A wheel-legged robot mechanical arm auxiliary connecting device

Abstract

The utility model discloses a wheel foot formula robot mechanical arm auxiliary connecting device relates to detection equipment technical field, including mechanical dog still includes multiaxis mechanical arm, axle head, work unit and dismounting mechanism, multiaxis mechanical arm sets up on the upper end of mechanical dog, axle head is through the pivot swing and is set to one end of multiaxis mechanical arm, work unit sets up in the lower end of axle head, dismounting mechanism sets up between work unit and axle head, is used for realizing the installation and dismounting of work unit, wherein, the dismounting mechanism includes the connecting flange setting in the lower end of axle head, the connecting piece setting in the lower end of connecting flange, the fixed setting of the connecting head of work unit upper end and the locking assembly setting between connecting piece and connecting head, can make connecting piece and connecting head realize connection or separation. The wheel foot formula robot mechanical arm auxiliary connecting device, realized the technical effect of the quick replacement of work unit without tools.

Description

Technical Field

[0001] This utility model relates to the field of testing equipment technology, and in particular to an auxiliary connection device for a wheel-legged robot arm. Background Technology

[0002] With the rapid development of modern urban rail transit systems, higher demands are placed on the safety inspection and maintenance of subway vehicles, tracks, and related facilities. Traditional inspection methods rely on manual inspections, which are not only inefficient but also pose significant safety hazards. To address this, wheeled-legged robots have emerged. These robots combine the high speed of wheeled mobile platforms with the all-terrain capability of legged robots, enabling them to flexibly adapt to complex underground tunnel environments. Equipped with multi-sensor fusion technology, a precise robotic arm control system, and advanced AI algorithms, they achieve efficient, accurate, and safe inspection of subway vehicles, tracks, and related facilities.

[0003] However, in practical applications, existing wheeled robots typically require a robotic arm to perform maintenance tasks. Furthermore, the end effector of this arm needs to be equipped with various work units, such as high-definition cameras, precision flaw detectors, and multi-functional grippers, depending on the specific task requirements. Currently, the installation of these work units mostly relies on traditional bolt fixing or other complex connection devices. This necessitates the use of specialized tools to tighten or loosen multiple screws individually when replacing work units with different functions, resulting in cumbersome and time-consuming operations that severely impact work efficiency.

[0004] Therefore, how to provide an auxiliary connection device for wheeled robot arms that can quickly change working units without tools, thereby improving the convenience and efficiency of on-site operation, is a technical problem that needs to be solved by those skilled in the art. Utility Model Content

[0005] The purpose of this invention is to provide an auxiliary connection device for a wheel-legged robot arm, which solves the technical problem of cumbersome and time-consuming operation for changing existing work units.

[0006] To achieve the above objectives, this utility model provides an auxiliary connection device for a wheel-legged robot arm, including a robot dog, a multi-axis robot arm, a shaft head, a working unit, and a disassembly and assembly mechanism.

[0007] The multi-axis robotic arm is mounted on the upper end of the robotic dog;

[0008] The shaft head is movably mounted at one end of the multi-axis robotic arm via a rotating shaft;

[0009] The working unit is located at the lower end of the shaft head;

[0010] The disassembly and assembly mechanism is disposed between the working unit and the shaft head, and is used to realize the installation and disassembly of the working unit;

[0011] The disassembly and assembly mechanism includes a connecting flange disposed at the lower end of the shaft head, a connecting piece disposed at the lower end of the connecting flange, a connecting head fixedly disposed at the upper end of the working unit, and a locking component disposed between the connecting piece and the connecting head, which can enable the connecting piece and the connecting head to be connected or separated.

[0012] Preferably, the locking component includes:

[0013] The mounting cavity is axially located at the bottom of the connector, and its circumferential sidewalls are provided with several through-hole receiving grooves.

[0014] A plurality of limiting balls are movably disposed in the receiving groove, wherein the diameter of the receiving groove is smaller than the diameter of the limiting balls, and the limiting balls may protrude from the inner wall of the mounting cavity;

[0015] A movable sleeve is axially slidably fitted onto the outer periphery of the connector, the limiting ball is located between the connector and the movable sleeve, and the lower end of the inner wall of the movable sleeve is provided with an annular recess;

[0016] A spring is sleeved on the outside of the connector, with its two ends fixedly connected to the flange of the connector and the shoulder of the movable sleeve, respectively.

[0017] A limiting ring is provided on the outer periphery of the connector, and the outer peripheral surface of the limiting ring is provided with an arc-shaped limiting groove.

[0018] Preferably, the connector has a plug at its top end, and the mounting cavity of the connector has a corresponding slot. The plug can be inserted into the slot to achieve axial positioning between the connector and the connector.

[0019] Preferably, the surface of the insert block is provided with a groove, and the slot is fixedly provided with a protrusion corresponding to the shape of the groove, which is used to limit the insertion direction of the insert block.

[0020] Preferably, both the connecting flange and the shaft head surface are provided with multiple mounting holes.

[0021] Preferably, the multi-axis robotic arm is provided with multiple expansion interfaces on its outer side, and a rotating ring is provided on the outer side of each expansion interface. A through groove is opened on the outer side of the rotating ring, and the through groove is aligned with the corresponding expansion interface by rotating the rotating ring.

[0022] Preferably, the rotating ring is a rubber rotating ring, which is interference-fitted onto the outside of the multi-axis robotic arm.

[0023] Preferably, the multi-axis robotic arm is provided with an annular groove, and the rotating ring is interference-fitted onto the outside of the multi-axis robotic arm through the annular groove.

[0024] Preferably, the working unit is one of a camera, a flaw detector, or a gripper.

[0025] Preferably, the expansion interface is one of a USB interface, a CAN bus interface, or an RS interface.

[0026] Compared to the aforementioned background technology, the wheeled robot arm auxiliary connection device provided by this utility model, by setting an auxiliary connection device consisting of connectors, connectors and locking components at the end of the robot arm, allows operators to complete the installation and disassembly of the working unit in a short time without the need for any special tools. Compared to the traditional method of fixing with multiple screws, it simplifies the operation process and improves the response speed and operational flexibility of the wheeled robot in complex inspection tasks. Attached Figure Description

[0027] 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 embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 An isometric view of an auxiliary connection device for a wheel-legged robot arm provided in an embodiment of this utility model;

[0029] Figure 2 for Figure 1 A partial schematic diagram;

[0030] Figure 3 for Figure 2 A magnified view of a portion of the image;

[0031] Figure 4 This is a schematic diagram of the connector structure provided in an embodiment of the present utility model;

[0032] Figure 5 This is an exploded view of the disassembly and assembly mechanism provided in an embodiment of the present utility model;

[0033] Figure 6 This is an assembly diagram of the disassembly and assembly mechanism provided in an embodiment of the present utility model;

[0034] Figure 7 for Figure 5 A sectional view;

[0035] Figure 8 for Figure 6 A sectional view.

[0036] in:

[0037] 1-Mechanical dog, 2-Multi-axis robotic arm, 3-Shaft head, 4-Working unit, 5-Disassembly and assembly mechanism, 6-Extension interface, 7-Rotating ring;

[0038] 51-Connecting flange, 52-Connecting piece, 53-Connecting head, 531-Insertion block, 532-Groove, 54-Mounting cavity, 541-Slot, 55-Limiting ball, 56-Moving sleeve, 561-Annular recess, 57-Spring, 58-Limiting ring, 581-Arc-shaped limiting groove, 59-Mounting hole;

[0039] 61-Annular groove, 71-Through groove. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] See Figures 1-6 This application provides an auxiliary connection device for a wheeled robot arm, including a robot dog 1, a multi-axis robot arm 2, a shaft head 3, a working unit 4, and a disassembly / assembly mechanism 5. The multi-axis robot arm 2 is disposed on the upper end of the robot dog 1. The shaft head 3 is movably disposed on one end of the multi-axis robot arm 2 via a rotating shaft. The working unit 4 is disposed on the lower end of the shaft head 3. The disassembly / assembly mechanism 5 is disposed between the working unit 4 and the shaft head 3, and is used to realize the installation and disassembly of the working unit 4. The disassembly / assembly mechanism 5 includes a connecting flange 51 disposed on the lower end of the shaft head 3, a connecting piece 52 disposed on the lower end of the connecting flange 51, a connecting head 53 fixedly disposed on the upper end of the working unit 4, and a locking component disposed between the connecting piece 52 and the connecting head 53, which can enable the connecting piece 52 and the connecting head 53 to be connected or separated.

[0043] Specifically, the multi-axis robotic arm 2 is fixedly installed on the upper end of the robotic dog 1. It is the core actuator for performing end-effector positioning and attitude adjustment. It has multiple degrees of freedom and can drive the end-effector load to move flexibly in three-dimensional space.

[0044] The shaft head 3 is rotatably connected to one end of the multi-axis robotic arm 2 via a rotating shaft. It is used to receive the end work unit 4 and realize local attitude fine adjustment. The lower end of the shaft head 3 is provided with an interface structure for connecting external functional modules.

[0045] The working unit 4 is located below the shaft head 3 and is a replaceable working module. Specifically, it can be one of a camera, a flaw detector, or a gripper, which can be quickly replaced according to different task requirements.

[0046] The disassembly and assembly mechanism 5 is located between the working unit 4 and the shaft head 3, which enables the quick installation and convenient disassembly of the working unit 4. Replacement operations can be completed without the use of additional tools, thereby improving the efficiency of on-site maintenance and task switching.

[0047] The disassembly and assembly mechanism 5 includes a connecting flange 51, a connector 52, a connector 53, and a locking assembly disposed between the connector 52 and the connector 53. The connecting flange 51 is fixed to the lower end of the shaft head 3 and is securely connected by bolts. The connector 52 is fixedly installed below the connecting flange 51 and serves as the female end component of the disassembly and assembly mechanism 5. The connector 53 is fixedly disposed at the upper end of the working unit 4 and serves as the male end component of the disassembly and assembly mechanism 5. The locking assembly is used to lock the connector 53 after it is inserted into place, or to release the locking state under manual operation, so as to realize the reliable connection or quick separation between the connector 52 and the connector 53, that is, to realize the installation and disassembly of the working unit 4, which improves the convenience and efficiency of operation. In summary, this application realizes the quick replacement of the working unit 4 without tools, which improves the convenience and efficiency of on-site operation.

[0048] Based on the above embodiments, see Figures 3-8 The locking assembly includes a mounting cavity 54 axially located at the bottom of the connector 52, with several through-holes on its circumferential sidewall; several limiting balls 55 movably disposed within the receiving grooves, the diameter of the receiving grooves being smaller than the diameter of the limiting balls 55, and the limiting balls 55 protruding from the inner wall of the mounting cavity 54; a movable sleeve 56 axially slidably sleeved on the outer periphery of the connector 52, with the limiting balls 55 located between the connector 52 and the movable sleeve 56, and an annular recess 561 at the lower end of the inner wall of the movable sleeve 56; a spring 57 sleeved on the outer side of the connector 52, with its two ends fixedly connected to the flange of the connector 52 and the shoulder of the movable sleeve 56, respectively; and a limiting ring 58 located on the outer periphery of the connector 53, with an arc-shaped limiting groove 581 on the outer circumferential surface of the limiting ring 58.

[0049] Specifically, the mounting cavity 54 is axially located at the bottom of the connector 52, and the circumferential sidewall of the mounting cavity 54 is uniformly provided with several through-hole receiving grooves. Several limiting balls 55 are movably disposed in the receiving grooves, and the diameter of the receiving groove is smaller than the diameter of the limiting balls 55, ensuring that the limiting balls 55 will not come out of the receiving groove, while ensuring that they have a certain degree of freedom of movement in the receiving groove, and that the limiting balls 55 can protrude from the inner wall of the mounting cavity 54.

[0050] The movable sleeve 56 is axially slidably fitted onto the outer periphery of the connector 52. The limiting ball 55 is located between the connector 52 and the movable sleeve 56. The lower end of the inner wall of the movable sleeve 56 is provided with an annular recess 561. When the movable sleeve 56 slides upward axially under the action of external force, the position of the annular recess 561 changes, thereby affecting the state of the limiting ball 55. The spring 57 is fitted onto the outer side of the connector 52, and its two ends are fixedly connected to the flange of the connector 52 and the shoulder of the movable sleeve 56, respectively.

[0051] When the working unit 4 needs to be installed onto the shaft head 3, the operator first applies an axial external force to push the movable sleeve 56 upward, causing it to slide along the outer periphery of the connector 52 against the elastic force of the spring 57. As the movable sleeve 56 moves upward, the annular recess 561 at the lower end of its inner wall gradually aligns with the receiving groove on the side wall of the connector 52, thereby providing space for the limiting ball 55 embedded in the receiving groove to retract radially inward. At this time, the limiting ball 55 is in the released state.

[0052] Subsequently, the connector 53 on the working unit 4 is aligned with the mounting cavity 54 at the bottom of the connector 52 and smoothly inserted axially until the connector 53 is fully in place. During insertion, the limiting ring 58 on the outer periphery of the connector 53 pushes the limiting ball 55 to slide along the inner wall of the receiving groove. When the connector 53 reaches the preset installation position, the external force applied to the movable sleeve 56 is removed. Under the action of the elastic restoring force, the spring 57 drives the movable sleeve 56 to automatically return downward, so that the annular recess 561 is misaligned with the receiving groove again. At this time, the inner wall of the movable sleeve 56 presses the limiting ball 55 to protrude into the mounting cavity 54, forcing the limiting ball 55 to be locked into the arc-shaped limiting groove 581 provided on the outer periphery of the limiting ring 58, thereby achieving axial locking and completing the reliable fixation of the connector 52 and the connector 53.

[0053] Thus, the working unit 4 is securely connected to the underside of the shaft head 3. The entire installation process can be completed without the use of any tools, requiring only one hand, which improves replacement efficiency and on-site operation convenience.

[0054] When it is necessary to disassemble the working unit 4, the operator pushes the movable sleeve 56 upward again, so that the annular recess 561 is aligned with the receiving groove again, releasing the radial constraint on the limiting ball 55. At this time, under the force of its own weight and the outward pulling force of the connector 53, the limiting ball 55 retracts along the receiving groove towards the annular recess 561, thereby disengaging from the arc-shaped limiting groove 581 and releasing the locked state. Subsequently, the operator can easily pull the connector 53 out of the mounting cavity 54, realizing the quick separation and replacement of the working unit 4.

[0055] Based on the above embodiments, see Figure 4 and Figure 7 The connector 53 has a plug 531 at its top end, which can be inserted into the slot 541 located in the mounting cavity 54 of the connector 52. The upper surface of the plug 531 is chamfered to facilitate its smooth entry into the slot 541 during the docking process, thereby improving assembly efficiency and reducing alignment difficulty.

[0056] The side of the insert 531 is provided with a groove 532, and the inner wall of the slot 541 is provided with a protrusion structure that matches the shape of the groove 532. When the insert 531 is inserted into the slot 541, the protrusion is embedded in the groove 532 to achieve circumferential positioning, prevent the connector 53 from rotating relative to the connector 52, and limit the correct insertion direction of the insert 531.

[0057] The cooperation between the insert block 531 and the slot 541 enables the dual functions of axial positioning and circumferential orientation between the connector 53 and the connector 52, ensuring the accuracy and repeatability of the mechanical connection.

[0058] Based on the above embodiments, see Figure 3 Multiple mounting holes 59 are provided on the contact mating surfaces of the connecting flange 51 and the shaft head 3 to achieve a fixed connection between the connecting flange 51 and the shaft head 3. Specifically, the mounting holes 59 penetrate the corresponding positions of the connecting flange 51 and the shaft head 3, and bolts are inserted into them to securely install the connecting flange 51 to the lower end of the shaft head 3.

[0059] Preferably, there are five mounting holes 59, four of which are evenly distributed around the outer periphery of the connecting flange 51 and the shaft head 3 to provide a balanced fastening force and ensure that the connecting surfaces are subjected to uniform force; the other mounting hole 59 is set between any two circumferential mounting holes, arranged eccentrically to form an asymmetrical structure, so that the connecting flange 51 has a uniquely determined assembly angle during installation, preventing misalignment due to rotational symmetry, thereby achieving angular orientation positioning of the connecting flange 51.

[0060] Based on the above embodiments, see Figure 3The multi-axis robotic arm 2 has multiple expansion interfaces 6 arranged circumferentially on its outer side to provide electrical connection and communication support for different functional work units 4. The expansion interfaces 6 may include common industrial communication or data transmission interfaces such as USB interface, CAN bus interface, RS485 or RS232 serial communication interface, to meet various task requirements such as high-definition video transmission, sensor signal interaction, and control command issuance, thereby improving the compatibility and expandability of the robot system.

[0061] Each expansion interface 6 is distributed around the circumference of the multi-axis robotic arm 2 on its outer shell surface and is provided with corresponding contact points or pins. To prevent dust, moisture and other contaminants in the external environment from entering the interface and causing poor contact or short circuit, a rotatable rotating ring 7 is provided on the outside of all expansion interfaces 6 for selective exposure and overall protection of the interface area.

[0062] The rotating ring 7 is a ring structure made of elastic rubber material, which has good sealing performance and wear resistance. The rotating ring 7 is fitted onto the outer periphery of the multi-axis robotic arm 2 by an interference fit, and its inner wall forms a tight fit with the outer surface of the multi-axis robotic arm 2, ensuring that it is not easy to rotate when no external force is applied, and maintaining the stability of the current position.

[0063] An annular groove 61 is provided on the outer shell of the multi-axis robotic arm 2. The rotating ring 7 is embedded in the annular groove 61 and can slide and rotate circumferentially along the groove. Through this groove structure, the axial limiting and circumferential guiding of the rotating ring 7 are realized, ensuring its smooth rotation and preventing axial displacement.

[0064] A through groove 71 is formed on the outer circumferential surface of the rotating ring 7. The width and shape of the through groove 71 are adapted to the contour of the expansion interface 6. When a specific expansion interface 6 needs to be used, the user manually rotates the rotating ring 7 to align the through groove 71 with the target interface position, thereby exposing the interface for plugging in external cables or modules. The remaining unselected expansion interfaces 6 are covered and sealed by the rubber rotating ring 7 body, effectively preventing the intrusion of dust, water droplets, oil stains, etc., and improving the reliability and service life of the equipment in complex industrial environments.

[0065] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0066] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A wheel-legged robot arm auxiliary connection device, comprising a robotic dog (1), characterized in that, It also includes a multi-axis robotic arm (2), a shaft head (3), a working unit (4), and a disassembly and assembly mechanism (5); The multi-axis robotic arm (2) is mounted on the upper end of the robotic dog (1); The shaft head (3) is movably mounted at one end of the multi-axis robotic arm (2) via a rotating shaft; The working unit (4) is located at the lower end of the shaft head (3); The disassembly and assembly mechanism (5) is located between the working unit (4) and the shaft head (3) to realize the installation and disassembly of the working unit (4); The disassembly and assembly mechanism (5) includes a connecting flange (51) disposed at the lower end of the shaft head (3), a connecting piece (52) disposed at the lower end of the connecting flange (51), a connecting head (53) fixedly disposed at the upper end of the working unit (4), and a locking component disposed between the connecting piece (52) and the connecting head (53), which can enable the connecting piece (52) and the connecting head (53) to be connected or separated.

2. The auxiliary connection device for a wheel-legged robot arm according to claim 1, characterized in that, The locking component includes: The mounting cavity (54) is axially located at the bottom of the connector (52), and its circumferential sidewalls are provided with several through-hole receiving grooves; A plurality of limiting balls (55) are movably disposed in the receiving groove, the diameter of the receiving groove is smaller than the diameter of the limiting balls (55), and the limiting balls (55) can protrude from the inner wall of the mounting cavity (54); The movable sleeve (56) is axially slidably sleeved on the outer periphery of the connector (52). The limiting ball (55) is located between the connector (52) and the movable sleeve (56). The lower end of the inner wall of the movable sleeve (56) is provided with an annular recess (561). Spring (57) is sleeved on the outside of the connector (52), and its two ends are fixedly connected to the flange of the connector (52) and the shoulder of the movable sleeve (56); A limiting ring (58) is provided on the outer periphery of the connector (53), and the outer periphery surface of the limiting ring (58) is provided with an arc-shaped limiting groove (581).

3. The auxiliary connection device for a wheel-legged robot arm according to claim 2, characterized in that, The connector (53) has a plug (531) at its top end, and the mounting cavity (54) of the connector (52) has a corresponding slot (541). The plug (531) can be inserted into the slot (541) to achieve axial positioning between the connector (53) and the connector (52).

4. The auxiliary connection device for a wheel-legged robot arm according to claim 3, characterized in that, The insert (531) has a groove (532) on its surface, and the slot (541) has a protrusion corresponding to the shape of the groove (532) fixedly arranged inside, which is used to limit the insertion direction of the insert (531).

5. The auxiliary connection device for a wheel-legged robot arm according to claim 4, characterized in that, Both the connecting flange (51) and the shaft head (3) have multiple mounting holes (59) on their surfaces.

6. The auxiliary connection device for a wheel-legged robot arm according to claim 1, characterized in that, The multi-axis robotic arm (2) has multiple expansion interfaces (6) on its outer side. The expansion interface (6) has a rotating ring (7) on its outer side. The rotating ring (7) has a through groove (71) on its outer side. By rotating the rotating ring (7), the through groove (71) is aligned with the corresponding expansion interface (6).

7. The auxiliary connection device for a wheel-legged robot arm according to claim 6, characterized in that, The rotating ring (7) is a rubber rotating ring, which is interference-fitted onto the outside of the multi-axis robotic arm (2).

8. The auxiliary connection device for a wheel-legged robot arm according to claim 7, characterized in that, The multi-axis robotic arm (2) is provided with an annular groove (61), and the rotating ring (7) is interference-fitted onto the outside of the multi-axis robotic arm (2) through the annular groove (61).

9. The auxiliary connection device for a wheel-legged robot arm according to claim 8, characterized in that, The working unit (4) is one of a camera, a flaw detector, or a gripper.

10. The auxiliary connection device for a wheel-legged robot arm according to any one of claims 6 to 9, characterized in that, The expansion interface (6) is one of the following: USB interface, CAN bus interface, and RS interface.

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