An intelligent robot arm

Abstract

The utility model relates to fire fighting technical field especially, and it is a kind of intelligent mechanical arm. Including base, moving element, multiple anticollision structures and multiple limiting structures;Wherein moving element is connected with base, has multiple freedom degree movement ability, can flexible accurate control action, to satisfy different work scene needs;Multiple anticollision structures are used to effectively absorb, disperse impact force when collision, protect moving element;Multiple limiting structures are used to limit the movement range of moving element, can prevent it from shaking or collision damage when diverting transportation. The utility model through anticollision structure, when mechanical arm executes fire fighting task and meets external object impact, buffer portion first absorbs and disperses part of impact force, reduces the direct damage to mechanical arm structure;Through limiting structure, when mechanical arm diverts transportation, the first connecting part and the second connecting part of limiting structure keep homodirectional alignment under the action of blocking member, can prevent moving element from shaking, avoid its damage due to transportation jolt or collision.

Description

Technical Field

[0001] This utility model relates to the field of fire protection technology, and in particular to an intelligent robotic arm. Background Technology

[0002] Firefighting robotic arms play a crucial role in firefighting operations. With their flexible structure and powerful functions, they can penetrate dangerous and complex environments such as fire scenes. They can accurately grasp various firefighting tools, such as fire extinguishers and fire hoses, and quickly and accurately deliver them to designated locations, providing strong support for firefighting efforts.

[0003] Patent document CN115351769A discloses a fire-fighting robot arm, including a fixed base. The fixed base has a disc-shaped structure and a rotating groove on its top. A rotating arm is rotatably connected to the inner wall of the rotating groove via bearings. A drive mechanism is fixedly connected to the bottom of the rotating arm. A protective device is fixedly connected to the top of the fixed base, located outside the rotating arm. The protective device includes: a fixing ring with an annular plate-like structure and a reinforcing strip on its top, the top of which is fixedly connected to the bottom of the fixing ring; an annular groove on the side of the fixing ring; and a compression airbag with an annular structure and a control sleeve on one side of the airbag. This invention relates to the field of robotics. This fire-fighting robot arm avoids increased wear due to excessive tilting of the rotating arm and offers good control and high sensitivity.

[0004] When using the above-mentioned technology, the following technical problems were found in the existing technology: During firefighting operations, the robotic arm is highly susceptible to impacts from external objects (such as falling building components, flying sparks, or high-temperature flames), which can damage its structure, affecting normal operation and, in severe cases, causing it to completely lose its function and be unable to continue firefighting tasks. Furthermore, relying solely on the locking function of the drive structure for fixation during transport is unreliable; if it encounters bumps or collisions during transport, the robotic arm may shake or even be damaged, affecting its subsequent accuracy and lifespan. Therefore, an intelligent robotic arm is designed to provide an alternative technical solution to the above-mentioned technical problems. Utility Model Content

[0005] Therefore, it is necessary to provide an intelligent robotic arm to address the above-mentioned technical problems, in order to solve the technical problems of existing fire-fighting robotic arms being susceptible to structural damage due to external impacts in complex fire-fighting environments, and being easily damaged by bumps and collisions during transfer and transportation due to unreliable fixation.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A smart robotic arm includes a base, a motion element connected to the base, and an actuator located at the end of the motion element, and further includes:

[0008] Multiple anti-collision structures, each including a first mounting portion integral with the moving element, and a buffer portion fixed to the first mounting portion by a fixing structure; and

[0009] Multiple limiting structures include a first connecting portion and a second connecting portion connected between the base and the moving element, and a stop member capable of keeping the first connecting portion and the second connecting portion aligned in the same direction.

[0010] As a preferred embodiment of the intelligent robotic arm provided by this utility model, the motion element includes a plurality of articulated arms that are sequentially rotatably connected between the base and the actuator, and a drive structure that drives the articulated arms to rotate.

[0011] As a preferred embodiment of the intelligent robotic arm provided by this utility model, it further includes a control component, which includes sensors for sensing the rotation angles of multiple articulated arms, and a programmable controller that can rotate the multiple articulated arms to a specified angle through the drive structure.

[0012] As a preferred embodiment of the intelligent robotic arm provided by this utility model, the driving structure includes a motor that directly drives the joint arm to rotate and / or a transmission component that indirectly drives the joint arm to rotate.

[0013] The transmission component includes a first pulley coaxially connected to the motor, a second pulley coaxially connected to one of the articulated arms, and a timing belt sleeved between the first pulley and the second pulley.

[0014] As a preferred embodiment of the intelligent robotic arm provided by this utility model, the actuating element includes a second mounting portion located on the joint arm furthest from the base, and a clamping member disposed on the second mounting portion for fixing the peripheral device.

[0015] The second mounting part includes a disc fixed to the articulated arm and a plurality of first connecting holes formed on the disc for connecting the clamping member.

[0016] As a preferred embodiment of the intelligent robotic arm provided by this utility model, the first mounting part includes a base covering the outer surface of the articulated arm portion;

[0017] The fixing structure includes a set of card plates that can enter into a slot opened into the base from one side of the base, a top plate that connects the set of card plates together, and a plurality of second connecting holes opened between the base and the set of card plates, which can prevent the card plates from disengaging from the slot by locking bolts.

[0018] The buffer section includes multiple energy-absorbing plates that are equidistantly fixed to the top of the card plate, and baffles fixed to the top of the multiple energy-absorbing plates.

[0019] As a preferred embodiment of the intelligent robotic arm provided by this utility model, both the first connecting part and the second connecting part include a hole seat or a third connecting hole located between the base and the multiple articulated arms.

[0020] The stopper includes a columnar body capable of locking into the hole seat or the third connecting hole.

[0021] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0022] At the same time, through the above technical solutions, this utility model has at least the following beneficial effects:

[0023] The present invention provides an intelligent robotic arm. Through an anti-collision structure, when the robotic arm encounters an impact from an external object while performing a firefighting task, the buffer part can first absorb and disperse part of the impact force, reduce the direct damage to the robotic arm structure, effectively protect the key parts of the robotic arm, and enable it to maintain a relatively normal working ability after being subjected to a certain degree of impact, so as to continue to complete the firefighting task, thereby improving the reliability and durability of the robotic arm in complex and dangerous environments.

[0024] This utility model provides an intelligent robotic arm. Through a limiting structure, when the robotic arm is transferred and transported, the first and second connecting parts of the limiting structure can maintain alignment in the same direction under the action of the resistive component, effectively preventing the moving components from shaking and avoiding damage due to bumps or collisions during transportation, thus ensuring the subsequent accuracy and lifespan of the robotic arm. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of an intelligent robotic arm according to the present invention;

[0027] Figure 2 This is a schematic diagram of the internal structure of an intelligent robotic arm according to the present invention;

[0028] Figure 3 This is a schematic diagram of the internal structure of an intelligent robotic arm according to this utility model from another perspective;

[0029] Figure 4 This is a schematic diagram of the structure of the actuator of an intelligent robotic arm according to the present invention;

[0030] Figure 5 This is a cross-sectional schematic diagram of the anti-collision structure of an intelligent robotic arm according to the present invention;

[0031] Figure 6 This is a schematic diagram of the limiting structure of an intelligent robotic arm according to the present invention.

[0032] In the diagram: 1. Base; 2. Motion element; 21. Articulated arm; 3. Anti-collision structure; 31. First mounting part; 311. Base; 32. Fixing structure; 321. Slot; 322. Plate; 323. Top plate; 324. Second connecting hole; 33. Buffer part; 331. Energy-absorbing plate; 332. Baffle; 4. Limiting structure; 41. First connecting part; 411. Hole seat; 412. Third connecting hole; 42. Second connecting part; 43. Stopping element; 5. Actuating element; 51. Second mounting part; 511. Disc; 512. First connecting hole; 6. Drive structure; 61. Motor; 62. Transmission element; 621. First pulley; 622. Second pulley; 623. Synchronous belt. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0035] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0037] like Figure 1As shown, this type of intelligent robotic arm includes a base 1, a motion element 2, multiple anti-collision structures 3, multiple limiting structures 4, and an actuator 5; wherein the base 1 serves as the supporting foundation for the entire intelligent robotic arm, and its design is stable and has good load-bearing capacity, which can ensure the stability of the robotic arm during operation.

[0038] The motion element 2 is connected to the base 1 and has multi-degree-of-freedom motion capability, which can realize flexible and precise motion control to meet the operational needs of different work scenarios;

[0039] Multiple anti-collision structures 3 are evenly distributed in key parts of the moving element 2. When encountering collisions with external objects, they can effectively absorb and disperse the impact force, protecting the moving element 2 from damage.

[0040] Multiple limiting structures 4 are used to precisely limit the range and shape of the motion element 2, and prevent the motion element 2 from being damaged by shaking or collision during the transfer and transportation process.

[0041] The actuator 5 is located at the end of the motion element 2 and is used for quick connection and disconnection with other tools or equipment, thereby expanding the functionality and application range of the intelligent robotic arm.

[0042] like Figure 2 As shown, and with reference Figure 1 The motion element 2 further includes multiple articulated arms 21 and multiple drive structures 6; specifically, each articulated arm 21 is connected to an adjacent articulated arm 21 or a base 1 through a drive structure 6, so that the articulated arms 21 can rotate relative to each other or rotate based on the base 1, thereby realizing the multi-degree-of-freedom motion of the robotic arm.

[0043] The drive structure 6 can be a motor or a hydraulic system to provide stable power for the rotation of the articulated arm 21, ensuring that the robotic arm can maintain precision and smoothness when performing various complex actions;

[0044] Based on the above, a control component (not shown in the figure) is also included for rotating the multiple articulated arms 21 in a specified direction to a specified angle.

[0045] The control components further include multiple sensors and a programmable controller; specifically, each sensor is mounted on the corresponding articulated arm 21 to sense the rotation angle of the articulated arm 21 in real time and feed the angle information back to the programmable controller; the programmable controller then precisely controls the rotation of each articulated arm 21 through the drive structure 6 according to the preset program and the angle information fed back by the sensor, so that it rotates to a specified angle in a specified direction, thereby realizing the precise movement and efficient operation of the robotic arm.

[0046] In some embodiments, the sensor is an angle encoder or a rotary potentiometer, which can accurately capture minute rotational changes of the articulated arm 21 and provide precise angle data for the programmable controller;

[0047] A programmable logic controller (PLC) is a microprocessor-based intelligent control device with data processing capabilities and programming functions. It has a preset control program stored inside, which can be customized and modified according to actual needs to adapt to different working environments and task requirements. After receiving angle information from the sensor, the PLC will perform calculations and analysis, and then precisely control the rotation of the articulated arm 21 through the drive structure 6 to ensure that the robotic arm can complete various complex actions according to the predetermined trajectory and speed.

[0048] In some embodiments, such as Figure 3 As shown, and with reference Figure 2 The drive structure 6 includes a motor 61 that directly drives the joint arm 21 to rotate and / or a transmission component 62 that indirectly drives the joint arm 21 to rotate; specifically, the motor 61 is preferably a servo motor or a stepper motor, which can quickly and accurately drive the joint arm 21 to rotate to a specified angle according to the instructions issued by the programmable controller.

[0049] The transmission component 62 can be a gear transmission component or a belt transmission component, which uses the friction of the belt to transmit power so that the joint arm 21 can rotate as required.

[0050] The motor 61 and the transmission component 62 can be used independently, or they can be combined to drive the joint arm 21 to rotate, depending on the actual design requirements and the performance requirements of the robotic arm, so as to achieve the best driving effect and the working performance of the robotic arm.

[0051] In some embodiments, as shown in the figure, the transmission component 62 further includes a first pulley 621, a second pulley 622, and a synchronous belt 623; specifically, the first pulley 621 and the motor 61 are coaxially fixed by means of key connection or other means to ensure that the rotation of the motor 61 can be directly transmitted to the first pulley 621;

[0052] The second pulley 622 is coaxially assembled with the articulated arm 21 using the same connection method described above, ensuring synchronous rotation. The synchronous belt 623 is made of a high-strength, wear-resistant, and elastic material, with teeth on its inner surface matching the tooth profiles of the first pulley 621 and the second pulley 622, transmitting power through tooth meshing. Thus, after the motor 61 starts, it drives the first pulley 621 to rotate, and the first pulley 621 transmits power to the second pulley 622 via the synchronous belt 623, thereby driving the articulated arm 21 to rotate according to predetermined requirements, realizing coordinated movement between the various parts of the robotic arm.

[0053] like Figure 4 As shown, the actuator 5 further includes a second mounting part 51 and a clamping member (not shown in the figure); specifically, the second mounting part 51 is fixed to the end joint arm 21 by means of bolt connection or snap connection; the clamping member adopts an adjustable design, which can be flexibly adjusted according to the size and shape of different peripherals to achieve stable clamping of peripherals.

[0054] For example, the clamping component is an adjustable mechanical claw structure, which consists of multiple independently movable claws. Each claw has anti-slip textures to increase the friction between the claw and the peripheral device and prevent the peripheral device from slipping during clamping.

[0055] Alternatively, the clamping component is an elastic strap structure, which utilizes the elasticity of the elastic material to adapt to peripherals of different sizes, and uses a locking device on the strap to fasten the peripherals.

[0056] Alternatively, the clamping component can be a magnetic structure, with an electromagnet installed on the second mounting part 51. By controlling the on and off of the electromagnet, magnetic peripherals can be attracted or released, achieving fast and stable clamping and releasing operations.

[0057] In some embodiments, as shown in the figure, the second mounting part 51 further includes a disk 511 and a plurality of first connecting holes 512. Specifically, the disk 511 is fixed to the articulated arm 21 by welding or integral forming to ensure the stability of the connection. The plurality of first connecting holes 512 are evenly distributed on the disk 511. The diameter of these first connecting holes 512 is designed according to actual needs and can be adapted to clamping member connecting components of different specifications so that the clamping member can be reliably installed on the second mounting part 51, thereby meeting the clamping and fixing requirements of different peripherals in different scenarios.

[0058] The external device can be a fire monitor, which is securely installed on the second mounting part 51 by clamping components to ensure that the fire monitor will not be affected by shaking during operation, thus ensuring the spraying accuracy is not affected.

[0059] Alternatively, it can be an external component of fire-fighting demolition tools, such as hydraulic shears or spreaders. It also utilizes the first connecting hole 512 on the second mounting part 51 to cooperate with the clamping component to reliably fix the demolition tool so that demolition operations can be carried out quickly and effectively at the rescue site, thereby improving rescue efficiency.

[0060] like Figure 5 As shown, each of the multiple anti-collision structures 3 further includes a first mounting part 31, a fixing structure 32, and a buffer part 33; specifically, the first mounting part 31 is closely integrated with the motion element 2 and moves together with the motion element 2 during the movement of the robotic arm, playing the role of bearing and connecting the buffer part 33.

[0061] The fixing structure 32 is used to fix the buffer part 33 to the first mounting part 31 to ensure that the buffer part 33 will not fall off when it is hit.

[0062] The buffer 33 is used to absorb the collision energy through its own elastic deformation when the robotic arm collides with an external object during its movement, effectively reducing the impact of the collision on the internal components of the robotic arm, protecting the robotic arm from damage, and extending its service life.

[0063] It should be noted that the multiple anti-collision structures 3 include, but are not limited to, the layout shown in the figure. They can also be arranged around the surface of the moving element 2 without affecting the rotation of the moving element 2, to build a comprehensive anti-collision protection layer. This will further improve the anti-collision performance of the robotic arm in complex environments and ensure that even if the robotic arm is involved in an accidental collision while performing a task, the damage can be minimized and the normal operation function can be maintained.

[0064] In some embodiments, as shown in the figure, the first mounting part 31 further includes a base 311; the base 311 is made of a high-strength material to ensure that it can withstand various stresses generated during the movement of the robotic arm, while providing a stable and reliable mounting foundation for the fixed structure 32.

[0065] The fixing structure 32 further includes a set of slots 321, a set of plates 322, a top plate 323, and multiple second connecting holes 324; specifically, a set of slots 321 are evenly distributed on one side of the base 311, and their shape and size are adapted to a set of plates 322, so that the plates 322 can accurately enter the slots 321 to achieve preliminary positioning and fixing.

[0066] A set of card plates 322 are connected to the top plate 323 to form a whole, which enhances the strength and stability of the fixing structure 32 and can effectively resist the impact force generated during collision;

[0067] Multiple second connection holes 324 are evenly distributed on the corresponding positions of the base 311 and a set of clamping plates 322. By locking the bolts, the clamping plates 322 can be firmly fixed in the clamping slots 321 to prevent the clamping plates 322 from falling off when the robotic arm moves or is hit by a collision, thereby ensuring that the anti-collision structure 3 can continue to function effectively.

[0068] The buffer section 33 includes a plurality of energy-absorbing plates 331 that are equidistantly fixed to the top of the card plate 322, and baffles 332 that are fixed to the top of the plurality of energy-absorbing plates 331.

[0069] The buffer section 33 further includes multiple energy-absorbing plates 331 and baffles 332; specifically, the multiple energy-absorbing plates 331 are made of materials with high elasticity and high toughness, and when the robotic arm is hit by a collision, they can absorb and disperse the collision energy through their own deformation, effectively reducing the impact of the collision on the internal structure of the robotic arm.

[0070] The baffle 332 is made of high-strength, impact-resistant material. At the same time, the baffle 332 is closely connected with multiple energy-absorbing plates 331 to form an integrated buffer system to cope with various complex collision situations.

[0071] like Figure 6 As shown, each of the multiple limiting structures 4 further includes a first connecting part 41, a second connecting part 42, and a stopper 43. Specifically, the first connecting part 41 and the second connecting part 42 are reliably connected to the base 1 and the motion element 2, respectively. The stopper 43 can effectively prevent the first connecting part 41 and the second connecting part 42 from being misaligned, ensuring that they always maintain the same alignment, thereby keeping the motion element 2 in the specified fixed posture, ensuring that the robotic arm will not shake or shift during transfer and transportation, and avoiding damage caused by collisions or falls due to shaking or shifting during transfer and transportation.

[0072] In some embodiments, as shown in the figure, the first connecting portion 41 and the second connecting portion 42 both further include a hole seat 411 or a third connecting hole 412; the stop member 43 further includes a columnar body; specifically, the hole seat 411 or the third connecting hole 412 can be fixed between multiple bases 1 and multiple articulated arms 21, provided that it is aligned with another upper hole seat 411 or the third connecting hole 412 in rotation.

[0073] When the columnar body is aligned with the hole seat 411 or the third connecting hole 412 of the first connecting part 41 and the second connecting part 42, it can lock into the hole seat 411 or the third connecting hole 412. Thus, when the robotic arm needs to fix its posture for transfer and transportation, the drive structure 6 drives multiple articulated arms 21 to rotate until the first connecting part 41 and the second connecting part 42 are aligned. Simply insert the columnar body accurately into the corresponding hole seat 411 or the third connecting hole 412 to achieve fast and reliable locking, effectively preventing relative misalignment between the first connecting part 41 and the second connecting part 42 and ensuring the stability of the robotic arm during the transfer and transportation process.

[0074] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the present utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present utility model, thereby enabling those skilled in the art to better understand and utilize it. The present utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A smart robotic arm, comprising a base (1), a motion element (2) connected to the base (1), and an actuator (5) located at the end of the motion element (2), characterized in that, Also includes: Multiple anti-collision structures (3) each include a first mounting part (31) that is integral with the moving element (2), and a buffer part (33) that is fixed to the first mounting part (31) by a fixing structure (32); as well as Multiple limiting structures (4) include a first connecting part (41) and a second connecting part (42) connected between the base (1) and the moving element (2), and a stop (43) capable of keeping the first connecting part (41) and the second connecting part (42) aligned in the same direction.

2. The intelligent robotic arm according to claim 1, characterized in that, The motion element (2) includes a plurality of articulated arms (21) that are rotatably connected between the base (1) and the actuator (5) in sequence, and a drive structure (6) that drives the articulated arms (21) to rotate.

3. The intelligent robotic arm according to claim 2, characterized in that, It also includes a control component, which includes sensors for sensing the rotation angle of multiple articulated arms (21) and a programmable controller capable of rotating the multiple articulated arms (21) to a specified angle via the drive structure (6).

4. The intelligent robotic arm according to claim 2, characterized in that, The drive structure (6) includes a motor (61) that directly drives the joint arm (21) to rotate and / or a transmission component (62) that indirectly drives the joint arm (21) to rotate. The transmission component (62) includes a first pulley (621) coaxially connected to the motor (61), a second pulley (622) coaxially connected to one of the articulated arms (21), and a synchronous belt (623) sleeved between the first pulley (621) and the second pulley (622).

5. The intelligent robotic arm according to claim 2, characterized in that, The actuator (5) includes a second mounting portion (51) located on the articulated arm (21) furthest from the base (1), and a clamping member provided on the second mounting portion (51) for fixing the peripheral device; The second mounting part (51) includes a disc (511) fixed on the articulated arm (21) and a plurality of first connecting holes (512) formed on the disc (511) for connecting the clamping member.

6. The intelligent robotic arm according to claim 2, characterized in that, The first mounting part (31) includes a base (311) covering the outer side of the articulated arm (21); The fixing structure (32) includes a set of card plates (322) that can enter the card slot (321) opened from one side of the base (311) into the base (311), a top plate (323) that connects the set of card plates (322) into one piece, and a plurality of second connecting holes (324) opened between the base (311) and the set of card plates (322) and that can prevent the card plates (322) from disengaging from the card slot (321) by locking in bolts; The buffer section (33) includes a plurality of energy-absorbing plates (331) fixed at equal intervals on the top of the card plate (322), and baffles (332) fixed on the top of the plurality of energy-absorbing plates (331).

7. The intelligent robotic arm according to claim 2, characterized in that, The first connecting part (41) and the second connecting part (42) both include a hole seat (411) or a third connecting hole (412) located between the base (1) and the plurality of articulated arms (21); The stop (43) includes a column that can lock into the hole seat (411) or the third connecting hole (412).

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