Manipulator and inspection robot applying same

Abstract

The utility model provides a mechanical arm and an inspection robot applying the same, and relates to the technical field of inspection robots, the mechanical arm is installed on a moving vehicle body of the inspection robot, and the mechanical arm comprises a lifting arm, a working arm arranged at the upper end of the lifting arm and a driver for driving the lifting arm to ascend and descend; a lifting opening allowing the lifting arm to vertically slide is formed in the movable vehicle body; the lifting arm comprises multiple sections of arm columns which are vertically and sequentially hinged, the lower end of each section of arm column laterally extends to form a sliding column, the axis of each sliding column and the axis of a hinged shaft of each arm column extend leftwards and rightwards, a guide groove is formed below the lifting opening, the sliding columns slide in the guide grooves, and the guide grooves are arranged to enable the arm columns to be vertical before the upper ends of the arm columns are prepared to move upwards into the lifting opening; after the upper end of the arm column downwards moves out of the lifting opening, the arm column can incline towards the rear side of the movable vehicle body. A clamping locking assembly is arranged between every two adjacent arm columns. The inspection robot can reduce the height of the manipulator in a non-working state, and can also supplement the rising height of the manipulator in a working state.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, and specifically relates to a manipulator and an inspection robot applying the same. Background Art

[0002] With the development of intelligent technology, it has become more and more popular to use intelligent robots to replace manual operations. Inspection robots are one of them and are often used to replace humans to inspect equipment or safety matters. The initial inspection robots only undertook information collection and safety warning work. With the update and iteration, some simple safety operations, demolition, emergency repairs and other operations can be automatically carried out by setting a manipulator on the inspection robot. However, currently, the manipulators on such inspection robots are usually installed on the outer side of the top of the vehicle body, which invisibly increases the overall height of the inspection robot. Moreover, the manipulator usually has multiple articulated folding arms, and the working height is usually achieved by increasing the arm length or the number of arm segments. For example Figure 1 Shown is a power station intelligent inspection robot (publication number CN215511023U) in the existing patent, which belongs to a typical structure in the prior art.

[0003] However, the longer the mechanical arm is and the more the number of arm segments is, the higher the height occupied by the manipulator is. This not only reduces the passing performance of the inspection robot, but also raises the center of gravity of the inspection robot, which is not conducive to the stability of the inspection robot during driving. For example, when going over a slope, it is easy to tip over, which increases the limitation of the use environment of the inspection robot and reduces the wide range of use. However, if not increased, there may be a problem of insufficient working height. Content of the Utility Model

[0004] In order to solve the technical problems existing in the above background art, the utility model provides a manipulator and an inspection robot applying the same.

[0005] The technical solution of the utility model is as follows:

[0006] A manipulator is installed on the moving vehicle body of an inspection robot, and includes a lifting arm, a working arm arranged at the upper end of the lifting arm, and a driver for driving the lifting arm to lift. A lifting opening for the vertical sliding of the lifting arm is provided on the moving vehicle body;

[0007] The lifting arm includes multiple articulated arm columns vertically arranged in sequence. A sliding column laterally extends from the lower end of each arm column. The axis of the sliding column and the axis of the articulated shaft of the arm column both extend left and right. A guide groove is provided below the lifting opening. The sliding column slides in the guide groove, and the guide groove is arranged to make the arm column vertical before the upper end of the arm column moves upward into the lifting opening, and to make the arm column tilt towards the rear side of the moving vehicle body after the upper end of the arm column moves downward out of the lifting opening;

[0008] A clamping and locking assembly is provided between adjacent arm columns.

[0009] In some embodiments, a rack-shaped rack surface is provided on the front side of the arm column, the rack surfaces on adjacent arm columns can be butted, a drive gear is provided on the output end of the driver, and the drive gear is in motion cooperation with the rack surface.

[0010] Furthermore, a conduit extends downward from the edge of the lifting opening.

[0011] Furthermore, a drive window is provided on the side wall of the conduit, and the drive gear cooperates with the rack surface on the arm column through the drive window.

[0012] Furthermore, the guide groove is L-shaped, its horizontal section extends backward, and an inclined section that slopes backward is connected between the vertical section and the horizontal section of the guide groove.

[0013] Furthermore, the upper end of the vertical section of the guide groove is fixedly connected to the side wall of the conduit.

[0014] In some embodiments, the clamping and locking assembly includes a clamping groove, a clamping strip, and a friction wheel. The clamping groove is provided inside the lower side wall of the upper arm column among adjacent arm columns. The clamping strip is slidably connected inside the upper side wall of the lower arm column among adjacent arm columns and can be vertically slid into the clamping groove. The friction wheel is rotatably connected to the upper side wall of the lower arm column among adjacent arm columns. One side of the wheel surface abuts against the clamping strip, and the other side of the wheel surface can abut against the inner wall of the conduit.

[0015] In some embodiments, the working arm includes a horizontal turntable and a fixture connected to the horizontal turntable. The fixture can rotate vertically, the horizontal turntable is connected to the upper end of the lifting arm, and can rotate horizontally.

[0016] In some embodiments, there are two lifting arms, which are symmetrically distributed on the front part of the mobile vehicle body, and the working arm is installed at the upper ends of the two lifting arms.

[0017] This application also provides an inspection robot that applies the manipulator in any one of the above. The inspection robot includes a mobile vehicle body. The manipulator is located at the front of the mobile vehicle body. An inspection information collector is provided on the top of the mobile vehicle body. The inspection information collector is located behind the manipulator, close to the top of the mobile vehicle body and can swing vertically and rotate horizontally.

[0018] A manipulator and an inspection robot applying the same provided by the present utility model, by retracting a part of the manipulator, that is, the lifting arm of the manipulator, into the vehicle body during non-working hours, effectively reduces the height of the manipulator in the non-working state, ensuring the passability of the robot. And during work, if the working position is relatively high, the lifting arm can be adjusted to supplement the working height of the working arm, improving the working height range of the manipulator. Description of the Drawings

[0019] In the drawings:

[0020] Figure 1 is the prior art;

[0021] Figure 2 is a schematic diagram of an inspection robot;

[0022] Figure 3 is a schematic diagram of a manipulator;

[0023] Figure 4 is a partial sectional schematic diagram of the manipulator;

[0024] Figure 5 is an enlarged partial sectional schematic diagram of the articulated joint of the arm column of the manipulator;

[0025] Figure 6 is a schematic diagram of another working arm;

[0026] Figure 7 is a schematic diagram of the manipulator of another inspection robot.

[0027] The components represented by the reference numerals in the figure are:

[0028] 1, mobile vehicle body; 11, lifting opening; 12, guide groove; 13, conduit; 131, sliding hole; 132, driving window; 2, manipulator; 21, lifting arm; 211, arm column; 212, sliding column; 213, clamping and locking assembly; 2131, clamping groove; 2132, clamping bar; 2133, friction wheel; 214, rack surface; 215, mounting part; 22, working arm; 221, horizontal turntable; 222, fixture; 223, extension arm; 23, driver; 24, driving gear; 3, inspection information collector. Detailed implementation manners

[0029] Example 1: As Figure 2 shown, this example provides a manipulator installed on the mobile vehicle body 1 of the inspection robot. The manipulator 2 is preferably installed at the front of the mobile vehicle body 1.

[0030] Again as Figures 3 - 5 shown, the manipulator 2 includes a lifting arm 21 and a working arm 22 provided at the upper end of the lifting arm 21, and a driver 23 for driving the lifting of the lifting arm 21. The mobile vehicle body 1 is provided with a lifting opening 11 for the vertical sliding of the lifting arm 21.

[0031] The lifting arm 21 includes multiple arm columns 211 hinged vertically in sequence. A sliding column 212 extends laterally downward from the lower end of each arm column 211. The axis of the sliding column 212 and the axis of the hinge shaft of the arm column 211 both extend horizontally. A guide groove 12 is provided below the lifting opening 11. The sliding column 212 slides in the guide groove 12, and the guide groove 12 is arranged to make the arm column 211 vertical before the upper end of the arm column 211 is about to move upward into the lifting opening 11, and to make the arm column 211 tilt backward with respect to the moving vehicle body 1 after the upper end of the arm column 211 moves downward out of the lifting opening 11.

[0032] For the convenience of clear display, in the drawings of the present application, an example with two arm columns 211 is used for illustration.

[0033] A clamping and locking assembly 213 is provided between adjacent arm columns 211, which is used to lock with the adjacent lower arm column 211 when the arm column 211 moves upward out of the lifting opening 11, to prevent bending and rotation.

[0034] In this embodiment, the arm column 211 is preferably but not limited to a square tubular shape, with wires routed inside the tube, and the square tube is not prone to rotation during sliding.

[0035] A guide tube 13 extends downward from the edge of the lifting opening 11. The lifting arm 21 is inside the guide tube 13 and is in sliding fit with the guide tube 13. The guide tube 13 is used to guide the vertical sliding of the arm column 211, and also provides support for the arm column 211 to vertically support the working arm 22. A sliding hole 131 for the sliding column 212 to slide is provided on the side wall of the guide tube 13 corresponding to the sliding column 212, and the upper and lower ends of the sliding hole 131 communicate with the top surface of the moving vehicle body 1 and the guide groove 12.

[0036] In this embodiment, the lifting of the lifting arm 21 adopts a gear-rack driving method. Specifically, a rack-shaped rack surface 214 is provided on the front side of the arm column 211. The rack surfaces 214 on adjacent arm columns 211 can be butted. A driving gear 24 is provided at the output end of the driver 23, and the driving gear 24 is in motion cooperation with the rack surface 214.

[0037] Among them, the driver 23 adopts a servo motor, which is directly connected to the driving gear 24 through the output shaft to drive the lifting arm 21 to move vertically.

[0038] The teeth on the rack surface 214 can be machined on the arm column 211 by direct machining. When adjacent arm columns 211 are in the vertical state, the rack surfaces 214 on them can be smoothly continued, so that the driving gear 24 will not have tooth slipping or toothless situations when rotating from cooperating with one arm column 211 to cooperating with another arm column 211.

[0039] In addition, a driving window 132 is provided on the side wall of the conduit 13, and the driving gear 24 cooperates with the rack surface 214 on the arm column 211 through the driving window 132. When the driving gear 24 drives the arm column 211 to move through the rack surface 214, a lateral thrust will be generated on the arm column 211, creating a tendency of tooth disengagement. By engaging the driving gear 24 with the rack surface 214 through the driving window 132 on the conduit 13 and borrowing the fixing effect of the conduit 13 on the arm column 211, the stability of the engagement between the driving gear 24 and the rack surface 214 is ensured.

[0040] The guide groove 12 is L-shaped, with its horizontal section extending backward, and an inclined section that slopes backward is connected between the vertical section and the horizontal section of the guide groove 12. The upper end of the vertical section of the guide groove 12 is fixedly connected to the side wall of the conduit 13.

[0041] When the sliding column 212 of the arm column 211 is located in the vertical section of the guide groove 12, the arm column 211 is in a vertical state. When the arm column 211 moves downward, the sliding column 212 contacts the inclined section of the guide groove 12. Under the action of the inclined section, the lower end of the arm column 211 tilts toward the horizontal section of the guide groove 12. As the lifting arm 21 continues to move downward, when the sliding column 212 slides into the inclined section, the sliding column 212 can be in a horizontal placement state or an inclined state, preferably a horizontal placement state.

[0042] The clamping and locking assembly 213 includes a clamping groove 2131, a clamping strip 2132, and a friction wheel 2133. The clamping groove 2131 is provided inside the lower end side wall of the upper arm column 211 among adjacent arm columns 211. The clamping strip 2132 is slidably connected inside the upper end side wall of the lower arm column 211 among adjacent arm columns 211 and can be vertically slid into the clamping groove 2131. The friction wheel 2133 is rotatably connected to the upper end side wall of the lower arm column 211 among adjacent arm columns 211. One side of the wheel surface abuts against the clamping strip 2132, and the other side of the wheel surface can abut against the inner wall of the conduit 13.

[0043] The clamping and locking assembly 213 is arranged on the rear side wall of the arm column 211.

[0044] When the hinged position of two mutually hinged arm columns 211 moves upward into the conduit 13, the friction wheel 2133 at the hinged position abuts against the inner wall of the conduit 13 to generate friction. As the arm column 211 continues to move upward, the friction wheel 2133 rotates. Since the friction wheel 2133 abuts against the clamping strip 2132, under the action of the friction force, the rotation of the friction wheel 2133 drives the clamping strip 2132 to move upward and insert into the clamping groove 2131 of the upper arm column 211, completing the locking of the positional relationship between the two mutually hinged arm columns 211 and preventing the two mutually hinged arm columns 211 from rotating relative to each other. Similarly, when the arm column 211 moves in the reverse direction, the friction wheel 2133 rotates in the reverse direction, and the clamping strip 2132 moves downward out of the clamping groove 2131 to complete the unlocking.

[0045] A friction damping may be provided on the rotating shaft of the friction wheel 2133, so that when the friction wheel 2133 is not in contact with the conduit 13, it does not rotate, thereby avoiding the sliding of the latch 2132 and its detachment from the card slot 2131 in this state. Alternatively, a rubber tube is sleeved outside the friction wheel 2133, and through the elasticity of the rubber tube, a stable frictional force and extrusion force are generated with the inner wall of the conduit 13 and the latch 2132, and the latch 2132 is squeezed by the rubber tube to prevent the latch 2132 from sliding when the friction wheel 2133 is not in contact with the conduit 13.

[0046] The working arm 22 can adopt any one of the existing robotic arms. In this embodiment, as Figure 3 shown, the working arm 22 includes a horizontal turntable 221 and a fixture 222 connected to the horizontal turntable 221. The fixture 222 can rotate vertically, and the horizontal turntable 221 is connected to the upper end of the lifting arm 21 and can rotate horizontally. Motors for driving their rotation are provided on the manipulator 2 for both the horizontal turntable 221 and the fixture 222.

[0047] The fixture 222 can adopt any one of the existing clamping jaw - type fixtures 222. For example, the fixture 222 includes a connecting portion, two oppositely - arranged clamping fingers hinged to the connecting portion, and a motor is provided on the hinge shaft of the clamping fingers to drive the opening and closing of the clamping fingers.

[0048] Embodiment 2: As Figure 6 shown, this embodiment provides a manipulator, which is basically the same as Embodiment 1. The difference lies in that several extension arms 223 are connected between the fixture 222 and the horizontal turntable 221 of the working arm 22. The several extension arms 223 are sequentially hinged, and the extension arms 223 at both ends are respectively hinged to the fixture 222 and the horizontal turntable 221. Motors for driving the rotation of the extension arms 223 and the fixture 222 are provided at the hinge shafts of the several extension arms 223.

[0049] Embodiment 3: As Figure 2 shown, this embodiment provides an inspection robot that applies any one of the manipulators in Embodiment 1 or 2 above. Specifically, the inspection robot includes a mobile vehicle body 1. The mobile vehicle body 1 can adopt a tracked or wheeled mobile chassis. The manipulator 2 is located at the front of the mobile vehicle body 1. An inspection information collector 3 is provided on the top of the mobile vehicle body 1. The inspection information collector 3 is located behind the manipulator 2, close to the top of the mobile vehicle body 1 and can swing vertically and rotate horizontally.

[0050] The inspection information collector 3 is close to the top of the mobile vehicle body 1 to reduce the height of the inspection robot in the normal state. At the same time, the inspection information collector 3 can swing vertically and rotate horizontally to increase its information collection range. The inspection information collector 3 can be selected as a monocular camera.

[0051] It should be noted here that the inspection robot of the present application has the necessary functions and structures for the normal use and implementation of inspection work of existing inspection robots, such as intelligent obstacle avoidance, automatic navigation, image processing, data transmission, etc. Since these are not the parts that the technical solution improvement of the present application focuses on, the present application does not introduce and describe them in detail. Those skilled in the art can refer to existing inspection robots and combine the technical solution of the present application to realize the normal use of the inspection robot provided by the present application.

[0052] Embodiment 4: As Figure 7 shown, this embodiment provides an inspection robot, which is basically the same as that in Embodiment 3. The difference is that there are two lifting arms 21, which are symmetrically distributed on the front part of the mobile vehicle body 1. An installation part 215 is connected between the upper ends of the two lifting arms 21, and the working arm 22 is installed at the upper ends of the two lifting arms 21 through the installation part 215.

[0053] Through the two lifting arms 21, the support and lifting of the working arm 22 are made more stable.

[0054] In this embodiment, two coaxial drive shafts extend from both sides of the driver 23, and drive gears 24 are provided at the ends of the drive shafts. The driver 23 directly drives the two lifting arms 21 to lift and lower synchronously through the two drive gears 24.

[0055] Embodiment 5: This embodiment provides an inspection robot, which is basically the same as that in Embodiment 4. The difference is that a drive rod is provided in the mobile vehicle body 1, drive gears 24 are provided at both ends of the drive rod, the two drive gears 24 cooperate with the rack surfaces 214 on the two lifting arms 21, and the driver 23 drives the drive rod to rotate in a transmission manner to drive the two lifting arms 21 to lift and lower synchronously.

Claims

1. A manipulator, mounted on a mobile body (1) of an inspection robot, characterized in that: It comprises a lifting arm (21), a working arm (22) arranged at the upper end of the lifting arm (21), and a driver (23) for driving the lifting arm (21) to move up and down, and a lifting opening (11) for the lifting arm (21) to slide vertically is provided on the moving vehicle body (1); The lifting arm (21) comprises a plurality of arm columns (211) hinged in sequence vertically, a sliding column (212) extending laterally from the lower end of each arm column (211), the axis of the sliding column (212) and the axis of the hinge shaft of the arm column (211) both extending left and right, a guide groove (12) being provided below the lifting opening (11), the sliding column (212) sliding in the guide groove (12), and the guide groove (12) being arranged to enable the arm column (211) to be vertical before the upper end of the arm column (211) is moved upward to prepare to move into the lifting opening (11), and to enable the arm column (211) to be tilted toward the rear side of the moving vehicle body (1) after the upper end of the arm column (211) is moved downward out of the lifting opening (11); A clamping locking assembly (213) is provided between adjacent arm columns (211).

2. A robot according to claim 1, characterized in that: A rack surface (214) in the shape of a rack is provided on the front side of the arm column (211), and the rack surfaces (214) on adjacent arm columns (211) can be butted against each other. A driving gear (24) is provided on the output end of the driver (23), and the driving gear (24) and the rack surface (214) are movably matched.

3. A robot according to claim 2, characterized in that: A guide tube (13) extends downward from the edge of the lifting opening (11), and a sliding hole (131) for the sliding column (212) to slide is provided on a side wall of the guide tube (13) corresponding to the sliding column (212).

4. A robot according to claim 3, characterized in that: A driving window (132) is provided on the side wall of the conduit (13), and the driving gear (24) cooperates with the rack surface (214) on the arm column (211) through the driving window (132).

5. A robot according to claim 4, characterized in that: The guide groove (12) is L-shaped, and its transverse section extends backwards. An inclined section inclined backwards is connected between the vertical section and the transverse section of the guide groove (12).

6. A robot according to claim 5, characterized in that: The upper end of the vertical section of the guide groove (12) is fixedly connected to the side wall of the guide tube (13).

7. A robot according to claim 3, characterized in that: The snap-fit ​​locking assembly (213) comprises a snap-fitting slot (2131), a snap-fitting strip (2132) and a friction wheel (2133); the snap-fitting slot (2131) is arranged on the inner side of the lower end side wall of the upper arm column (211) in the adjacent arm column (211); the snap-fitting strip (2132) is slidably connected to the inner side of the upper end side wall of the lower arm column (211) in the adjacent arm column (211) and can be vertically slidably inserted into the snap-fitting slot (2131); the friction wheel (2133) is rotatably connected to the upper end side wall of the lower arm column (211) in the adjacent arm column (211); one side of the wheel surface abuts against the snap-fitting strip (2132), and the other side of the wheel surface can abut against the inner wall of the conduit (13).

8. A robot according to claim 1, characterized in that: The working arm (22) comprises a horizontal turntable (221) and a clamp (222) connected to the horizontal turntable (221); the clamp (222) can rotate vertically; and the horizontal turntable (221) is connected to the upper end of the lifting arm (21) and can rotate horizontally.

9. A robot according to claim 1, characterized in that: Two lifting arms (21) are provided and are symmetrically distributed on the front part of the moving vehicle body (1). The working arms (22) are mounted on the upper ends of the two lifting arms (21).

10. A patrol robot, using the manipulator according to any one of claims 1 to 9, characterized in that: The invention comprises a mobile body (1), a manipulator (2) located at the front of the mobile body (1), a patrol information collector (3) provided on the top of the mobile body (1), and the patrol information collector (3) located behind the manipulator (2), close to the top of the mobile body (1) and capable of vertical swing and horizontal rotation.

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