Robot holder lifting mechanism

Abstract

The utility model relates to a robot holder lifting mechanism. Comprising a base, a first-stage cantilever, a second-stage cantilever, a third-stage cantilever and a holder, the first-stage cantilever comprises a first-stage arm driving wheel and a first-stage arm driven wheel which are in transmission connection, the second-stage cantilever comprises a second-stage arm driving wheel and a second-stage arm driven wheel which are in transmission connection, and the third-stage cantilever comprises a third-stage arm driving wheel and a third-stage arm driven wheel which are in transmission connection; the shafts of the first-stage arm driven wheel and the second-stage arm driving wheel, the shafts of the second-stage arm driven wheel and the third-stage arm driving wheel, and the shafts of the third-stage arm driven wheel and the pan-tilt shaft of the pan-tilt are in transmission connection through reversing transmission assemblies; the reversing transmission assembly comprises two gears in meshing transmission, and the two gears are installed on the two shafts respectively. The mechanical arm further comprises a driving assembly, the driving assembly comprises a driving motor installed on the base, an active driving wheel is installed on an output shaft of the driving motor, and a main transmission wheel in transmission connection with the active driving wheel is installed at the shaft end of the primary arm driving wheel. The system is stable in operation, and the operation stability of the robot and the inspection / detection effect of various sensors on the holder are improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of robot equipment, especially relates to a robot holder lifting mechanism. BACKGROUND

[0002] Various types of inspection / detection robots usually need to be configured with a holder, and inspection / detection sensors such as smoke probes, cameras, etc. are installed on the holder. When the robot inspects or detects in a mobile manner or in a positioning manner, various sensors on the holder acquire inspection / detection data. In order to adjust the height position of the sensors, the holder needs to be installed and fixed on a lifting mechanism, and the holder is lifted by controlling the lifting mechanism, so as to control various sensors to be closer to or farther away from the position to be detected.

[0003] For the foregoing inspection / detection robot, the lifting mechanism has a very important influence on the stable operation of the robot, and for various sensors, a stable holder without shaking and tilting has a very important influence on the inspection / detection effect. The existing holder lifting mechanism has room for improvement in the foregoing indicators. SUMMARY

[0004] The utility model aims at providing a robot holder lifting mechanism, which is stable in operation, improves the stability of the robot operation and the inspection / detection effect of various sensors on the holder.

[0005] The utility model adopts the technical scheme: a robot holder lifting mechanism, which comprises a base, a first cantilever, a second cantilever, a third cantilever and a holder; the first cantilever comprises a first arm driving wheel and a first arm driven wheel connected in transmission, the second cantilever comprises a second arm driving wheel and a second arm driven wheel connected in transmission, the third cantilever comprises a third arm driving wheel and a third arm driven wheel connected in transmission, the shaft of the first arm driven wheel and the shaft of the second arm driving wheel are connected in transmission by a reversing transmission assembly, the shaft of the second arm driven wheel and the shaft of the third arm driving wheel are connected in transmission by a reversing transmission assembly, and the shaft of the third arm driven wheel and the holder shaft of the holder are connected in transmission by a reversing transmission assembly; the reversing transmission assembly comprises two gears engaged in transmission, and the two gears are respectively installed on two shafts; the reversing transmission assembly further comprises a driving assembly, the driving assembly comprises a driving motor installed on the base, a driving wheel is installed on the output shaft of the driving motor, and a main transmission wheel connected in transmission with the driving wheel is installed on the shaft end of the first arm driving wheel.

[0006] Preferably, the reversing transmission assembly comprises a wheel support seat with a groove, one of the gears of the reversing transmission assembly is installed in the groove of the wheel support seat, and the gear is coaxial with the corresponding driven wheel.

[0007] Preferably, the main driving wheel and the main transmission wheel are belt wheels and are connected by synchronous belt transmission; the primary arm driving wheel and the primary arm driven wheel are belt wheels and are connected by synchronous belt transmission; the secondary arm driving wheel and the secondary arm driven wheel are belt wheels and are connected by synchronous belt transmission; and the tertiary arm driving wheel and the tertiary arm driven wheel are belt wheels and are connected by synchronous belt transmission.

[0008] Preferably, the primary arm, the secondary arm and the tertiary arm are each provided with a tensioner, which comprises a support fixedly mounted on a wheel support seat of a reversing transmission assembly of the arm, and an adjustable and displaceable cylindrical tensioning block mounted on the support and pressing on a synchronous belt between a driving wheel and a driven wheel of the arm.

[0009] Preferably, the primary arm comprises a primary arm shell provided with a detachable outer cover, and the primary arm driving wheel, the primary arm driven wheel, the reversing transmission assembly and the tensioner are located in the primary arm shell; the secondary arm comprises a secondary arm shell provided with a detachable outer cover, and the secondary arm driving wheel, the secondary arm driven wheel, the reversing transmission assembly and the tensioner are located in the secondary arm shell; and the tertiary arm comprises a tertiary arm shell provided with a detachable outer cover, and the tertiary arm driving wheel, the tertiary arm driven wheel, the reversing transmission assembly and the tensioner are located in the tertiary arm shell.

[0010] Preferably, the base comprises a door-shaped seat, two opposite support bodies are arranged at the top of the door-shaped seat and a driving motor is located between the two support bodies, an axle seat is arranged at the end of the door-shaped seat and an axle of the main driving wheel is located in the axle seat, and a base plate provided with mounting holes is arranged between the top of the two support bodies.

[0011] Preferably, the holder comprises a holder plate, two connecting plates are arranged at the two ends of the holder plate and the top of the two connecting plates is fixedly connected with two axle ends of a holder axle, and protective baffles are further arranged on the two sides of the holder plate.

[0012] The robot holder lifting mechanism has the advantages and positive effects that:

[0013] Compared with the prior art, the robot holder lifting mechanism in the utility model is provided with three arms between the base and the holder, the main driving wheel and the driven wheel are drivingly connected in each arm, the driven wheel of the upper arm and the main driving wheel of the lower arm are connected by a reversing transmission assembly provided with a reversing gear set, the driven wheel of the tertiary arm and the holder axle are connected by a reversing transmission assembly provided with a reversing gear set, the design of the transmission structure can ensure that the holder only moves up and down during lifting and will not move forward and backward, thereby avoiding the position deviation of the holder caused by the movement of the arm, and this feature is very important for the stable operation of the inspection / detection robot.

[0014] In the process of lifting movement of the holder, the robot can keep the gravity center on a line and will not produce gravity center deviation due to the lifting action of the holder, so as to ensure that the robot always keeps stable in the process of inspection / detection and will not appear shaking or tilting. This not only improves the accuracy and reliability of the inspection / detection work, improves the inspection / detection effect of various sensors on the holder, but also prolongs the service life of the robot and reduces the failure risk caused by unstable gravity center. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is the installation state schematic view of the utility model;

[0016] Figure 2 is the external structure schematic view of the utility model, upper view;

[0017] Figure 3 is the external structure schematic view of the utility model, lower view;

[0018] Figure 4 is the internal structure schematic view of the utility model.

[0019] In the drawing:

[0020] 1, track; 2, drive motor; 3, base; 4, first cantilever shell; 5, second cantilever shell; 6, third cantilever shell; 7, holder; 8, driving wheel; 9, main transmission wheel; 10, second arm driven wheel; 11, tensioner; 12, second arm driving wheel; 13, first arm driven wheel; 14, third arm driving wheel; 15, third arm driven wheel; 16, first arm driving wheel; 17, reversing transmission assembly; 18, holder shaft; 19, holder driving wheel. DETAILED DESCRIPTION

[0021] In order to further understand the invention content, characteristics and effects of the utility model, the following examples are used for detailed description.

[0022] Please see Figure 1 The robot holder lifting mechanism of the utility model comprises a base 3, a first cantilever, a second cantilever, a third cantilever and a holder 7, wherein the base 3 is used for being fixedly connected with a robot main body or Figure 1 The track 1 in the base 3 is fixedly connected with the robot main body or

[0023] When the holder lifting mechanism is applied to a patrol robot, the base 3 is fixedly connected with the bottom of the patrol robot, so as to form a robot form capable of moving patrol, that is, the holder lifting mechanism can be carried by the patrol robot and perform patrol along a patrol path. Figure 1The structure diagram of the positioning detection of the gimbal lifting mechanism is shown in the figure. The gimbal lifting mechanism is fixed on the track 1 through the base 3. The gimbal lifting mechanism, the gimbal 7 and the sensor cannot move along the track 1, and the height of the gimbal 7 and the sensor can only be controlled by changing the state of the cantilever.

[0024] Please refer to Figure 2 、 Figure 3 and Figure 4 It can be seen that:

[0025] The first cantilever includes a first arm driving wheel 16 and a first arm driven wheel 13 connected by transmission, the second cantilever includes a second arm driving wheel 12 and a second arm driven wheel 10 connected by transmission, the third cantilever includes a third arm driving wheel 14 and a third arm driven wheel 15 connected by transmission, the shaft of the first arm driven wheel 13 and the second arm driving wheel 12 are connected by a reversing transmission assembly 17, the shaft of the second arm driven wheel 10 and the third arm driving wheel 14 are connected by a reversing transmission assembly 17, and the shaft of the third arm driven wheel 15 and the gimbal shaft 18 of the gimbal 7 are connected by a reversing transmission assembly 17.

[0026] The reversing transmission assembly 17 includes two gears engaged by transmission, and the two gears are respectively installed on two shafts to achieve the effect of reversing transmission. Specifically, one gear of the reversing transmission assembly 17 of the first cantilever is installed on the shaft of the first arm driven wheel 13, and the other gear is installed on the shaft of the second arm driving wheel 12. One gear of the reversing transmission assembly 17 of the second cantilever is installed on the shaft of the second arm driven wheel 10, and the other gear is installed on the shaft of the third arm driving wheel 14. One gear of the reversing transmission assembly 17 of the third cantilever is installed on the shaft of the third arm driven wheel 15, and the other gear is installed on the gimbal shaft 8 of the gimbal 7.

[0027] In this embodiment, the reversing transmission assembly 17 includes a wheel support seat with a groove, one gear of the reversing transmission assembly 17 is installed in the groove of the wheel support seat and is coaxial with the corresponding driven wheel. Specifically, the groove gear of the reversing transmission assembly 17 of the first cantilever is coaxial with the first arm driven wheel 13, the groove gear of the reversing transmission assembly 17 of the second cantilever is coaxial with the second arm driven wheel 10, and the groove gear of the reversing transmission assembly 17 of the third cantilever is coaxial with the third arm driven wheel 15.

[0028] It also includes a driving assembly, which includes a driving motor 2 installed on the base 3, a driving motor 2 installed on the output shaft of the driving motor 2, and a driving motor 2 installed on the output shaft of the driving motor 2. The driving motor 2 is connected with the main transmission wheel 9 by transmission. The shaft end of the first arm driving wheel 16 is provided with a main transmission wheel 9 connected with the main transmission wheel 9 by transmission.

[0029] In this embodiment, the driving wheel 8 and the main transmission wheel 9 are pulleys and are connected by synchronous belt transmission; the primary arm driving wheel 16 and the primary arm driven wheel 13 are pulleys and are connected by synchronous belt transmission; the secondary arm driving wheel 12 and the secondary arm driven wheel 10 are pulleys and are connected by synchronous belt transmission; the tertiary arm driving wheel 14 and the tertiary arm driven wheel 15 are pulleys and are connected by synchronous belt transmission.

[0030] In order to ensure the tensioning effect of the synchronous belt of each cantilever and ensure the reliability of the transmission, in this embodiment, the primary cantilever, the secondary cantilever and the tertiary cantilever are each provided with a tensioner 11. The tensioner 11 includes a support fixedly installed on a wheel support seat of the reversing transmission assembly 17 of the cantilever, and a cylindrical tensioning block adjustably installed on the support and pressing on the synchronous belt between the driving wheel and the driven wheel of the cantilever. As shown in detail in Figure 4 the support is fixedly installed on the rear part of the wheel support seat of the reversing transmission assembly 17, and three threaded connection holes arranged in a triangle are provided on the support. The tensioning block is located on the outside of an adjusting plate, and three strip-shaped holes arranged in a triangle are provided on the adjusting plate at corresponding positions. The adjusting plate is fixedly connected with the support by screws located in the three sets of strip-shaped holes and threaded connection holes. When it is necessary to displace the tensioning block, the screws are loosened, the position of the adjusting plate and the tensioning block thereof is moved along the length direction of the strip-shaped hole, and then the screws are tightened.

[0031] In this embodiment, the primary cantilever includes a primary cantilever shell 4 with a detachable outer cover, and the primary arm driving wheel 16, the primary arm driven wheel 16, the reversing transmission assembly 17 and the tensioner 11 are located in the primary cantilever shell 4. The secondary cantilever includes a secondary cantilever shell 5 with a detachable outer cover, and the secondary arm driving wheel 12, the secondary arm driven wheel 10, the reversing transmission assembly 17 and the tensioner 11 are located in the secondary cantilever shell 5. The tertiary cantilever includes a tertiary cantilever shell 6 with a detachable outer cover, and the tertiary arm driving wheel 14, the tertiary arm driven wheel 15, the reversing transmission assembly 17 and the tensioner 11 are located in the tertiary cantilever shell 6.

[0032] The outer cover of each cantilever shell and the main body part of the cantilever shell are fixed by screws. When it is necessary to operate the internal components, for example, to adjust the tensioner 11 to further tension the synchronous belt, the outer cover is detached, and after the internal operation, the outer cover is installed again. The cantilever shell encapsulates the internal components of each cantilever, avoiding the entry of foreign matter into the interior to cause transmission jamming problems, and at the same time, the cantilever shell also has the effect of improving the appearance neatness and aesthetic appearance.

[0033] In this embodiment, the base 3 includes a portal-shaped base, with two opposing supports on both sides of the top of the portal-shaped base and the drive motor 2 located between these two supports. A bearing seat is provided at the end of the portal-shaped base, and the shaft of the active drive wheel 8 is located within the bearing seat. A base plate with mounting holes is provided between the tops of the two supports. (The text then abruptly shifts to a seemingly unrelated topic: towards the bottom of the robot body or...) Figure 1 When installing and fixing the gimbal lifting mechanism on the track 1 shown, the base plate of the base 3 is fixedly connected to the robot body or the track 1 with bolts.

[0034] In this embodiment, the gimbal 7 includes a gimbal plate, with connecting plates at both ends of the gimbal plate and the tops of these two connecting plates being fixedly connected to the two shaft ends of the gimbal axis 18. Protective baffles are also installed on both sides of the gimbal plate. Inspection / detection sensors are installed and fixed on the gimbal plate, and the protective baffles prevent foreign objects from entering the internal space of the gimbal 7.

[0035] Operating method:

[0036] by Figure 1 Taking the positioning application shown as an example, the base 3 of this gimbal lifting mechanism is installed and fixed on the track 1, and the sensor is installed and fixed on the gimbal 7 at the bottom.

[0037] When it is necessary to control the gimbal 7 and its sensors to move downwards, the drive motor 2 drives the drive wheel 9 to rotate clockwise as shown in the figure through the drive wheel 8. Then the first-stage cantilever swings clockwise, the second-stage cantilever swings counterclockwise, and the third-stage cantilever swings clockwise. The cantilever extends further downwards, and the height of the gimbal 7 and its sensors decreases. During this process, the first-stage cantilever and the third-stage cantilever remain parallel, and the gimbal 7 maintains its posture during the downward movement.

[0038] Conversely, when the gimbal 7 and its sensors are to be moved upward, the drive motor 2 drives the drive wheel 9 to rotate counterclockwise as shown in the figure through the drive wheel 8. Then the first-stage cantilever swings counterclockwise, the second-stage cantilever swings clockwise, and the third-stage cantilever swings counterclockwise. The cantilever further retracts upward, and the height of the gimbal 7 and its sensors increases. During this process, the first-stage and third-stage cantilever remain parallel, and the gimbal 7 maintains its posture during the upward movement.

Claims

1. A robotic gimbal lift mechanism, characterized by: The gimbal includes a base (3), a first-stage cantilever, a second-stage cantilever, a third-stage cantilever and a holder (7); the first-stage cantilever includes a first-stage arm driving wheel (16) and a first-stage arm driven wheel (13) in transmission connection, the second-stage cantilever includes a second-stage arm driving wheel (12) and a second-stage arm driven wheel (10) in transmission connection, the third-stage cantilever includes a third-stage arm driving wheel (14) and a third-stage arm driven wheel (15) in transmission connection, the shaft of the first-stage arm driven wheel (13) and the second-stage arm driving wheel (12) are in transmission connection through a reversing transmission assembly (17), the shaft of the second-stage arm driven wheel (10) and the third-stage arm driving wheel (14) are in transmission connection through a reversing transmission assembly (17), the shaft of the third-stage arm driven wheel (15) and the holder shaft (18) of the holder (7) are in transmission connection through a reversing transmission assembly (17); the reversing transmission assembly (17) includes two gears in mesh transmission and the two gears are respectively installed on two shafts; the gimbal further includes a driving assembly, the driving assembly includes a driving motor (2) installed on the base (3), a driving driving wheel (8) is installed on the output shaft of the driving motor (2), a main transmission wheel (9) in transmission connection with the driving driving wheel (8) is installed on the shaft end of the first-stage arm driving wheel (16).

2. The robotic gimbal lift mechanism of claim 1, wherein: The reversing transmission assembly (17) includes a wheel support seat with a groove, one of the gears of the reversing transmission assembly (17) is installed in the groove of the wheel support seat and the gear is coaxial with the corresponding driven wheel.

3. The robotic gimbal lift mechanism of claim 2, wherein: The driving driving wheel (8) and the main transmission wheel (9) are belt wheels and in synchronous belt transmission connection; the first-stage arm driving wheel (16) and the first-stage arm driven wheel (13) are belt wheels and in synchronous belt transmission connection; the second-stage arm driving wheel (12) and the second-stage arm driven wheel (10) are belt wheels and in synchronous belt transmission connection; the third-stage arm driving wheel (14) and the third-stage arm driven wheel (15) are belt wheels and in synchronous belt transmission connection.

4. The robotic gimbal lift mechanism of claim 3, wherein: The first-stage cantilever, the second-stage cantilever and the third-stage cantilever all have a tensioner (11), the tensioner (11) includes a support fixedly installed on the wheel support seat of the reversing transmission assembly (17) of the current-stage cantilever, an adjustable and displaceable cylindrical tensioning block is installed on the support, the tensioning block is pressed on the synchronous belt between the driving wheel and the driven wheel of the current-stage cantilever.

5. The robotic gimbal lift mechanism of claim 4, wherein: The first-stage cantilever includes a first-stage cantilever shell (4) with a detachable outer cover, the first-stage arm driving wheel (16), the first-stage arm driven wheel (13), the reversing transmission assembly (17) and the tensioner (11) are located in the first-stage cantilever shell (4); the second-stage cantilever includes a second-stage cantilever shell (5) with a detachable outer cover, the second-stage arm driving wheel (12), the second-stage arm driven wheel (10), the reversing transmission assembly (17) and the tensioner (11) are located in the second-stage cantilever shell (5); the third-stage cantilever includes a third-stage cantilever shell (6) with a detachable outer cover, the third-stage arm driving wheel (14), the third-stage arm driven wheel (15), the reversing transmission assembly (17) and the tensioner (11) are located in the third-stage cantilever shell (6).

6. The robotic gimbal lift mechanism of claim 5, wherein: The base (3) comprises a door-shaped seat, opposite two supporting bodies are arranged at the top of the door-shaped seat and the driving motor (2) is located between the two supporting bodies, an axle seat is arranged at the end of the door-shaped seat and the axle of the driving wheel (8) is located in the axle seat, and a base plate with a mounting hole is arranged between the top of the two supporting bodies.

7. The robotic gimbal lift mechanism of claim 6, wherein: The holder (7) comprises a holder plate, connecting plates are arranged at the two ends of the holder plate and the top of the two connecting plates is fixedly connected with the two axle ends of the holder axle (18), and protective baffle plates are further arranged on the two sides of the holder plate.

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