Mechanical arm for fire-fighting robot

Abstract

The mechanical arm for the fire-fighting robot comprises a mounting plate, a rotary table mechanism used for adjusting the working direction is fixed to the top of the mounting plate, a fixed arm is fixed to the top of the rotary table mechanism, and the two sides of the fixed arm are rotationally connected with a first connecting base and a first movable arm respectively. Second connecting bases are fixed to the two sides of the first movable arm correspondingly, and first hydraulic cylinders are fixed to the tops of the first connecting bases. Compared with the prior art, the rotary table mechanism is arranged to be matched with the fixed arm, the first hydraulic cylinder, the first movable arm and the second movable arm to adjust the angle of the supporting arm mechanism, obstacle removing operation can be carried out through a tool installed on the side face of the supporting arm mechanism, the device is simple in structure, and the work efficiency of obstacle removing operation can be greatly improved; meanwhile, the adjusting mechanism is arranged at the top of the supporting arm mechanism, and when a large obstacle is cleaned, center adjustment is conducted by adjusting the position of a balancing weight, so that the overall stability of the device is kept.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm for firefighting robots. Background Technology

[0002] With the country's emphasis on intelligent construction in various fields and the introduction of the concept of "machine replacing human", the application of robots is becoming more and more widespread. In the field of fire rescue, fire reconnaissance and firefighting robots have begun to be deployed in various fire departments to assist or even replace firefighters in entering high-risk fire scenes to carry out fire reconnaissance work, reducing the labor intensity of firefighters and reducing casualties in fire rescue work.

[0003] Traditional firefighting robots use robotic arms, as shown in Chinese patent "An Indoor Firefighting Robot Firefighting Operation Robotic Arm" with announcement number "CN213971215U". These arms work together with claws to move obstacles. However, in actual use, when the claws grab heavy obstacles, the overall center of gravity of the device shifts to the side, posing a risk of tipping over. Therefore, we propose a robotic arm for firefighting robots. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic arm for firefighting robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robotic arm for a firefighting robot includes a mounting plate. A turntable mechanism for adjusting the working direction is fixed to the top of the mounting plate. A fixed arm is fixed to the top of the turntable mechanism. A first connecting seat and a first movable arm are rotatably connected to both sides of the fixed arm. A second connecting seat is fixed to both sides of the first movable arm. A first hydraulic cylinder is fixed to the top of the first connecting seat. The piston rod of the first hydraulic cylinder is rotatably connected to the second connecting seat on one side. A support arm mechanism is rotatably connected to the top of the first movable arm. A second hydraulic cylinder is rotatably connected to the second connecting seat on the other side. The piston rod of the second hydraulic cylinder is rotatably connected to the support arm mechanism. An adjustment mechanism for adjusting the center of gravity of the device is installed on the top of the support arm mechanism.

[0007] Preferably, the turntable mechanism includes a fixed frame fixed to the top of the mounting plate, a first motor is installed inside the fixed frame, the output shaft of the first motor passes through the top of the fixed frame and is connected to the turntable, and the fixed arm is installed on the top of the turntable.

[0008] Preferably, the support arm mechanism includes a support arm rotatably mounted on top of a first movable arm, a second movable arm slidably connected inside the support arm, a movable frame fixed at the end of the second movable arm away from the support arm, a second motor installed inside the movable frame, the output shaft of the second motor passing through the movable frame and connected to a connecting plate, and a third connecting seat installed at the bottom of the support arm.

[0009] Preferably, the adjusting mechanism is mounted on the top of the support arm, and the third connecting seat is rotatably connected to the piston rod of the second hydraulic cylinder.

[0010] Preferably, the adjusting mechanism includes a housing fixed to the support arm, a threaded sleeve rotatably connected inside the housing, a worm gear fixedly sleeved on the threaded sleeve, a threaded post connected inside the threaded sleeve by threads, a slider mounted on one end of the threaded post, the slider being fixed to the second movable arm, a fixing plate fixed to the other end of the threaded post, a connecting frame mounted on the fixing plate by bolts, a counterweight mounted on the fixing plate through the connecting frame, a third motor mounted on the side of the housing, the output shaft of the third motor being inserted into the housing and connected to a worm gear, the worm gear and the worm wheel engaging in a transmission.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] This utility model uses a turntable mechanism to adjust the angle of the support arm mechanism in conjunction with a fixed arm, a first hydraulic cylinder, a first movable arm, and a second movable arm. Obstacle clearing operations can be carried out using tools installed on the side of the support arm mechanism. The device has a simple structure and can greatly improve the efficiency of obstacle clearing operations.

[0013] This invention features an adjustment mechanism at the top of the support arm mechanism. When clearing large obstacles, the center can be adjusted by changing the position of the counterweight to maintain the overall stability of the device. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a robotic arm for a fire-fighting robot proposed in this utility model;

[0015] Figure 2 for Figure 1 Cross-sectional view of the middle support arm mechanism;

[0016] Figure 3 for Figure 1 Cross-sectional view of the adjustment mechanism.

[0017] In the diagram: 1 Mounting plate, 2 Turntable mechanism, 21 Fixed frame, 22 First motor, 23 Turntable, 3 Fixed arm, 4 First connecting seat, 5 First hydraulic cylinder, 6 First movable arm, 7 Second connecting seat, 8 Second hydraulic cylinder, 9 Support arm mechanism, 91 Support arm, 92 Second movable arm, 93 Movable frame, 94 Second motor, 95 Connecting plate, 96 Third connecting seat, 10 Adjustment mechanism, 101 Housing, 102 Threaded sleeve, 103 Worm gear, 104 Threaded column, 105 Slider, 106 Fixed plate, 107 Connecting frame, 108 Counterweight, 109 Third motor, 110 Worm. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0019] Reference Figure 1-3A robotic arm for a fire-fighting robot includes a mounting plate 1. A turntable mechanism 2 for adjusting the working direction is fixed to the top of the mounting plate 1. A fixed arm 3 is fixed to the top of the turntable mechanism 2. The turntable mechanism 2 includes a fixed frame 21 fixed to the top of the mounting plate 1. A first motor 22 is installed inside the fixed frame 21. The output shaft of the first motor 22 passes through the top of the fixed frame 21 and is connected to the turntable 23. The fixed arm 3 is mounted on the top of the turntable 23. A first connecting seat 4 and a first movable arm 6 are rotatably connected to both sides of the fixed arm 3. Second connecting seats 7 are fixed to both sides of the first movable arm 6. A first hydraulic cylinder 5 is fixed to the top of the first connecting seat 4. The piston rod of the first hydraulic cylinder 5 is connected to one side of... The second connecting seat 7 is a rotatable connection. By setting up a turntable mechanism in conjunction with the fixed arm, the first hydraulic cylinder, the first movable arm, and the second movable arm, the angle of the support arm mechanism can be adjusted. Obstacle clearing operations can be performed using tools mounted on the side of the support arm mechanism. The device has a simple structure and can greatly improve the efficiency of obstacle clearing operations. The top of the first movable arm 6 is rotatably connected to the support arm mechanism 9, and the second hydraulic cylinder 8 is rotatably connected to the second connecting seat 7 on the other side. The piston rod of the second hydraulic cylinder 8 is rotatably connected to the support arm mechanism 9. The top of the support arm mechanism 9 is equipped with an adjustment mechanism 10 for adjusting the center of gravity of the device. The support arm mechanism 9 includes a support arm 91 rotatably mounted on the top of the first movable arm 6. A second movable arm 92 is internally slidably connected. A movable frame 93 is fixed to the end of the second movable arm 92 away from the support arm 91. A second motor 94 is installed inside the movable frame 93. The output shaft of the second motor 94 passes through the movable frame 93 and is connected to a connecting plate 95. A third connecting seat 96 is installed at the bottom of the support arm 91. An adjusting mechanism 10 is installed at the top of the support arm 91. The third connecting seat 96 is rotatably connected to the piston rod of the second hydraulic cylinder 8. The adjusting mechanism 10 includes a housing 101 fixed to the support arm 91. A threaded sleeve 102 is rotatably connected inside the housing 101. A worm gear 103 is fixedly sleeved on the threaded sleeve 102. A threaded post is threadedly connected inside the threaded sleeve 102. 104. A slider 105 is installed at one end of the threaded column 104. The slider 105 is fixed to the second movable arm 92. A fixing plate 106 is fixed at the other end of the threaded column 104. A connecting frame 107 is installed on the fixing plate 106 by bolts. A counterweight 108 is installed on the fixing plate 106 through the connecting frame 107. A third motor 109 is installed on the side of the housing 101. The output shaft of the third motor 109 is inserted into the interior of the housing 101 and connected to a worm gear 110. The worm gear 110 and the worm wheel 103 are meshed and driven. By setting an adjustment mechanism at the top of the support arm mechanism, when clearing larger obstacles, the center is adjusted by adjusting the position of the counterweight to maintain the overall stability of the device.

[0020] In use, the mounting plate 1 is fixed to the fire-fighting robot with bolts. The obstacle-clearing tool (such as a mechanical claw) is mounted on the connecting plate 95 of the support arm mechanism 9. The first motor 22, the first hydraulic cylinder 4, the second hydraulic cylinder 8, and the second motor 94 are started. The output shaft of the first motor 22 drives the turntable 23 to rotate, allowing the obstacle-clearing direction of the device to be adjusted. The piston rod of the first hydraulic cylinder 4 drives the first movable arm 6 to move via the second connecting seat 7 on one side. The piston rod of the second hydraulic cylinder 8, mounted on the second connecting seat on the other side, drives the support arm mechanism 8 to move. The output shaft of the second motor 94 drives the connecting plate 95 to rotate. 95 drives the obstacle removal tool to move, adjusts the position of the obstacle removal tool on the side of the support arm mechanism 9 to carry out obstacle removal work. When the obstacle removal tool grabs a heavier obstacle, the third motor 109 is started. The output shaft of the third motor 109 drives the worm gear 110 to rotate. The worm gear 110 drives the threaded sleeve 102 to rotate through the meshing transmission with the worm wheel 103. The threaded sleeve 102 drives the second movable arm 92 to slide inside the support arm 91 through the threaded transmission with the threaded column 104, so that the threaded column 104 drives the obstacle removal tool and the counterweight 108 to move, thereby adjusting the center of gravity of the entire device, thereby improving the stability of the device during the obstacle removal process.

[0021] In summary, compared with the prior art, this utility model uses a turntable mechanism in conjunction with a fixed arm, a first hydraulic cylinder, a first movable arm, and a second movable arm to adjust the angle of the support arm mechanism. Obstacle clearing operations can be performed using tools mounted on the side of the support arm mechanism. The device has a simple structure and can greatly improve the efficiency of obstacle clearing operations. At the same time, by setting an adjustment mechanism at the top of the support arm mechanism, when clearing larger obstacles, the center can be adjusted by adjusting the position of the counterweight to maintain the overall stability of the device.

[0022] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A mechanical arm for a firefighting robot, comprising a mounting plate (1), characterized in that, The top of the mounting plate (1) is fixed with a rotary table mechanism (2) for adjusting the working direction, the top of the rotary table mechanism (2) is fixed with a fixed arm (3), the two sides of the fixed arm (3) are rotatably connected with a first connecting seat (4) and a first movable arm (6) respectively, the two sides of the first movable arm (6) are fixed with a second connecting seat (7), the top of the first connecting seat (4) is fixed with a first hydraulic cylinder (5), the piston rod of the first hydraulic cylinder (5) is rotatably connected with the second connecting seat (7) on one side, the top of the first movable arm (6) is rotatably connected with a support arm mechanism (9), the second connecting seat (7) on the other side is rotatably connected with a second hydraulic cylinder (8), the piston rod of the second hydraulic cylinder (8) is rotatably connected with the support arm mechanism (9), and the top of the support arm mechanism (9) is provided with an adjusting mechanism (10) for adjusting the gravity center of the device.

2. The mechanical arm for a fire-fighting robot according to claim 1, characterized in that, The rotary table mechanism (2) comprises a fixed frame (21) fixed on the top of the mounting plate (1), a first motor (22) is installed in the fixed frame (21), the output shaft of the first motor (22) penetrates the top of the fixed frame (21) and is connected with a rotary table (23), and the fixed arm (3) is installed on the top of the rotary table (23).

3. The mechanical arm for a fire-fighting robot according to claim 1, wherein The support arm mechanism (9) comprises a support arm (91) rotatably installed on the top of the first movable arm (6), a second movable arm (92) is slidably connected in the support arm (91), one end of the second movable arm (92) away from the support arm (91) is fixed with a movable frame (93), the movable frame (93) is internally provided with a second motor (94), the output shaft of the second motor (94) penetrates the movable frame (93) and is connected with a connecting plate (95), and the bottom of the support arm (91) is provided with a third connecting seat (96).

4. The mechanical arm for a fire-fighting robot according to claim 3, wherein The adjusting mechanism is installed on the top of the support arm (91), and the third connecting seat (96) is rotatably connected with the piston rod of the second hydraulic cylinder (8).

5. The mechanical arm for a fire-fighting robot according to claim 4, wherein The adjusting mechanism (10) comprises a shell (101) fixed on the support arm (91), a threaded sleeve (102) rotatably connected in the shell (101), a worm wheel (103) fixedly sleeved on the threaded sleeve (102), a threaded column (104) threadedly connected in the threaded sleeve (102), a sliding block (105) installed at one end of the threaded column (104), the sliding block (105) being fixed with the second movable arm (92), a fixed plate (106) fixed at the other end of the threaded column (104), a connecting frame (107) installed on the fixed plate (106) through bolts, a counterweight (108) installed on the fixed plate (106) through the connecting frame (107), a third motor (109) installed on the side of the shell (101), a worm (110) inserted into the shell (101) and connected with the third motor (109), and the worm (110) and the worm wheel (103) are in meshing transmission.

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