Mechanical arm and inspection robot comprising same

Abstract

The utility model relates to the technical field of inspection robots, in particular to a mechanical arm and an inspection robot comprising the mechanical arm. Comprising a turntable, a rotating seat, a large arm, a middle arm, a small arm, a clamping device and a crawler, the rotating seat is mounted on the turntable, the large arm is rotationally mounted on the rotating seat, and two ends of the middle arm are rotationally connected with the large arm and the small arm respectively; the clamping device is mounted on the small arm; a base is installed on the crawler, a rotating ring is rotatably installed on the base, and a power assembly used for driving the rotating ring to rotate is installed on the base. The rotating ring is connected with a telescopic mechanism, and one end of the telescopic mechanism is connected with a balance weight. According to the technical scheme, the power assembly is used for driving the balance weight to be always arranged at the position close to one side of the first hydraulic cylinder, the telescopic length of the telescopic mechanism is synchronously adjusted along with stretching of the mechanical arm, the gravity center of the robot is closer to the center position of a crawler, and the phenomenon of rollover in the clamping process is prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection robot, in particular to a kind of mechanical arm and the inspection robot comprising the mechanical arm. BACKGROUND

[0002] Inspection robot is based on OCR and image recognition ability, can simulate professional manual operation, and in the various scenes of full station multistage page and fund transaction whole process click, identification, inspection and other inspection operations, can realize APP page automation inspection monitoring.

[0003] The patent with publication number CN116945140A discloses a kind of inspection robot operation mechanical arm structure, comprising: robot base, for inspection on the ground travel;The surface of robot base is slidably connected with bearing plate, the upper surface of bearing plate is fixedly connected with detector;The top of detector is provided with mechanical arm mechanism, for the lifting of different height and angle adjustment;The top of mechanical arm mechanism is provided with holder seat, the top of holder seat is fixedly connected with holder camera;One end of holder seat is provided with clamping mechanism, for clamping operation;One end of holder seat is provided with auxiliary mechanism, for the clamping of fragile goods.

[0004] The above-mentioned patent still has the following technical defects: when the object gripped by the mechanical arm is heavy, and as the distance between the object and the robot base becomes farther and farther, the center of gravity of the entire robot is offset, which is prone to cause the phenomenon of rollover. UTILITY MODEL CONTENT

[0005] The utility model aims at the problems in the background art, and proposes a kind of mechanical arm and the inspection robot comprising the mechanical arm.

[0006] On the one hand, the utility model proposes a kind of mechanical arm, comprising:

[0007] Rotary table, rotary seat, large arm, medium arm and small arm, rotary seat is installed on rotary table, large arm is rotatably installed on rotary seat, first hydraulic cylinder for driving large arm rotation is installed on rotary table, two ends of medium arm are rotatably connected with large arm and small arm, second hydraulic cylinder for driving medium arm rotation is installed on large arm, third hydraulic cylinder for driving small arm rotation is installed on medium arm;

[0008] Clamping device, clamping device is installed on small arm.

[0009] Preferably, the clamping device comprises a first servo deceleration motor, a clamping jaw mounting frame, two clamping jaws and two first gears, wherein the clamping jaw mounting frame is mounted on the small arm, the two clamping jaws are both rotationally mounted on the clamping jaw mounting frame, the first servo deceleration motor is mounted on the clamping jaw mounting frame and the output shaft of the first servo deceleration motor is connected with the rotating shaft of the clamping jaw, and the two first gears are respectively mounted on the rotating shafts of the two clamping jaws and are in meshing connection.

[0010] Preferably, the large arm, the middle arm and the second hydraulic cylinder form a triangular structure.

[0011] In another aspect, the utility model still provides a kind of inspection robot comprising above-mentioned mechanical arm, still include:

[0012] The track-laying vehicle is provided with a base, the base is rotationally provided with a swivel ring, the base is provided with a power assembly for driving the swivel ring to rotate, the swivel ring is connected with an extension mechanism, one end of the extension mechanism is connected with a counterweight, and the bottom end of the counterweight is provided with a plurality of rollers.

[0013] Preferably, the extension mechanism comprises a sleeve, an L-shaped sliding frame, a second servo motor and a lead screw, the sleeve is connected with the swivel ring, the L-shaped sliding frame is connected with the counterweight, one end of the L-shaped sliding frame is slidingly mounted on the inside of the sleeve, the second servo motor is mounted on the inside of the sleeve, the lead screw is connected with the output shaft of the second servo motor, and the L-shaped sliding frame is threadedly connected with the lead screw.

[0014] Preferably, the power assembly comprises a third servo motor, a second gear and a gear ring, the third servo motor is mounted on the base, the second gear is connected with the output shaft of the third servo motor, and the gear ring is arranged on the outer periphery of the swivel ring and is in meshing connection with the second gear.

[0015] Preferably, the turntable is rotationally mounted on the base, and the base is provided with a fourth servo deceleration motor for driving the turntable to rotate.

[0016] Compared with the prior art, the utility model has the beneficial technical effects that: in the process that the mechanical arm clamps heavy objects, the power assembly drives the counterweight to be always placed on the side position adjacent to the first hydraulic cylinder, and the extension length of the extension mechanism is synchronously adjusted along with the extension and contraction of the mechanical arm, so that the center of gravity of the robot is closer to the center position of the track-laying vehicle, and the phenomenon of rollover in the clamping process is prevented. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 and Figure 2 are structural schematic diagrams of the utility model.

[0018] Figure 3 is a sectional structure diagram of the extension mechanism in the utility model.

[0019] Fig. 1 is a track vehicle; 2 is a base; 3 is a turntable; 4 is a rotating seat; 5 is a large arm; 6 is a middle arm; 7 is a small arm; 8 is a first hydraulic cylinder; 9 is a second hydraulic cylinder; 10 is a clamping jaw; 11 is a first servo reduction motor; 12 is a clamping jaw mounting frame; 13 is a rotating ring; 14 is a sleeve; 15 is an L-shaped sliding frame; 16 is a counterweight; 17 is a roller; 18 is a third hydraulic cylinder; 19 is a second servo motor; 20 is a lead screw; 21 is a gear ring; 22 is a first gear. DETAILED DESCRIPTION

[0020] Example 1

[0021] As shown in Figure 1 and Figure 2 , the mechanical arm proposed in this embodiment includes a turntable 3, a rotating seat 4, a large arm 5, a middle arm 6, a small arm 7, and a clamping device.

[0022] The rotating seat 4 is installed on the turntable 3, the large arm 5 is rotatably installed on the rotating seat 4, the turntable 3 is provided with a first hydraulic cylinder 8 for driving the large arm 5 to rotate, the two ends of the middle arm 6 are rotatably connected with the large arm 5 and the small arm 7 respectively, the large arm 5 is provided with a second hydraulic cylinder 9 for driving the middle arm 6 to rotate, and the middle arm 6 is provided with a third hydraulic cylinder 18 for driving the small arm 7 to rotate; the large arm 5, the middle arm 6, and the second hydraulic cylinder 9 form a triangular structure.

[0023] The clamping device is installed on the small arm 7, and the clamping device includes a first servo reduction motor 11, a clamping jaw mounting frame 12, two clamping jaws 10, and two first gears 22, wherein the clamping jaw mounting frame 12 is installed on the small arm 7, the two clamping jaws 10 are rotatably installed on the clamping jaw mounting frame 12, the first servo reduction motor 11 is installed on the clamping jaw mounting frame 12 and its output shaft is connected with the rotating shaft of the clamping jaw 10, and the two first gears 22 are installed on the rotating shafts of the two clamping jaws 10 respectively and are meshingly connected.

[0024] Specifically, the multi-axis mechanical arm composed of the turntable 3, the large arm 5, the middle arm 6, and the small arm 7 improves the flexibility of the mechanical arm operation, and the second hydraulic cylinder 9, the middle arm 6, and the large arm 5 form a triangular stable structure, which improves the stability of the mechanical arm structure.

[0025] Example 2

[0026] As shown in Figures 1-3 , the patrol robot proposed in this embodiment includes the mechanical arm of example 1, and further includes a track vehicle 1.

[0027] The caterpillar vehicle 1 is provided with a base 2, a rotating ring 13 is rotatably arranged on the base 2, a power assembly for driving the rotating ring 13 to rotate is arranged on the base 2, the power assembly comprises a third servo motor, a second gear and a gear ring 21, the third servo motor is arranged on the base 2, the second gear is connected with an output shaft of the third servo motor, the gear ring 21 is arranged on the outer periphery of the rotating ring 13 and is in meshing connection with the second gear, and the third servo motor is started to drive the second gear to rotate, the second gear drives the gear ring 21 to rotate, and the gear ring 21 drives the rotating ring 13 to rotate.

[0028] The rotating ring 13 is connected with a telescopic mechanism, the telescopic mechanism comprises a sleeve 14, an L-shaped sliding frame 15, a second servo motor 19 and a lead screw 20, the sleeve 14 is connected with the rotating ring 13, the L-shaped sliding frame 15 is connected with a counterweight 16, one end of the L-shaped sliding frame 15 is slidably arranged on the inner side of the sleeve 14, the second servo motor 19 is arranged on the inner side of the sleeve 14, the lead screw 20 is connected with an output shaft of the second servo motor 19, and the L-shaped sliding frame 15 is in threaded connection with the lead screw 20; the second servo motor 19 is started to drive the lead screw 20 to rotate, the rotating direction of the lead screw 20 is changed to drive the L-shaped sliding frame 15 to move, one end of the telescopic mechanism is connected with the counterweight 16, and a plurality of rollers 17 are arranged at the bottom end of the counterweight 16.

[0029] The rotating disc 3 is rotatably arranged on the base 2, a fourth servo motor is arranged on the base 2 and used for driving the rotating disc 3 to rotate, the fourth servo motor is started to drive the whole mechanical arm to rotate horizontally, and the flexibility of the mechanical arm during operation is improved.

[0030] Specifically, when the robot encounters an obstacle during the inspection, the controller arranged on the robot is controlled to send a control instruction through the remote controller, the controller and the remote controller transmit data in a wireless signal transmission mode, the controller controls the mechanical arm to clamp the obstacle, further, in order to realize real-time monitoring of the inspection environment, a camera is arranged on the periphery of the base 2 and the mechanical arm, the picture around the robot can be collected in real time, when the object clamped by the clamping device is relatively heavy, in order to prevent the robot from being turned over, the telescopic mechanism is driven to rotate by the power assembly, the telescopic mechanism is stopped after being rotated to the side adjacent to the first hydraulic cylinder 8, then the telescopic mechanism is extended to the longest in the movable range, the center of gravity of the whole robot is stabilized at the side close to the center of the caterpillar vehicle 1, and therefore the stability of the robot is improved.

[0031] The embodiments of the utility model are described in detail in combination with the drawings, but the utility model is not limited to this, various changes can be made within the knowledge range possessed by the person skilled in the art without departing from the purpose of the utility model.

Claims

1. A robot arm, characterized in that, The mechanical arm comprises a rotating disc (3), a rotating base (4), a large arm (5), a middle arm (6) and a small arm (7), the rotating base (4) is installed on the rotating disc (3), the large arm (5) is rotatably installed on the rotating base (4), the rotating disc (3) is provided with a first hydraulic cylinder (8) for driving the large arm (5) to rotate, two ends of the middle arm (6) are rotatably connected with the large arm (5) and the small arm (7) respectively, the large arm (5) is provided with a second hydraulic cylinder (9) for driving the middle arm (6) to rotate, and the middle arm (6) is provided with a third hydraulic cylinder (18) for driving the small arm (7) to rotate. The clamping device is installed on the small arm (7). The clamping device comprises a first servo deceleration motor (11), a clamping jaw mounting frame (12), two clamping jaws (10) and two first gears (22), wherein the clamping jaw mounting frame (12) is installed on the small arm (7), the two clamping jaws (10) are rotatably installed on the clamping jaw mounting frame (12), the first servo deceleration motor (11) is installed on the clamping jaw mounting frame (12) and the output shaft of the first servo deceleration motor (11) is connected with the rotating shaft of the clamping jaw (10), and the two first gears (22) are installed on the rotating shafts of the two clamping jaws (10) respectively and are in meshing connection.

2. The robot arm of claim 1, wherein, The large arm (5), the middle arm (6) and the second hydraulic cylinder (9) form a triangular structure.

3. The robotic arm of claim 1, wherein, The mechanical arm comprises the mechanical arm of any one of claims 1-3, and comprises:

4. A patrol robot characterized by comprising: The tracked vehicle (1) is provided with a base (2), the base (2) is rotatably provided with a rotating ring (13), the base (2) is provided with a power assembly for driving the rotating ring (13) to rotate, the rotating ring (13) is connected with a telescopic mechanism, one end of the telescopic mechanism is connected with a counterweight (16), and the bottom end of the counterweight (16) is provided with a plurality of rollers (17). The telescopic mechanism comprises a sleeve (14), an L-shaped sliding frame (15), a second servo motor (19) and a lead screw (20), the sleeve (14) is connected with the rotating ring (13), the L-shaped sliding frame (15) is connected with the counterweight (16), one end of the L-shaped sliding frame (15) is slidably installed on the inside of the sleeve (14), the second servo motor (19) is installed on the inside of the sleeve (14), the lead screw (20) is connected with the output shaft of the second servo motor (19), and the L-shaped sliding frame (15) is in threaded connection with the lead screw (20).

5. The patrol robot according to claim 4, wherein, The power assembly comprises a third servo motor, a second gear and a gear ring (21), the third servo motor is installed on the base (2), the second gear is connected with the output shaft of the third servo motor, and the gear ring (21) is arranged on the outer periphery of the rotating ring (13) and is in meshing connection with the second gear.

6. The patrol robot according to claim 4, wherein, The rotating disc (3) is rotatably installed on the base (2), and the base (2) is provided with a fourth servo deceleration motor for driving the rotating disc (3) to rotate.

7. The patrol robot according to claim 4, wherein, ​

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