Mechanical arm of explosion-proof robot

Abstract

The utility model discloses an explosion-proof robot mechanical arm, which comprises a folding arm and a manipulator, the folding arm comprises a joint motor and a plurality of explosion-proof pipes, the plurality of explosion-proof pipes are sequentially connected to form a plurality of connecting nodes, and the connecting nodes comprise rotating nodes and fixed connecting nodes; the rotating joint is provided with a first butt joint structure, and the fixed connection joint is provided with a second butt joint structure. The first butt-joint structure comprises a slot part formed on one explosion-proof pipe and an insertion part formed on the butt-joint explosion-proof pipe of the first butt-joint structure; the slot part comprises an inner connecting ring and an outer connecting ring which define an annular groove; the inserting part comprises a retaining wall, an inserting ring is vertically arranged on the retaining wall and divides the retaining wall into an outer ring retaining edge and an inner ring retaining edge in the radial direction, the inserting ring is rotationally inserted into the annular groove, and a U-shaped rotating gap is formed between the inserting ring and the inner wall of the annular groove; and an annular inner groove for embedding the sealing ring is formed in the outer ring wall of the inserting ring. According to the first butt joint structure, sealing performance and rotation flexibility can be considered at the same time.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of robot, concretely relates to a kind of explosion-proof robot mechanical arm. BACKGROUND

[0002] Explosion-proof robot is usually worked in flammable and explosive high-risk environment, such as fire scene, nuclear leakage scene etc., uses its mobile function to enter dangerous area close to toxic and harmful substance source, approaches the place where toxic and harmful substance density is greater to observe, confirm, sample and transfer disposal.Explosion-proof robot operating environment is harsh, to avoid that explosive environment outside causes damage to joint motor and electronic parts, each joint unit of mechanical arm needs to be provided with explosion-proof tube to protect joint motor, block open fire and overheated harmful gas, to not affect the flexibility of joint, part of explosion-proof tube needs to rotate with joint motor, therefore, the butt joint structure of adjacent explosion-proof tube is particularly important, reasonable butt joint structure needs to be designed while considering sealing and rotating flexibility. SUMMARY

[0003] The utility model provides a kind of explosion-proof robot mechanical arm for above-mentioned technical problem, the utility model discloses the purpose of the application is realized by the following technical scheme:

[0004] A kind of explosion-proof robot mechanical arm, it includes folding arm and manipulator, the folding arm includes joint motor and multiple explosion-proof tubes, multiple explosion-proof tubes are sequentially connected to form multiple connection nodes, the connection node includes rotating node and fixed node, the two explosion-proof tubes forming rotating node can be relatively rotated under the drive of joint motor, the two explosion-proof tubes forming fixed node are fixed;The rotating node is equipped with first butt joint structure, and the fixed node is equipped with second butt joint structure;The first butt joint structure includes the insertion slot portion shaped in one of the explosion-proof tubes, and the insertion portion shaped in the butt joint explosion-proof tube;The insertion slot portion includes inner link ring and outer link ring, and the inner link ring and the outer link ring define an annular groove;The insertion portion includes retaining wall, the butt joint end face of the retaining wall is vertically provided with an insertion ring extending into the annular groove, the insertion ring is divided into outer ring retaining edge and inner ring retaining edge along the radial direction by the retaining wall, the insertion ring, the inner link ring and the outer link ring are coaxially arranged, the insertion ring is rotatably inserted into the annular groove, and a U-shaped rotating gap is formed between the insertion ring and the inner wall of the annular groove;Annular inner groove for embedding sealing ring is formed on the outer ring wall of the insertion ring.

[0005] Preferably, the outer link ring extends towards the outer ring retaining edge, and a first annular rotating gap is formed between the two;The inner link ring extends towards the inner ring retaining edge, and a second annular rotating gap is formed between the two;The U-shaped rotating gap is communicated with the first annular rotating gap and the second annular rotating gap and is uniform.

[0006] Preferably, the radial width of the baffle is A, and the axial length of the plug ring is B, where B ≥ 1.5A.

[0007] Preferably, the second docking structure includes a joint portion formed on one of the explosion-proof tubes and a docking portion formed on its docking explosion-proof tube; the joint portion includes an external assembly ring and an internal retaining ring formed inside the external assembly ring, the internal retaining ring being coaxial with the external assembly ring.

[0008] Preferably, the mating part includes an inner assembly ring extending into the outer assembly ring, and an outer retaining ring formed around the inner assembly ring; the abutting surface of the outer retaining ring abuts against the abutting surface of the outer assembly ring, and the outer retaining ring and the outer assembly ring are provided with bolt holes for installing fastening bolts.

[0009] Preferably, the built-in assembly ring extends toward the built-in retaining ring, and the abutting surface of the built-in assembly ring abuts against the abutting surface of the built-in retaining ring.

[0010] Preferably, the outer diameter of the outer retaining ring is the same as the outer diameter of the outer assembly ring, the outer diameter of the inner assembly ring is the same as the inner diameter of the outer assembly ring, and the inner diameter of the inner assembly ring is larger than the inner diameter of the inner retaining ring.

[0011] Preferably, the main body of the explosion-proof tube is a hollow cylindrical tube of equal diameter.

[0012] Preferably, the explosion-proof tube includes a joint tube that covers the outside of the joint motor, and an arm tube for connecting the joint tube.

[0013] Preferably, the joint tube includes an upper arm joint tube, a forearm joint tube, and a wrist joint tube. The arm tube includes an upper arm tube connecting the upper arm joint tube and the forearm joint tube, and a forearm tube connecting the forearm joint tube and the wrist joint tube.

[0014] Preferably, the upper arm joint tube has two sections, namely a first upper arm joint tube and a second upper arm joint tube. Each upper arm joint tube contains a joint motor, and the two upper arm joint tubes are respectively fixedly connected to the rotors of the two joint motors. The rotation axes of the two upper arm joint tubes are perpendicular to each other. The first upper arm tube is rotatably mounted on a rotating seat. The first and second upper arm joint tubes are rotatably connected via a first docking structure, and the second upper arm joint tube is fixedly connected to the upper arm tube via a second docking structure. The forearm joint tube has one section, which is fixedly connected to the upper arm tube via a second docking structure and rotatably connected to the forearm tube via the same second docking structure. The forearm tube is... The L-shaped forearm joint tube has its rotation axis parallel to that of the second upper arm joint tube. There are three wrist joint tubes: a first wrist joint tube, a second wrist joint tube, and a third wrist joint tube. The first wrist joint tube is fixed to the forearm tube via a second docking structure. The second wrist joint tube is rotatably connected to the first wrist joint tube via a first docking structure. The third wrist joint tube is rotatably connected to the second wrist joint tube via a first docking structure. The rotation axis of the second wrist joint tube is perpendicular to the rotation axes of both the first and third wrist joint tubes. The robotic arm is mounted on the third wrist joint tube.

[0015] Compared with the prior art, this utility model has the following technical effects: the slot and plug-in parts are reasonably structured, forming multiple rotating gaps, which extends the length of the rotating gaps. The connection points of the multiple rotating gaps form bending angles, which can effectively prevent outside air from entering the explosion-proof tube. The sealing ring installed on the outer ring wall of the plug-in ring further improves the explosion-proof effect of the first docking structure. The uniform rotating gaps reduce the rotational resistance and ensure the flexibility of the robotic arm joints. The joint and docking parts are reasonably structured. The outer assembly ring and the outer retaining ring abut against each other and are fixed. The inner assembly ring and the inner retaining ring abut against each other to form multiple joint surfaces, and the adjacent joint surfaces are perpendicular to each other, which effectively improves the explosion-proof effect of the second docking structure. The main body of the explosion-proof tube is a hollow cylindrical tube of equal diameter, which can effectively avoid stress concentration and further improve the safety and reliability of the robotic arm. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is another structural schematic diagram of the present invention;

[0018] Figure 3 This is a schematic diagram of the first docking structure in this utility model;

[0019] Figure 4 for Figure 3 Enlarged view of a portion of point A in the middle;

[0020] Figure 5 This is a schematic diagram of the second docking structure in this utility model;

[0021] The diagram shows: First upper arm joint tube 11; Second upper arm joint tube 12; Upper arm tube 13; Forearm joint tube 14; Forearm tube 15; First wrist joint tube 16; Second wrist joint tube 17; Third wrist joint tube 18; Robotic hand 20; Joint motor 30; Inner connecting ring 41; Outer connecting ring 42; Insertion ring 43; Annular inner groove 431; Outer ring retaining edge 44; Inner ring retaining edge 45; External assembly ring 51; Internal retaining ring 52; Internal assembly ring 53; External retaining ring 54. Detailed Implementation

[0022] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0023] See Figures 1-5 This embodiment discloses an explosion-proof robot arm, which includes a folding arm and a manipulator 20. The folding arm includes a joint motor 30 and multiple explosion-proof tubes. The multiple explosion-proof tubes are connected in sequence to form multiple connection nodes. The connection nodes include rotating nodes and fixed nodes. The two explosion-proof tubes forming the rotating node can rotate relative to each other under the drive of the joint motor 30, and the two explosion-proof tubes forming the fixed node are fixedly connected. The rotating node is provided with a first docking structure, and the fixed node is provided with a second docking structure.

[0024] The first mating structure includes a slot portion formed in one of the explosion-proof tubes and an insertion portion formed in the mating explosion-proof tubes; the slot portion includes an inner connecting ring 41 and an outer connecting ring 42, the inner connecting ring 41 and the outer connecting ring 42 defining an annular groove; the insertion portion includes a baffle wall, and an insertion ring 43 extending into the annular groove is vertically disposed on the mating end face of the baffle wall, the insertion ring 43 radially dividing the baffle wall into an outer annular baffle 44 and an inner annular baffle 45, the insertion ring 43, the inner connecting ring 41 and the outer connecting ring 42 are coaxially arranged, the insertion ring 43 is rotatably inserted into the annular groove, and a U-shaped rotational gap is formed between the insertion ring 43 and the inner wall of the annular groove; the outer connecting... The ring 42 extends toward the outer ring retaining edge 44, forming a first annular rotation gap between them; the inner connecting ring 41 extends toward the inner ring retaining edge 45, forming a second annular rotation gap between them; the U-shaped rotation gap is connected to and uniformly consistent with the first annular rotation gap to reduce rotational resistance. The radial width of the retaining wall is A, and the axial length of the insertion ring 43 is B, where B equals 1.6A. The slot and insertion parts are rationally designed to form multiple rotation gaps, extending the length of the rotation gaps. The connection points of the multiple rotation gaps form bends, effectively preventing outside air from entering the explosion-proof tube. The outer ring wall of the insertion ring 43 has an annular inner groove 431 for embedding a sealing ring. Assembling a sealing ring on the outer ring wall of the insertion ring 43 does not affect the rotational flexibility and further improves the explosion-proof effect of the first mating structure.

[0025] The second mating structure includes a joint formed on one of the explosion-proof tubes and a mating portion formed on the mating explosion-proof tubes; the joint includes an outer mounting ring 51 and an inner retaining ring 52 formed inside the outer mounting ring 51, the inner retaining ring 52 being coaxial with the outer mounting ring 51; the mating portion includes an inner mounting ring 53 extending into the outer mounting ring 51 and an outer retaining ring 54 formed around the inner mounting ring 53; the abutting surface of the outer retaining ring 54 abuts against the outer mounting ring 51. The outer retaining ring 54 and the outer assembly ring 51 have aligning bolt holes for installing fastening bolts on their abutting surfaces. The inner assembly ring 53 extends toward the inner retaining ring 52, and its abutting surface abuts against the abutting surface of the inner retaining ring 52. The outer diameter of the outer retaining ring 54 is the same as the outer diameter of the outer assembly ring 51, and the outer diameter of the inner assembly ring 53 is the same as the inner diameter of the outer assembly ring 51. The inner diameter of the inner assembly ring 53 is larger than the inner diameter of the inner retaining ring 52. The joint and mating parts are reasonably structured. The outer assembly ring 51 and the outer retaining ring 54 abut and are fixed together, and the inner assembly ring 53 and the inner retaining ring 52 abut together, forming multiple joint surfaces. Adjacent joint surfaces are perpendicular to each other, enhancing the sealing performance and effectively improving the explosion-proof effect of the second mating structure.

[0026] To avoid stress concentration, the main body of the explosion-proof tube is a hollow cylindrical tube of equal diameter. In this embodiment, the explosion-proof tube includes a joint tube that covers the outside of the joint motor 30, and an arm tube for connecting the joint tube. Specifically, the joint tube includes a large arm joint tube, a forearm joint tube 14 and a wrist joint tube. The arm tube includes a large arm tube 13 that connects the large arm joint tube and the forearm joint tube 14, and a forearm tube 15 that connects the forearm joint tube 14 and the wrist joint tube.

[0027] There are two upper arm joint tubes, namely a first upper arm joint tube 11 and a second upper arm joint tube 12. Each upper arm joint tube contains a joint motor 30, and the two upper arm joint tubes are fixedly connected to the rotors of the two joint motors 30 respectively. The rotation axes of the two upper arm joint tubes are perpendicular to each other. The first upper arm tube 13 is rotatably mounted on a rotating seat. The first upper arm joint tube 11 and the second upper arm joint tube 12 are rotatably connected through a first docking structure, and the second upper arm joint tube 12 is fixedly connected to the upper arm tube 13 through a second docking structure. There is one forearm joint tube 14, which is fixedly connected to the upper arm tube 13 through a second docking structure and rotatably connected to the forearm tube 15 through a second docking structure. The forearm tube 15 is L-shaped, and the forearm joint... The rotation axis of tube 14 is parallel to the rotation axis of the second upper arm joint tube 12; there are three wrist joint tubes, namely the first wrist joint tube 16, the second wrist joint tube 17 and the third wrist joint tube 18. The first wrist joint tube 16 is fixed to the forearm tube 15 through the second docking structure. The second wrist joint tube 17 is rotatably connected to the first wrist joint tube 16 through the first docking structure. The third wrist joint tube 18 is rotatably connected to the second wrist joint tube 17 through the first docking structure. The rotation axis of the second wrist joint tube 17 is perpendicular to the rotation axes of the first wrist joint tube 16 and the third wrist joint tube 18. The robotic arm 20 is mounted on the third wrist joint tube 18.

[0028] It should be understood that in the claims and description of this utility model, all instances of "comprising..." should be understood as having an open-ended meaning, that is, equivalent to "at least comprising...", and should not be understood as having a closed-ended meaning, that is, its meaning should not be understood as "only comprising...". The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0029] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model should be included within the protection scope of this utility model.

Claims

1. An explosion-proof robotic arm, characterized in that, The system includes a folding arm and a robotic arm. The folding arm comprises a joint motor and multiple explosion-proof tubes, which are sequentially connected to form multiple connection nodes. Each connection node includes a rotating node and a fixed node. The two explosion-proof tubes forming the rotating node can rotate relative to each other under the drive of the joint motor, and the two explosion-proof tubes forming the fixed node are fixedly connected. The rotating node has a first docking structure, and the fixed node has a second docking structure. The first docking structure includes a slot formed on one of the explosion-proof tubes and a slot formed on the docking explosion-proof tube. The insertion portion includes an inner connecting ring and an outer connecting ring, which define an annular groove. The insertion portion includes a baffle wall, and a insertion ring extending into the annular groove is vertically disposed on the mating end face of the baffle wall. The insertion ring radially divides the baffle wall into an outer ring baffle and an inner ring baffle. The insertion ring, the inner connecting ring, and the outer connecting ring are coaxially arranged. The insertion ring is rotatably inserted into the annular groove, and a U-shaped rotation gap is formed between the insertion ring and the inner wall of the annular groove. An annular inner groove for embedding a sealing ring is provided on the outer ring wall of the insertion ring.

2. The explosion-proof robotic arm according to claim 1, characterized in that, The outer connecting ring extends toward the outer ring stop edge, forming a first annular rotation gap between them; the inner connecting ring extends toward the inner ring stop edge, forming a second annular rotation gap between them; the U-shaped rotation gap is connected to and uniformly consistent with the first annular rotation gap and the first annular rotation gap.

3. The explosion-proof robotic arm according to claim 2, characterized in that, The radial width of the baffle is A, and the axial length of the plug ring is B, where B ≥ 1.5A.

4. An explosion-proof robotic arm according to any one of claims 1-3, characterized in that, The second docking structure includes a joint portion formed on one of the explosion-proof tubes and a docking portion formed on its docking explosion-proof tube; the joint portion includes an external assembly ring and an internal retaining ring formed inside the external assembly ring, the internal retaining ring being coaxial with the external assembly ring.

5. The explosion-proof robotic arm according to claim 4, characterized in that, The mating part includes an inner assembly ring extending into the outer assembly ring, and an outer retaining ring formed around the inner assembly ring; the abutting surface of the outer retaining ring abuts against the abutting surface of the outer assembly ring, and the outer retaining ring and the outer assembly ring are provided with bolt holes for installing fastening bolts.

6. The explosion-proof robotic arm according to claim 5, characterized in that, The built-in assembly ring extends toward the built-in retaining ring, and the abutting surface of the built-in assembly ring abuts against the abutting surface of the built-in retaining ring.

7. The explosion-proof robotic arm according to claim 6, characterized in that, The outer diameter of the outer retaining ring is the same as the outer diameter of the outer assembly ring, the outer diameter of the inner assembly ring is the same as the inner diameter of the outer assembly ring, and the inner diameter of the inner assembly ring is larger than the inner diameter of the inner retaining ring.

8. The explosion-proof robotic arm according to claim 1, characterized in that, The main body of the explosion-proof tube is a hollow cylindrical tube of equal diameter; the explosion-proof tube includes a joint tube that covers the outside of the joint motor, and Arm tube used to connect the articulated tube.

9. The explosion-proof robotic arm according to claim 8, characterized in that, The articulation tube includes an upper arm articulation tube, a forearm articulation tube, and a wrist articulation tube. The arm tube includes an upper arm tube connecting the upper arm articulation tube and the forearm articulation tube, and a forearm tube connecting the forearm articulation tube and the wrist articulation tube.

10. The explosion-proof robotic arm according to claim 9, characterized in that, The arm joint tube consists of two sections, designated as a first arm joint tube and a second arm joint tube. Each section houses a joint motor, and the two arm joint tubes are fixedly connected to the rotors of the two joint motors, respectively. The rotation axes of the two arm joint tubes are perpendicular to each other. The first arm tube is rotatably mounted on a rotating base. The first and second arm joint tubes are rotatably connected via a first docking structure, and the second arm joint tube is fixedly connected to the arm tube via a second docking structure. The forearm joint tube consists of one section, which is fixedly connected to the arm tube via a second docking structure and rotatably connected to the forearm tube via the same second docking structure. The forearm tube is L-shaped. The rotation axis of the forearm joint tube is parallel to the rotation axis of the second upper arm joint tube; the wrist joint tube consists of three parts, namely the first wrist joint tube, the second wrist joint tube, and the third wrist joint tube. The first wrist joint tube is fixedly connected to the forearm tube through the second docking structure, the second wrist joint tube is rotatably connected to the first wrist joint tube through the first docking structure, and the third wrist joint tube is rotatably connected to the second wrist joint tube through the first docking structure. The rotation axis of the second wrist joint tube is perpendicular to the rotation axes of the first and third wrist joint tubes. The robotic hand is mounted on the third wrist joint tube.

Images