the driving rod 203 and the splint 204 along the wrist rod 104, and drives the second motor 206 to work. The second motor 206 will drive the driving rod 203 to rotate synchronously, and then start to simulate the clamping action of the finger on the book. Rotating one set of driving rods 203 can drive the other set of driving rods 203 to rotate synchronously, and a connecting rod 205 is installed on the inner wall of the splint 204. Based on the connection of the fixed plate 202, the connecting rod 205 will limit the splint 204, so that the splints 204 on both sides of the end of the fixed plate 202 must be driven by the driving rod 203 to rotate along the end of the connecting rod 205, and then fit together to clamp the objects, or release the books, so as to facilitate the transfer and sorting of books.

[0051] In summary, the present application adds a first motor 201, a fixed plate 202, a driving rod 203 and a splint 204 to form the main structure of the clamping device 200. The first motor 201 is installed in the middle of the wrist rod 104. When the first motor 201 is running, it can simulate the flipping action of the hand, and flip and adjust the fixed plate 202 on which the driving rod 203 and the splint 204 are installed, so as to facilitate the docking of the driving rod 203 and the splint 204 with the book. The combination of the driving rod 203 and the splint 204 is used to simulate the action of the fingers, and the book is clamped during operation, and the book is picked up and moved to adjust its position.

[0052] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and ratio of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present utility model. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0053] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0054] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0055] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A rotary assembly mechanical arm of an inspection robot, characterized in that: include, The driving device (100) comprises a base (101), a large arm (102) mounted on the front end of the base (101), a small arm (103) mounted on the front end of the large arm (102), and a wrist rod (104) rotatably mounted on the front end of the small arm (103); The clamping device (200) comprises a first motor (201), a fixing plate (202) mounted on the main shaft end of the first motor (201), a driving rod (203) rotatably mounted on one side of the middle of the fixing plate (202), and a clamping plate (204) rotatably mounted on the end of the driving rod (203), wherein the first motor (201) is connected to the middle position of the wrist rod (104) by means of bolts.

2. The inspection robot rotary assembly mechanical arm according to claim 1, characterized in that: The inner side wall of the clamping plate (204) is hinged with a connecting rod (205), and the other end of the connecting rod (205) is connected to the end side wall of the fixing plate (202) via a rotating shaft.

3. The inspection robot rotary assembly mechanical arm according to claim 2, characterized in that: The driving rods (203) and the clamping plates (204) are arranged in two symmetrical groups, and the inner side walls of the two groups of driving rods (203) are provided with meshing rack structures.

4. The inspection robot rotary assembly mechanical arm according to claim 3, characterized in that: The other side of the fixing plate (202) is connected to a second motor (206) via bolts, and a main shaft end of the second motor (206) is connected to a set of driving rods (203).

5. The inspection robot rotary assembly mechanical arm according to claim 4, characterized in that: A third motor (105) is connected to the middle position of the lower end of the base (101) via bolts, a housing (106) is installed on the side wall of the third motor (105), and an end of the housing (106) is clamped on the side wall of the base (101).

6. The inspection robot rotary assembly mechanical arm according to claim 5, characterized in that: The inner side wall at the lower end of the large arm (102) is connected to a fourth motor (107) via bolts, and the main shaft end of the fourth motor (107) is fixedly mounted on the upper side wall of the base (101). The upper end of the large arm (102) is connected to a fifth motor (108) via bolts, and the main shaft end of the fifth motor (108) is fixedly connected to the lower side wall of the small arm (103).

7. The inspection robot rotary assembly mechanical arm according to claim 6, characterized in that: A sixth motor (109) is connected to the inner side of the front end of the small arm rod (103) via bolts, and the main shaft of the sixth motor (109) is fixedly connected to the side wall of the wrist rod (104).

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