Mechanical arm lifting platform of unmanned inspection vehicle

Abstract

The utility model relates to a kind of mechanical arm lifting platform of unmanned inspection vehicle, including base, scissor mechanism, first drive mechanism and top plate, base and top plate are connected by scissor mechanism, scissor mechanism includes two scissor assemblies, scissor assembly includes two middle parts and is hingedly arranged connecting rod, first drive mechanism includes first drive part, first screw rod and two first sliding rods, two first sliding rods are all along x direction extension, the both ends of each first sliding rod are respectively hingedly connected with the corresponding connecting rod end of two scissor assemblies, first screw rod is equipped with two, two first screw rods are spaced apart in x direction, two first screw rods are driven synchronous rotation by first drive part, and one end of each first screw rod is rotatably connected with one first sliding rod, and the other end is connected with another first sliding rod by screw thread connection.The utility model provides the mechanical arm lifting platform of unmanned inspection vehicle solves the problem that existing lifting platform is prone to shaking during lifting.

Description

Technical Field

[0001] This utility model relates to the field of tunnel inspection equipment technology, and in particular to a robotic arm lifting platform for an unmanned inspection vehicle. Background Technology

[0002] With the development of society and economy and the acceleration of industrialization, the complexity of cable channels has gradually increased. Cable channels have complex structures, such as tunnel boring machines, pipe jacking, and multi-layer supports, which cause cable laying circuits to intertwine and obstruct each other, thus forming hidden spaces.

[0003] Existing unmanned inspection vehicles typically place the sensors for detecting cables at the end of a six-axis robotic arm. By controlling the movement of the six-axis robotic arm, the sensors at the end of the robotic arm can move to the location of the cable to be inspected in hidden spaces such as cable corners and pipe intersections to detect minor damage points in the cable. At the same time, by mounting the six-axis robotic arm on a lifting platform, the sensors can move to the cable location on the highest layer.

[0004] Because the end effector of the six-axis robotic arm needs to extend into a concealed space, the center of gravity of the robotic arm and the center of gravity of the lifting platform are not aligned. This causes the lifting platform to sway during lifting, which in turn causes the robotic arm fixed to the lifting platform to sway, affecting the detection accuracy of the cable by the sensor located at the end effector. Utility Model Content

[0005] The main purpose of this invention is to propose a robotic arm lifting platform for unmanned inspection vehicles, which aims to solve the problem of swaying that occurs easily during the lifting process of existing lifting platforms.

[0006] To achieve the above objectives, this utility model proposes a robotic arm lifting platform for an unmanned inspection vehicle, comprising a base, a scissor mechanism, a first drive mechanism, and a top plate for mounting the robotic arm. The base and the top plate are connected by the scissor mechanism. The scissor mechanism includes two scissor assemblies spaced apart in the x-direction. Each scissor assembly includes two connecting rods hinged together at their midpoints. The first drive mechanism includes a first drive unit, a first lead screw, and two first slide rods that are close to or far from each other relative to the base in the y-direction. Both first slide rods extend along the x-direction, and both ends of each first slide rod are hinged to the corresponding ends of the connecting rods of the two scissor assemblies. Two first lead screws are provided, spaced apart in the x-direction. The two first lead screws are driven synchronously by the first drive unit. One end of each first lead screw is rotatably connected to one of the first slide rods, and the other end is threadedly connected to the other first slide rod.

[0007] According to some embodiments of the present invention, multiple scissor lift mechanisms are provided, and the multiple scissor lift mechanisms are connected in sequence and are all located between the base and the top plate. The ends of the connecting rods of two adjacent scissor lift mechanisms are hinged to each other.

[0008] According to some embodiments of the present invention, it further includes a plurality of first connecting members, each of which extends along the x-direction, and both ends of each first connecting member are rotatably connected to the hinge joints of two corresponding links of each scissor mechanism in the x-direction.

[0009] According to some embodiments of the present invention, it further includes a plurality of second connectors, the two ends of which are rotatably connected to the middle portions of two first connectors, and adjacent second connectors are connected through the first connectors.

[0010] According to some embodiments of the present invention, the second connector is provided with a cable groove through which cables can pass and be fixed.

[0011] According to some embodiments of the present invention, the base and the top plate are each provided with two guide structures corresponding to the positions of the two scissor lift assemblies. Each guide structure extends along the y-direction and is movably provided with two sliders. The two sliders on each guide structure are respectively hinged to the two connecting rods corresponding to the scissor lift assembly. The two ends of each first slider are respectively connected to the corresponding sliders on the two guide structures provided on the base.

[0012] According to some embodiments of the present invention, the slider is provided with a limiting groove for the guide structure to pass through, and the bottom and two walls of the limiting groove are respectively abutted against the three surfaces of the guide structure.

[0013] According to some embodiments of the present invention, a second driving mechanism is also included. The second driving mechanism includes a second driving part, a second lead screw, and two second slide rods that are close to or far away from each other in the y direction relative to the top plate. Both second slide rods extend in the x direction. The two ends of each second slide rod are respectively connected to corresponding sliders on two guide structures provided on the top plate. The second lead screw is driven by the second driving part and rotates synchronously with the two first lead screws. One end of the second lead screw is rotatably connected to the middle of one of the second slide rods, and the other end is threadedly connected to the middle of the other second slide rod.

[0014] According to some embodiments of the present invention, the second driving mechanism further includes two guide rods spaced apart in the x-direction, one end of each guide rod being fixedly connected to one of the second slide rods, and the other end passing through the connecting hole of the other second slide rod, with the second lead screw located between the two guide rods.

[0015] According to some embodiments of the present invention, the first drive mechanism further includes a transmission rod and at least three steering gears spaced apart in the x-direction. The transmission rod extends in the x-direction and is connected to the drive shaft of the first drive unit through the steering gears. The two ends of the transmission rod are respectively connected to the two first lead screws through the two steering gears.

[0016] This utility model has at least the following beneficial effects:

[0017] In this invention, when the robotic arm lifting platform of the unmanned inspection vehicle is in the ascending operation, the first drive unit drives the two first lead screws to rotate synchronously in the forward direction, causing the two first slide rods to move closer to each other, which in turn causes the ends of the two connecting rods of the scissor lift assembly to move closer to each other. Since the middle parts of the two connecting rods are hinged to each other, the extension direction of the connecting rods gradually changes from an inclined setting to a vertical setting, thereby driving the base and the top plate to move away from each other to achieve the platform's ascent. Similarly, when the robotic arm lifting platform is in the descending operation, the first drive unit drives the two first lead screws to rotate synchronously in the reverse direction, causing the two first slide rods to move away from each other, which in turn causes the ends of the two connecting rods of the scissor lift assembly to move away from each other, driving the base and the top plate to move closer to each other to achieve the platform's descent. Traditional designs using a single lead screw rotating in the middle of the slide bar are prone to problems. Even slight deformation of the slide bar can cause inconsistencies in the spacing between the two connecting rods on the two scissor lift assemblies, leading to uneven heights on both sides of the top plate and resulting in swaying in the x-direction. This invention, however, uses two first lead screws spaced apart in the x-direction, creating a more stable combined structure between the two first slide bars and the two first lead screws. This makes the first slide bar less prone to deformation. Even if slight deformation occurs at the non-connecting points of the first slide bar, the four-point stable connection between the two first lead screws and the two first slide bars can reduce the impact of deformation on the connecting rod spacing, thereby effectively suppressing swaying of the top plate in the x-direction. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A three-dimensional schematic diagram of a robotic arm lifting platform for an unmanned inspection vehicle provided for an embodiment of this utility model;

[0020] Figure 2 for Figure 1 A three-dimensional schematic diagram of the robotic arm lifting platform from another angle;

[0021] Figure 3 for Figure 1 A schematic diagram showing the cooperation between the first drive mechanism and the scissor mechanism;

[0022] Figure 4 for Figure 1 A schematic diagram showing the cooperation between the second drive mechanism and the scissor mechanism;

[0023] Figure 5 for Figure 1 A schematic diagram showing the connection between the scissor lift mechanism and the first and second connecting parts.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100-Robotic arm lifting platform; 1-Base; 2-Scissor mechanism; 21-Scissor assembly; 211-Linkage; 3-First drive mechanism; 31-First drive unit; 32-First lead screw; 33-First slide bar; 34-Transmission rod; 35-Steering device; 4-Top plate; 5-First connector; 6-Second connector; 7-Guide structure; 8-Slider; 81-Limiting groove; 9-Second drive mechanism; 91-Second drive unit; 92-Second lead screw; 93-Second slide bar; 94-Guide rod; 10-Distance sensor. Detailed Implementation

[0026] The technical solutions in the embodiments of this utility model are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0028] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0029] This utility model provides a robotic arm lifting platform for an unmanned inspection vehicle. Figures 1 to 5 This invention provides a specific embodiment of a robotic arm lifting platform for an unmanned inspection vehicle.

[0030] like Figures 1 to 3 As shown, this utility model embodiment provides a robotic arm lifting platform 100 for an unmanned inspection vehicle, including a base 1, a scissor mechanism 2, a first drive mechanism 3, and a top plate 4 for mounting the robotic arm. The base 1 and the top plate 4 are connected by the scissor mechanism 2. The scissor mechanism 2 includes two scissor assemblies 21 spaced apart in the x-direction. Each scissor assembly 21 includes two connecting rods 211 hinged together in the middle. The first drive mechanism 3 includes a first drive part 31, a first lead screw 32, and two first slide rods 33 that are close to or far away from each other in the y-direction relative to the base 1. Both first slide rods 33 extend in the x-direction, and both ends of each first slide rod 33 are hinged to the ends of the corresponding connecting rods 211 of the two scissor assemblies 21. There are two first lead screws 32, which are spaced apart in the x-direction. The two first lead screws 32 are driven to rotate synchronously by the first drive part 31. One end of each first lead screw 32 is rotatably connected to one of the first slide rods 33, and the other end is threadedly connected to the other first slide rod 33.

[0031] In this invention, when the robotic arm lifting platform 100 of the unmanned inspection vehicle is in the ascending operation, the first drive unit 31 drives the two first lead screws 32 to rotate synchronously in the forward direction, causing the two first slide rods 33 to move closer to each other, which in turn causes the ends of the two connecting rods 211 of the scissor lift assembly 21 to move closer to each other. Since the middle parts of the two connecting rods 211 are hinged to each other, the extension direction of the connecting rods 211 gradually changes from an inclined setting to a vertical setting, thereby driving the base 1 and the top plate 4 to move away from each other to achieve the platform's ascent. Similarly, when the robotic arm lifting platform 100 is in the descending operation, the first drive unit 31 drives the two first lead screws 32 to rotate synchronously in the reverse direction, causing the two first slide rods 33 to move away from each other, which in turn causes the ends of the two connecting rods 211 of the scissor lift assembly 21 to move away from each other, which in turn drives the base 1 and the top plate 4 to move closer to each other to achieve the platform's descent. The traditional method of setting a single lead screw in the middle of the slide bar can cause even slight deformation of the slide bar to result in inconsistent spacing between the two connecting rods 211 on the two scissor assemblies 21, leading to uneven height on both sides of the top plate 4 and causing swaying in the x-direction. However, this invention uses two first lead screws 32 spaced apart in the x-direction, so that the two first slide bars 33 and the two first lead screws 32 form a more stable combined structure. This makes the first slide bars 33 less prone to deformation. Even if slight deformation occurs at the non-connecting parts of the first slide bars 33, the two first lead screws 32 and the two first slide bars 33 can be stably connected at four points to reduce the impact of deformation on the spacing of the connecting rods 211, thereby effectively suppressing the swaying of the top plate 4 in the x-direction.

[0032] It should be noted that, as Figure 1 As shown, the connection between the first lead screw 32 and the first slide rod 33 is located near the end of the first slide rod 33. This arrangement further reduces the impact of deformation of the first slide rod 33 on the spacing of the connecting rods 211.

[0033] Specifically, in some embodiments, such as Figure 3 As shown, the first drive mechanism 3 further includes a transmission rod 34 and at least three steering gears 35 spaced apart in the x-direction. The transmission rod 34 extends in the x-direction and is connected to the drive shaft of the first drive unit 31 via the steering gears 35. Both ends of the transmission rod 34 are connected to two first lead screws 32 via two steering gears 35 respectively. With this configuration, the drive shaft of the first drive unit 31 rotates, driving the transmission rod 34 to rotate via the steering gears 35. The transmission rod 34, in turn, drives the two first lead screws 32 to rotate synchronously via the two steering gears 35.

[0034] Preferably, in some embodiments, such as Figure 1As shown, multiple scissor lift mechanisms 2 are provided, and the multiple scissor lift mechanisms 2 are connected in sequence and are all located between the base 1 and the top plate 4. The ends of the connecting rods 211 of two adjacent scissor lift mechanisms 2 are hinged to each other. In this way, by increasing the number of scissor lift mechanisms 2, the lifting height of the robotic arm lifting platform 100 is increased.

[0035] To further suppress the swaying of the top plate 4 in the x-direction, in some embodiments, such as Figure 1 and Figure 5 As shown, the robotic arm lifting platform 100 also includes multiple first connecting members 5, each of which extends along the x-direction. The two ends of each first connecting member 5 are rotatably connected to the hinge points of two corresponding connecting rods 211 of each scissor mechanism 2 in the x-direction. This configuration connects the corresponding two connecting rods 211 of each scissor mechanism 2 in the x-direction into a single unit via the first connecting members 5, ensuring that the distance between the two connecting rods 211 of each scissor assembly 21 remains consistent, thereby suppressing the swaying of the top plate 4 in the x-direction.

[0036] Furthermore, in some embodiments, such as Figure 1 , Figure 2 and Figure 5 As shown, the robotic arm lifting platform 100 also includes multiple second connecting members 6. The two ends of each second connecting member 6 are rotatably connected to the middle of two first connecting members 5, and adjacent second connecting members 6 are connected via the first connecting members 5. This arrangement connects each of the first connecting members 5 into a single unit via the second connecting members 6, thereby integrating the scissor mechanism 2, the first connecting members 5, and the second connecting members 6 into a single unit, improving the strength and stability of the entire structure and further suppressing the swaying of the top plate 4 in the x-direction.

[0037] Since the main control board and the robotic arm are electrically connected via cables, and the main control board is located inside the vehicle body, the cables hang drooping to one side of the robotic arm lifting platform 100, which can easily interfere with external obstacles. Therefore, in some embodiments, the second connector 6 is provided with a cable groove for the cables to pass through and be fixed. With this configuration, the second connector 6 can also serve as a cable constraint, gathering the cables on the robotic arm lifting platform 100 and preventing them from interfering with external obstacles, thus affecting the connection stability between the main control board and the robotic arm.

[0038] In some embodiments, such as Figures 1 to 3As shown, both the base 1 and the top plate 4 are provided with two guide structures 7 corresponding to the positions of the two scissor lift assemblies 21. Each guide structure 7 extends along the y-direction and has two movable sliders 8. The two sliders 8 on each guide structure 7 are respectively hinged to the two connecting rods 211 of the corresponding scissor lift assembly 21. The two ends of each first slide rod 33 are respectively connected to the corresponding sliders 8 on the two guide structures 7 on the base 1. In this configuration, the guide structures 7 restrict the sliders 8 to move only in the y-direction, and the hinged connection between each slider 8 and the end of each connecting rod 211 improves the movement stability of the end of the connecting rod 211, thereby improving the lifting stability of the robotic arm lifting platform 100.

[0039] Specifically, in some embodiments, such as Figures 1 to 3 As shown, the slider 8 has a limiting groove 81 through which the guide structure 7 passes. The bottom and two walls of the limiting groove 81 abut against three surfaces of the guide structure 7, respectively. This arrangement increases the contact area between the guide structure 7 and the slider 8, making the support of the guide structure 7 on the slider 8 more stable. It also increases the friction between the guide structure 7 and the slider 8, ensuring that when the first driving part 31 stops running, there will be no relative movement between the slider 8 and the guide structure 7, and the connecting rods 211 of the scissor mechanism 2 will not move relative to each other, thereby improving the stability of the support for the top plate 4.

[0040] In some embodiments, such as Figure 1 , Figure 2 and Figure 4 As shown, the robotic arm lifting platform 100 further includes a second drive mechanism 9. The second drive mechanism 9 includes a second drive unit 91, a second lead screw 92, and two second slide rods 93 that are close to or far from each other in the y-direction relative to the top plate 4. Both second slide rods 93 extend in the x-direction, and both ends of each second slide rod 93 are connected to corresponding sliders 8 on two guide structures 7 on the top plate 4. The second lead screw 92 is driven by the second drive unit 91 and rotates synchronously with the two first lead screws 32. One end of the second lead screw 92 is rotatably connected to the middle of one of the second slide rods 93, and the other end is threadedly connected to the middle of the other second slide rod 93. With this configuration, the load of the first drive mechanism 3 is shared by the second drive mechanism 9, and the second drive mechanism 9 and the first drive mechanism 3 cooperate to form a dual-drive system, making the force on the scissor mechanism 2 more even and preventing deformation of the connecting rod 211 of the scissor mechanism 2, which would cause swaying.

[0041] Furthermore, in some embodiments, such as Figure 4As shown, the second drive mechanism 9 further includes two guide rods 94 spaced apart in the x-direction. One end of each guide rod 94 is fixedly connected to one of the second slide rods 93, and the other end passes through the connection hole of the other second slide rod 93. The second lead screw 92 is located between the two guide rods 94. This arrangement further improves the movement stability of the second slide rod 93 by adding the guide rods 94.

[0042] In some embodiments, such as Figure 4 As shown, a distance sensor 10 is provided at the bottom of the top plate 4 to detect the distance between the base 1 and the top plate 4. The distance sensor 10, the first drive unit 31, and the second drive unit 91 are all electrically connected to the main control board. The distance sensor 10 can send the real-time distance between the base 1 and the top plate 4 to the main control board. When the distance reaches a set distance, it indicates that the top plate 4 has been raised or lowered to the set position. At this time, the main control board controls the first drive unit 31 and the second drive unit 91 to stop operating.

[0043] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm lifting platform for an unmanned inspection vehicle, characterized in that, The system includes a base, a scissor mechanism, a first drive mechanism, and a top plate for mounting a robotic arm. The base and the top plate are connected by the scissor mechanism. The scissor mechanism includes two scissor assemblies spaced apart in the x-direction. Each scissor assembly includes two connecting rods hinged together at their midpoints. The first drive mechanism includes a first drive unit, a first lead screw, and two first slide rods that are close to or far from each other relative to the base in the y-direction. Both first slide rods extend in the x-direction, and both ends of each first slide rod are hinged to the corresponding ends of the connecting rods of the two scissor assemblies. There are two first lead screws spaced apart in the x-direction. The two first lead screws are driven to rotate synchronously by the first drive unit. One end of each first lead screw is rotatably connected to one of the first slide rods, and the other end is threadedly connected to the other first slide rod.

2. The robotic arm lifting platform as described in claim 1, characterized in that, The scissor lift mechanism is provided in multiple ways, and the multiple scissor lift mechanisms are connected in sequence and are all located between the base and the top plate. The ends of the connecting rods of two adjacent scissor lift mechanisms are hinged to each other.

3. The robotic arm lifting platform as described in claim 2, characterized in that, It also includes multiple first connectors, each of which extends along the x-direction, and both ends of each first connector are rotatably connected to the hinge of two corresponding links of each scissor mechanism in the x-direction.

4. The robotic arm lifting platform as described in claim 3, characterized in that, It also includes multiple second connectors, the two ends of which are rotatably connected to the middle of two first connectors respectively, and adjacent two second connectors are connected through the first connectors.

5. The robotic arm lifting platform as described in claim 4, characterized in that, The second connector has a groove for cables to pass through and be secured.

6. The robotic arm lifting platform as described in claim 1, characterized in that, Both the base and the top plate are provided with two guide structures corresponding to the positions of the two scissor lift assemblies. Each guide structure extends along the y-direction and is movably provided with two sliders. The two sliders on each guide structure are respectively hinged to the two connecting rods of the corresponding scissor lift assembly. The two ends of each first slider are respectively connected to the corresponding sliders on the two guide structures provided on the base.

7. The robotic arm lifting platform as described in claim 6, characterized in that, The slider has a limiting groove for the guide structure to pass through, and the bottom and two walls of the limiting groove are respectively abutted against the three surfaces of the guide structure.

8. The robotic arm lifting platform as described in claim 6, characterized in that, It also includes a second drive mechanism, which includes a second drive unit, a second lead screw, and two second slide rods that are close to or far from each other in the y direction relative to the top plate. Both second slide rods extend in the x direction, and both ends of each second slide rod are respectively connected to corresponding sliders on two guide structures provided on the top plate. The second lead screw is driven by the second drive unit and rotates synchronously with the two first lead screws. One end of the second lead screw is rotatably connected to the middle of one of the second slide rods, and the other end is threadedly connected to the middle of the other second slide rod.

9. The robotic arm lifting platform as described in claim 8, characterized in that, The second drive mechanism further includes two guide rods spaced apart in the x-direction. One end of each guide rod is fixedly connected to one of the second slide rods, and the other end passes through the connection hole of the other second slide rod. The second lead screw is located between the two guide rods.

10. The robotic arm lifting platform as described in claim 1, characterized in that, The first drive mechanism further includes a transmission rod and at least three steering gears spaced apart in the x-direction. The transmission rod extends in the x-direction and is connected to the drive shaft of the first drive unit through the steering gears. The two ends of the transmission rod are respectively connected to the two first lead screws through the two steering gears.

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