Robotic arm device and photovoltaic cleaning robot

Abstract

The utility model discloses a kind of mechanical arm device and photovoltaic cleaning robot.Mechanical arm device includes first mechanical arm, second mechanical arm and flexible adjusting mechanism.Second mechanical arm is rotatably connected with first mechanical arm.Flexible adjusting mechanism includes at least two driving members and flexible adjusting assembly, one end of at least two driving members is rotatably connected with first mechanical arm, one end of flexible adjusting assembly is connected with second mechanical arm, at least two driving members are configured to adjust the angle between first mechanical arm and second mechanical arm, the other end of at least two driving members is rotatably connected with flexible adjusting assembly.Flexible adjusting assembly is configured to adjust the running deviation of at least two driving members.Setting like this, reduce the damage rate of driving member.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaics, and in particular to a robotic arm device and a photovoltaic cleaning robot. Background Technology

[0002] Currently, existing photovoltaic cleaning robots use a single push rod to adjust the angle of their robotic arm. However, a single push rod cannot achieve both high thrust and high execution speed. Therefore, two push rods can be connected in parallel to solve the problem of thrust and execution speed. However, the application of dual push rods also has its problems. On the one hand, the precision of the push rods themselves causes slight deviations in the extension and retraction of the two push rods under the same program control; on the other hand, the influence of installation precision causes deviations in the operation of the two push rods, making them prone to damage.

[0003] Therefore, it is necessary to provide a robotic arm device and a photovoltaic cleaning robot to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm device that can adjust the running deviation of at least two driving components, thereby reducing the damage rate of the driving components.

[0005] To achieve the above objectives, this utility model adopts the following technical solution one:

[0006] A robotic arm device, comprising:

[0007] First robotic arm;

[0008] A second robotic arm, which is rotatably connected to the first robotic arm;

[0009] A flexible adjustment mechanism includes at least two driving members and a flexible adjustment assembly. One end of each of the at least two driving members is rotatably connected to the first robotic arm, and one end of the flexible adjustment assembly is connected to the second robotic arm. The at least two driving members are configured to adjust the angle between the first robotic arm and the second robotic arm. The other end of each of the at least two driving members is rotatably connected to the flexible adjustment assembly, and the flexible adjustment assembly is configured to adjust the running deviation of the at least two driving members.

[0010] Furthermore, the flexible adjustment component includes a first adjustment block, a second adjustment block, and an elastic element. The first adjustment block and the second adjustment block are rotatably connected. The elastic element is disposed between the first adjustment block and the second adjustment block. The second adjustment block is rotatably connected to the driving element. The first adjustment block is connected to the second robotic arm.

[0011] Furthermore, the first adjusting block includes a first adjusting plate and a first rotating part disposed in the middle of the first adjusting plate; the second adjusting block includes a second adjusting plate and a second rotating part disposed in the middle of the second adjusting plate, wherein the first rotating part and the second rotating part are rotatably connected face to face.

[0012] Furthermore, one of the first rotating part or the second rotating part is a recessed structure, and the other of the first rotating part or the second rotating part is a protruding structure, wherein the recessed structure and the protruding structure are connected in a cooperative manner.

[0013] Furthermore, the first adjusting plate is provided with two first positioning posts, which are respectively arranged on both sides of the first rotating part along the length direction of the first adjusting plate. The second adjusting block is provided with two second positioning posts, which are respectively arranged on opposite sides of the second rotating part along the length direction of the second adjusting plate. The first positioning posts and the second positioning posts are arranged face to face. The opposite ends of the elastic element are respectively connected to the first positioning posts and the second positioning posts.

[0014] Furthermore, the flexible adjustment mechanism also includes two limiting blocks, which are respectively disposed on both sides of the width direction of the second adjustment plate. The width direction is perpendicular to the length direction. When the first rotating part and the second rotating part are snapped together, the first rotating part and the second rotating part are located in the middle of the two limiting blocks and abut against the two limiting blocks respectively.

[0015] Furthermore, the flexible adjustment mechanism also includes several fasteners, and the limiting block is fixed to the side of the second adjustment block by the fasteners.

[0016] Furthermore, the elastic element is a spring.

[0017] Furthermore, the second adjusting block is also provided with two fixed seats, which are arranged opposite to the second rotating part, and the driving end of the driving member is rotatably connected to the fixed seats.

[0018] To achieve the above objectives, this utility model adopts the following technical solution two:

[0019] A photovoltaic cleaning robot includes a robotic arm device as described above.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] This utility model discloses a robotic arm device, which includes a first robotic arm, a second robotic arm, and a flexible adjustment mechanism. The first robotic arm and the second robotic arm are rotatably connected. The flexible adjustment mechanism includes at least two driving members and a flexible adjustment assembly. One end of each of the at least two driving members is rotatably connected to the first robotic arm, and one end of the flexible adjustment assembly is connected to the second robotic arm. The at least two driving members are configured to adjust the angles of the first and second robotic arms, and the other end of each driving member is rotatably connected to the flexible adjustment assembly. The flexible adjustment assembly is configured to adjust the operating deviation of the at least two driving members, thereby providing protection for the driving members. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of the robotic arm device of this utility model;

[0023] Figure 2 yes Figure 1 A magnified view of part A in the middle;

[0024] Figure 3 yes Figure 1 A three-dimensional schematic diagram of the flexible adjustment mechanism;

[0025] Figure 4 yes Figure 3 A three-dimensional schematic diagram of the flexible adjustment component;

[0026] Figure 5 yes Figure 4 A three-dimensional exploded view;

[0027] Figure 6 yes Figure 4 Another perspective of the three-dimensional breakdown diagram;

[0028] Figure 7 yes Figure 6 A three-dimensional exploded view of the first and second adjustment blocks.

[0029] Explanation of reference numerals in the attached figures:

[0030] 10. Robotic arm device;

[0031] 1. First robotic arm; 2. Second robotic arm; 4. Third robotic arm; 5. Gripper mechanism;

[0032] 3. Flexible adjustment mechanism; 31. Driving component; 311. Body; 312. Push rod; 313. Motor; 32. Flexible adjustment assembly; 321. First adjusting block; 3211. First adjusting plate; 3212. First rotating part; 32121. First arc-shaped arm; 32122. Second arc-shaped arm; 3213. First positioning post; 322. Second adjusting block; 3221. Second adjusting plate; 3222. Second rotating part; 301. Groove; 302. Opening; 3223. Second positioning post; 323. Elastic element; 324. Limiting block; 325. Fastener; 326. Fixed seat; 3261. First fixed plate; 3262. Second fixed plate. Detailed Implementation

[0033] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. If several embodiments exist, features in these embodiments may be combined with each other without conflict. When the description refers to the drawings, unless otherwise stated, the same numbers in different drawings represent the same or similar elements. The descriptions in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of apparatuses, products, and / or methods consistent with some aspects of the present invention as set forth in the claims.

[0034] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of protection of this invention. The singular forms “a,” “the,” or “the” used in the specification and claims of this invention are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0035] It should be understood that the terms "first," "second," and similar words used in the specification and claims of this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish the features. Similarly, the terms "an" or "a" do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "before," "after," "upper," "lower," and similar words appearing in this utility model are for ease of explanation only and are not limited to a specific location or spatial orientation. The terms "comprising" or "including" are an open-ended expression, meaning that the element preceding "comprising" or "including" covers the element following "comprising" or "including" and its equivalents, which does not exclude that the element preceding "comprising" or "including" may also include other elements. In this utility model, the word "several" means two or more.

[0036] Please refer to Figures 1 to 7This utility model discloses a robotic arm device 10, which includes a first robotic arm 1, a second robotic arm 2, and a flexible adjustment mechanism 3. The first robotic arm 1 and the second robotic arm 2 are rotatably connected. The flexible adjustment mechanism 3 includes at least two driving members 31 and a flexible adjustment component 32. One end of each of the at least two driving members 31 is rotatably connected to the first robotic arm 1, and one end of the flexible adjustment component 32 is connected to the second robotic arm 2. The at least two driving members 31 are configured to adjust the angle of the first robotic arm 1 and the second robotic arm 2. The other end of each of the at least two driving members 31 is rotatably connected to the flexible adjustment component 32. The flexible adjustment component 32 is configured to adjust the running deviation of the at least two driving members 31, thereby providing protection for the driving members 31.

[0037] Please refer to Figures 2 to 3 In this embodiment, the driving component 31 includes a body 311, a push rod 312 telescopically disposed within the body 311, and a motor 313 disposed within the body 311. The driving end of the motor 313 is connected to the push rod 312 to drive the push rod 312 to telescopically move within the body 311. The body 311 is rotatably connected to the first robotic arm 1 via a pin. The free end of the push rod 312 is connected to the second robotic arm 2 via a flexible adjustment component 32 to ensure that the ends of the push rods 312 of at least two driving components 31 maintain a certain balance when driven simultaneously, avoiding deformation and damage to the push rod 312 due to radial force caused by one being faster than the other. In this embodiment, there are two driving components 31 arranged side by side. By using two driving components 31, the thrust and speed of the robotic arm device 10 are increased, thereby improving work efficiency.

[0038] Please refer to Figures 3 to 7 The flexible adjustment component 32 includes a first adjustment block 321, a second adjustment block 322, and an elastic member 323. The first adjustment block 321 and the second adjustment block 322 are rotatably connected, and the elastic member 323 is disposed between the first adjustment block 321 and the second adjustment block 322. The second adjustment block 322 is rotatably connected to the drive member 31, and the first adjustment block 321 is connected to the second robotic arm 2. Specifically, the first adjustment block 321 is disposed above the second adjustment block 322. The first adjustment block 321 includes a first adjustment plate 3211 and a first rotating part 3212 disposed in the middle of the first adjustment plate 3211. The second adjustment block 322 includes a second adjustment plate 3221 and a second rotating part 3222 disposed in the middle of the second adjustment plate 3221. The first rotating part 3212 and the second rotating part 3222 are rotatably connected face-to-face. When the driving ends of the two driving components 31 are rotatably connected to the second adjusting block 322, if there is a height difference between the two driving components 31, the first adjusting block 321 rotates relative to the second adjusting block 322 to adjust the height difference between the two driving components 31 and protect the driving components 31 from damage.

[0039] In the first embodiment, the first rotating part 3212 is a recessed structure, and the second rotating part 3222 is a protruding structure, with the recessed structure and the protruding structure cooperating and connected. Specifically, the first rotating part 3212 includes a first arcuate arm 32121 and a second arcuate arm 32122. The first arcuate arm 32121 and the second arcuate arm 32122 are disposed at the bottom of the first adjusting plate 3211 along the length direction D1-D1 of the first adjusting plate 3211. The first arcuate arm 32121 and the second arcuate arm 32122 are arranged opposite to each other and symmetrically. The first arcuate arm 32121 and the second arcuate arm 32122 gradually approach each other from the first adjusting plate 3211 downward to form a groove 301. The groove 301 has an opening 302 facing the second rotating part 3222. The second rotating part 3222 is disposed on the top of the second adjusting plate 3221. The second rotating part 3222 enters the groove 301 through the opening 302, so that the first rotating part 3212 and the second rotating part 3222 are engaged. Preferably, the cross-sectional shape of the groove 301 formed by the first arc-shaped arm 32121 and the second arc-shaped arm 32122 is consistent with the cross-sectional shape of the second rotating part 3222, that is, the cross-sectional shape of the groove 301 and the cross-sectional shape of the second rotating part 3222 are both arc-shaped. When the second rotating part 3222 is engaged in the groove 301 through the opening 302, the second rotating part 3222 is engaged with the first rotating part 3212, and the second rotating part 3222 rotates in the groove 301, so that the first adjusting block 321 and the second adjusting block 322 can form a seesaw structure for adjustment, thereby achieving the purpose of adjusting the running deviation of the two driving members 31.

[0040] In the second embodiment, the first rotating part 3212 is a protruding structure, and the second rotating part 3222 is a recessed structure. The first rotating part 3212 and the second rotating part 3222 are snap-fitted together. The first rotating part 3212 rotates within the groove 301, allowing the first adjusting block 321 and the second adjusting block 322 to form a seesaw structure for adjustment, thereby achieving the purpose of adjusting the running deviation of the two driving components 31.

[0041] In the third embodiment, both the first rotating part 3212 and the second rotating part 3222 are protruding structures. The first rotating part 3212 and the second rotating part 3222 are fixedly connected by a pin, so that the first adjusting block 321 and the second adjusting block 322 can be adjusted, thereby achieving the purpose of adjusting the running deviation of the two driving components 31.

[0042] Please refer to Figures 6 to 7The first adjusting plate 3211 is provided with two first positioning posts 3213, which are respectively arranged on both sides of the first rotating part 3212 along the length direction D1-D1 of the first adjusting plate 3211. The second adjusting block 322 is provided with two second positioning posts 3223, which are respectively arranged on opposite sides of the second rotating part 3222 along the length direction D1-D1 of the second adjusting plate 3221. The first positioning posts 3213 and the second positioning posts 3223 are arranged face to face. The opposite ends of the elastic element 323 are respectively connected to the first positioning posts 3213 and the second positioning posts 3223. By providing the elastic element 323, the second adjusting block 322 can be reset in time after adjusting the running deviation of the driving member 31, so that the second adjusting block 322 can adjust the running deviation of the two driving members 31 again next time. In this embodiment, the elastic element 323 is a spring.

[0043] Please refer to Figures 5 to 7 The flexible adjustment mechanism 3 also includes two limiting blocks 324, which are respectively disposed on both sides of the width direction D2-D2 of the second adjustment plate 3221, with the width direction D2-D2 perpendicular to the length direction. When the first rotating part 3212 and the second rotating part 3222 are snapped together, the first rotating part 3212 and the second rotating part 3222 are located between the two limiting blocks 324 and abut against the two limiting blocks 324 respectively. The two limiting blocks 324 are respectively disposed on opposite sides of the width direction D2-D2 of the second rotating part 3222. Viewed from the width direction D2-D2 of the second adjustment block 322, the projected area of ​​the second rotating part 3222 is smaller than the projected area of ​​the limiting block 324. Thus, when the first rotating part 3212 and the second rotating part 3222 are connected, at least a portion of the first rotating part 3212 abuts against the limiting block 324. In other words, the two limiting blocks 324 clamp the first rotating part 3212 and the second rotating part 3222 to prevent the first rotating part 3212 and the second rotating part 3222 from separating in the width direction D2-D2, thereby improving the stability of the connection between the first adjusting plate 3211 and the second adjusting plate 3221.

[0044] Please refer to Figure 5 Preferably, the flexible adjustment mechanism 3 further includes several fasteners 325, and the limiting block 324 is fixed to the side of the second adjustment block 322 by the fasteners 325. By interlocking the first rotating part 3212 of the first adjustment plate 3211 and the second rotating part 3222 of the second adjustment plate 3221 along the width direction D2-D2, so that the first rotating part 3212 and the second rotating part 3222 are snapped together, and then the limiting block 324 is fixed to the side of the second adjustment plate 3221 by the fasteners 325, the structure is simple and easy to assemble.

[0045] Please refer to Figures 4 to 7The second adjusting block 322 is also provided with two fixed seats 326, which are arranged opposite to the second rotating part 3222. The driving end of the driving member 31 is rotatably connected to the fixed seats 326. The fixed seat 326 includes a first fixed plate 3261 and a second fixed plate 3262, which are spaced apart along the length of the second adjusting block 322. The driving end of the driving member 31 is located between the first fixed plate 3261 and the second fixed plate 3262, and is connected to the first fixed plate 3261 and the second fixed plate 3262 by bolts, so that the driving end of the driving member 31 can rotate relative to the fixed seat 326, thereby adjusting the angle between the first robotic arm 1 and the second robotic arm 2.

[0046] Please refer to Figure 1 This utility model also discloses a photovoltaic cleaning robot, which includes a robotic arm device 10. The photovoltaic cleaning robot also includes a moving device. The robotic arm device 10 is disposed on the top of the moving device. In this embodiment, the robotic arm device 10 further includes a third robotic arm 4 and a gripper mechanism 5 disposed at one end of the third robotic arm 4, the third robotic arm 4 being rotatably disposed at the end of the second robotic arm 2. By providing a flexible adjustment mechanism 3 between at least two driving members 31 and the second robotic arm 2, the operating deviation of at least two driving members 31 can be adjusted, thereby protecting the driving members 31 and reducing the overall maintenance cost of the photovoltaic cleaning robot.

[0047] In summary, this utility model discloses a robotic arm device 10, which includes a first robotic arm 1, a second robotic arm 2, and a flexible adjustment mechanism 3. The first robotic arm 1 and the second robotic arm 2 are rotatably connected. The flexible adjustment mechanism 3 includes at least two driving members 31 and a flexible adjustment component 32. One end of each of the at least two driving members 31 is rotatably connected to the first robotic arm 1, and one end of the flexible adjustment component 32 is connected to the second robotic arm 2. The at least two driving members 31 are configured to adjust the angles of the first robotic arm 1 and the second robotic arm 2. The other end of each of the at least two driving members 31 is rotatably connected to the flexible adjustment component 32, and the flexible adjustment component 32 is configured to adjust the operating deviation of the at least two driving members 31, thereby providing protection for the driving members 31.

[0048] The above embodiments are only for illustration and not for limiting the technical solutions described in this utility model. The understanding of this specification should be based on those skilled in the art. For example, the directional descriptions such as "front", "back", "left", "right", "up", and "down" are important. Although this specification has described the present invention in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to this utility model. All technical solutions and improvements that do not depart from the spirit and scope of this utility model should be covered within the scope of the claims of this utility model.

Claims

1. A robot arm device, characterized in that, include: First robotic arm (1); The second robotic arm (2) is rotatably connected to the first robotic arm (1); A flexible adjustment mechanism (3) is provided, comprising at least two drive members (31) and a flexible adjustment assembly (32). One end of each of the at least two drive members (31) is rotatably connected to the first robotic arm (1), and one end of the flexible adjustment assembly (32) is connected to the second robotic arm (2). The at least two drive members (31) are configured to adjust the angle between the first robotic arm (1) and the second robotic arm (2). The other end of each of the at least two drive members (31) is rotatably connected to the flexible adjustment assembly (32), and the flexible adjustment assembly (32) is configured to adjust the running deviation of the at least two drive members (31).

2. The robot arm apparatus of claim 1, wherein: The flexible adjustment component (32) includes a first adjustment block (321), a second adjustment block (322), and an elastic element (323). The first adjustment block (321) and the second adjustment block (322) are rotatably connected. The elastic element (323) is disposed between the first adjustment block (321) and the second adjustment block (322). The second adjustment block (322) is rotatably connected to the drive element (31). The first adjustment block (321) is connected to the second robotic arm (2).

3. The robot arm apparatus of claim 2, wherein: The first adjusting block (321) includes a first adjusting plate (3211) and a first rotating part (3212) disposed in the middle of the first adjusting plate (3211); the second adjusting block (322) includes a second adjusting plate (3221) and a second rotating part (3222) disposed in the middle of the second adjusting plate (3221), wherein the first rotating part (3212) and the second rotating part (3222) are rotatably connected face to face.

4. The robot arm apparatus of claim 3, wherein: One of the first rotating part (3212) or the second rotating part (3222) is a recessed structure, and the other of the first rotating part (3212) or the second rotating part (3222) is a protruding structure, wherein the recessed structure and the protruding structure are connected in a cooperative manner.

5. The robotic arm apparatus of claim 3, wherein: The first adjusting plate (3211) is provided with two first positioning posts (3213), which are respectively arranged on both sides of the first rotating part (3212) along the length direction of the first adjusting plate (3211). The second adjusting block (322) is provided with two second positioning posts (3223), which are respectively arranged on opposite sides of the second rotating part (3222) along the length direction of the second adjusting plate (3221). The first positioning posts (3213) and the second positioning posts (3223) are arranged face to face. The opposite ends of the elastic member (323) are respectively connected to the first positioning post (3213) and the second positioning post (3223).

6. The robotic arm apparatus of claim 5, wherein: The flexible adjustment mechanism (3) further includes two limiting blocks (324), which are respectively disposed on both sides of the width direction of the second adjustment plate (3221). The width direction is perpendicular to the length direction. When the first rotating part (3212) and the second rotating part (3222) are snapped together, the first rotating part (3212) and the second rotating part (3222) are located in the middle of the two limiting blocks (324) and abut against the two limiting blocks (324) respectively.

7. The robot arm apparatus of claim 6, wherein: The flexible adjustment mechanism (3) also includes several fasteners (325), and the limiting block (324) is fixed to the side of the second adjustment block (322) by the fasteners (325).

8. The robotic arm apparatus of claim 2, wherein: The elastic element (323) is a spring.

9. The robotic arm apparatus of claim 3, wherein: The second adjusting block (322) is also provided with two fixed seats (326), which are arranged opposite to the second rotating part (3222), and the driving end of the driving member (31) is rotatably connected to the fixed seats (326).

10. A photovoltaic cleaning robot, characterized by: Includes the robotic arm device as described in any one of claims 1-9.

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