CN111515921A - Underactuated multi-connecting-rod type foldable inspection mechanical arm - Google Patents
Underactuated multi-connecting-rod type foldable inspection mechanical arm Download PDFInfo
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- CN111515921A CN111515921A CN202010515784.7A CN202010515784A CN111515921A CN 111515921 A CN111515921 A CN 111515921A CN 202010515784 A CN202010515784 A CN 202010515784A CN 111515921 A CN111515921 A CN 111515921A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention discloses an under-actuated multi-connecting-rod type foldable inspection mechanical arm, which comprises: the mechanical arm comprises a motor-driven die assembly, a rod assembly and an object stage, wherein the rod assembly is arranged on the motor-driven die assembly, and the object stage is arranged on the rod assembly; the motor driving module comprises a module fixing frame and a driving motor, and the driving motor is arranged on the module fixing frame; the lever assembly comprises at least two lever sets and a gear coupling box: wherein two adjacent rod groups are connected through one gear connecting box; the object stage is arranged at the free end of the uppermost rod group in the rod assembly; the driving motor can drive the rod assembly to expand and contract so as to meet the use requirement. The invention has the advantages of light weight of the whole machine, simple and convenient control mode, large arm expansion, small folding size, internal threading, high stability, low manufacturing and using cost and low maintenance cost.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an under-actuated multi-connecting-rod type foldable inspection mechanical arm.
Background
The inspection robot is a special robot for patrolling inspection and collecting relevant information in a specific environment, and generally comprises a mobile platform and a lifting structure. At present, two types of lifting structures with large use amount in practical use mainly lift by hydraulic drive and lift by motor drive, the lifting structure by hydraulic drive is generally used in heavy-load low-speed occasions, and the lifting structure by motor drive is generally used in light-load medium-high-speed occasions. At present, the lifting device used in the inspection field is generally powered by a storage battery due to the requirements of use environment and application occasions, and the tail end load is lighter, so that the lifting device is driven by a motor more commonly. At present, the most common inspection lifting arm has two forms, the first form is: the lifting arm of the similar common cooperative robot arm is characterized in that a motor driving module is arranged at each degree of freedom position, and a target object at the tail end of the mechanical arm is conveyed to a specified position through the cooperative operation of the motor driving modules at the various degree of freedom positions; the second form is: the under-actuated multi-link type lifting arm is characterized in that the number of driving motors of the mechanical arm is smaller than the number of degrees of freedom of the mechanical arm, and the driving motors are matched with one or more groups of multi-link structures, and the whole mechanical arm structure can still be extended and retracted under the condition that the number of the driving motors is smaller than the degree of freedom of the mechanism by adopting a fixed hinging or sliding hinging mode, so that a target object at the tail end of the mechanical arm can be conveyed to a specified position. The lifting arm similar to the common cooperative robot arm is essentially a cooperative mechanical arm, and only the number of the degrees of freedom and the arrangement mode of the degrees of freedom are not the same as those of the common cooperative robot arm, so that the lifting arm has the advantages of high precision, flexible movement space, high speed and the like, but has the defects of high cost, large whole machine weight, large control difficulty and the like in most inspection fields; compared with the lifting arm similar to a common cooperative robot arm, the under-actuated multi-link lifting arm has the advantages that the number of the motor driving modules is smaller than the number of degrees of freedom, the multi-link structure is simple, and the multi-link lifting arm can be made of light high-strength materials, so that the weight of the whole machine can be effectively reduced, the production cost can be effectively reduced, the control mode can be effectively simplified, the training cost and the training time for operators can be effectively reduced, and the labor efficiency can be improved. But at present based on fixed articulated or slip articulated structure's many connecting rods arm can not expand totally or fold totally, can't adapt to and patrol and examine that the arm exhibition requires great and patrol and examine the narrow and small place in space, is showing and is reducing suitable for the place. The maximum arm extension and the minimum folding size of the similar common cooperative robot arm cannot be achieved, and the conventional multi-link mechanical arm based on a fixed hinge structure or a sliding hinge structure is not easy to realize internal wiring and cannot meet the use requirements of some places.
The whole machine that the field needs is patrolled and examined to solution that above-mentioned two kinds of lifting devices can not be fine at present is light in weight, and control mode is simple and convenient, and the arm exhibition is big, and folding size is little, but inside threading, and stability is high, and manufacturing and use cost are low, and the collapsible arm of patrolling and examining of underactuated multi-link formula that maintains that the cost is low.
Disclosure of Invention
In order to overcome the defects, the invention provides an under-actuated multi-link type foldable inspection mechanical arm, which specifically adopts the following technical scheme:
an under-actuated multi-link foldable inspection robot, comprising: the mechanical arm comprises a motor-driven die assembly, a rod assembly and an object stage, wherein the rod assembly is arranged on the motor-driven die assembly, and the object stage is arranged on the rod assembly; the motor driving module assembly comprises a module fixing frame and a driving motor, and the driving motor is arranged on the module fixing frame.
The lever assembly comprises at least two lever sets and a gear coupling box: wherein two adjacent rod groups are connected through one gear connecting box; the object stage is arranged at the free end of the uppermost rod group in the rod assembly; the driving motor can drive the rod assembly to expand and contract so as to meet the use requirement.
Preferably, still including removing the installation platform spare, remove installation platform spare confession the arm is fixed, remove installation platform spare including mounting platform, walking piece, portable power source and road conditions and look screen control spare, the walking piece with portable power source with road conditions look screen control spare and all set up on the mounting platform, portable power source respectively in walking piece, road conditions look screen control spare, arm and end set up the electricity and connect.
Preferably, the mounting platform is used for mounting the mechanical arm, the walking part, the mobile power supply and the road condition video screen monitoring part, and the mounting platform can meet the requirement that the under-actuated multi-link type foldable inspection mechanical arm runs on a plane and can also meet the requirement that a vehicle is hung on a track; the walking part comprises a walking motor, a transmission part, a walking wheel and an electronic control unit, the walking motor, the transmission part and the electronic control unit are all arranged on the mounting platform, and the walking wheel is arranged on the transmission part; the walking part can provide walking power for the under-actuated multi-connecting-rod type foldable inspection mechanical arm; the mobile power supply can provide electric power for the walking piece, the road condition video screen monitoring piece and the mechanical arm; the road condition screen monitoring piece comprises a camera, an image acquisition card and a computer, wherein the camera and the image acquisition card are arranged on the mounting platform, and the computer is independently arranged.
Preferably, the module fixing frame comprises a module supporting rod and a module fixing seat, the module supporting rod is arranged on the mounting platform, and the module fixing seat is arranged on the module supporting rod; the module supporting rod is tubular, a first threading through hole is formed in the side wall of one end of the module supporting rod, a second threading through hole, a motor fixing through hole and a first connecting rod fixing through hole are formed in the module fixing seat, and the module fixing seat is sleeved at the other end of the module supporting rod through the second threading through hole; the circle center height of the motor fixing through hole is larger than that of the first connecting rod fixing through hole, and the driving motor is sleeved in the motor fixing through hole; and a first connecting rod bearing is embedded in the first connecting rod fixing through hole.
Preferably, the lever assembly comprises two lever sets and a gear connection box, wherein: the rod assembly comprises a first rod group, a second rod group and a gear connecting box, the first rod group is arranged on the motor-driven die assembly, the gear connecting box is arranged on the first rod group, and the second rod group is arranged on the gear connecting box; the first rod group comprises a left first connecting rod, a right first connecting rod and a first rotating shaft connecting piece, and the first rotating shaft connecting piece is arranged on the left first connecting rod and the right first connecting rod.
Preferably, the left first connecting rod and the right first connecting rod have the same structure, the left first connecting rod is tubular, and specifically, the left first connecting rod is a carbon fiber tube with high strength and light weight; the first rotating shaft connecting piece comprises a first rotating shaft connecting seat and a first rotating shaft, and the first rotating shaft is arranged on the first rotating shaft connecting seat; the first rotating shaft connecting seat is provided with a second connecting rod fixing through hole and a first rotating shaft fixing through hole, the first rotating shaft is tubular, and one end of the first rotating shaft is embedded in the first rotating shaft fixing through hole; the number of the first rotating shaft connecting pieces is four, and the four first rotating shaft connecting pieces are fixedly sleeved on two ends of the left first connecting rod and the right first connecting rod one by one through the second connecting rod fixing through holes; the first rotating shaft fixing piece at one end of the left first connecting rod is embedded on a rotating shaft of the driving motor through the first rotating shaft, and the first rotating shaft fixing piece at one end of the right first connecting rod is embedded in the first connecting rod bearing through the first rotating shaft.
Preferably, a plurality of third connecting rod fixing through holes and a plurality of gear transmission through holes are formed in the gear connecting box, the plurality of third connecting rod fixing through holes are distributed at two ends of the gear connecting box, and second connecting rod bearings are embedded in the third connecting rod fixing through holes; the gear transmission through holes are uniformly distributed, gear transmission shafts are embedded in the gear transmission through holes and are tubular; gears are fixedly sleeved on the two gear transmission shafts, the two gears are meshed with each other, and the gears are positioned in the gear connecting box; the gear connecting box is fixedly sleeved on the first rotating shaft at the other end of the left first connecting rod through one gear transmission shaft, so that a gear can rotate along with the rotation of the first rotating shaft, and the gear connecting box is sleeved on the first rotating shaft at the other end of the right first connecting rod through one second connecting rod bearing, so that the left first connecting rod and the right first connecting rod are parallel to each other.
Preferably, the second rod group comprises a left second connecting rod, a right second connecting rod and a second rotating shaft connecting piece, and the second rotating shaft connecting piece is arranged on the left second connecting rod and the right second connecting rod; the left second connecting rod and the right second connecting rod are identical in structure, the left second connecting rod is tubular, and particularly, the left second connecting rod is a carbon fiber tube with high strength and light weight; the second rotating shaft connecting piece comprises a second rotating shaft connecting seat and a second rotating shaft, and the second rotating shaft is arranged on the second rotating shaft connecting seat; a fourth connecting rod fixing through hole and a second rotating shaft fixing through hole are formed in the second rotating shaft connecting seat; the second rotating shaft is tubular, and one end of the second rotating shaft is embedded in the second rotating shaft fixing through hole; the four second rotating shaft connecting pieces are fixedly sleeved at two ends of the left second connecting rod and the right second connecting rod one by one through the fourth connecting rod fixing through holes; the second rotating shaft fixing piece at one end of the left second connecting rod is fixedly embedded in the other gear transmission shaft on the gear connecting box through the second rotating shaft, and the second rotating shaft fixing piece at one end of the right second connecting rod is embedded in the other second connecting rod bearing on the gear connecting box through the second rotating shaft.
Preferably, the object stage is in a rectangular groove shape, a side wall of the object stage is provided with two fifth connecting rod fixing through holes, and third connecting rod bearings are embedded in the two fifth connecting rod fixing through holes; the objective table is sleeved on the second rotating shaft at the other end of the left second connecting rod and the second rotating shaft at the other end of the right second connecting rod one by one correspondingly through two third connecting rod bearings; and a fixed plate is arranged in the objective table groove.
Preferably, the lever assembly is provided with three lever sets and two gear connection boxes; wherein: the rod assembly comprises a first rod set, a second rod set, a third rod set, a first gear connecting box and a second gear connecting box, one end of the first rod set is arranged on the motor driving die assembly, one end of the first gear connecting box is arranged at the other end of the first rod set, one end of the second rod set is arranged at the other end of the first gear connecting box, one end of the second gear connecting box is arranged at the other end of the second rod set, one end of the third rod set is arranged at the other end of the second gear connecting box, and the other end of the third rod set is connected with the objective table.
The invention at least comprises the following beneficial effects:
1) the under-actuated multi-connecting-rod type foldable inspection mechanical arm is light in whole weight, simple and convenient in control mode, large in arm extension, small in folding size, capable of being threaded internally, high in stability, low in manufacturing and using cost and low in maintenance cost;
2) the under-actuated multi-connecting-rod type foldable inspection mechanical arm is provided with the driving motor and the rod component, the rod assembly comprises a first rod group, a second rod group, a third rod group, a first gear connecting box and a second gear connecting box, wherein a left first connecting rod and a right first connecting rod in the first rod group are in parallelogram design, a left second connecting rod and a right second connecting rod in the second rod group are in parallelogram design, a left third connecting rod and a right third connecting rod in the third rod group are in parallelogram design, the first rod group and the second rod group are connected and driven through a first gear connecting box, the second rod group and the third rod group are connected and driven through a second gear connecting box, the driving motor can drive the first rod group to rotate to realize the complete unfolding and the full folding of the first rod group, the second rod group and the third rod group; the weight of the whole machine is reduced, and the endurance time and the working efficiency are improved; the operation convenience is improved, and the training time and the training cost of operators are reduced; the arm extension can be obviously increased, and the folding size can be reduced so as to improve the adaptability to a working field;
3) the left first connecting rod, the right first connecting rod, the left second connecting rod, the right second connecting rod, the left third connecting rod and the right third connecting rod in the under-actuated multi-connecting-rod type foldable inspection mechanical arm are all carbon fiber tubes with high strength and light weight, the weight of the whole machine can be obviously reduced, the endurance time and the working efficiency of the whole machine are improved, the carbon fiber tubes can be conveniently threaded internally, the fault rate of the under-actuated multi-connecting-rod type foldable inspection mechanical arm is reduced, and the maintenance cost is reduced.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a front view of an under-actuated multi-link foldable inspection robot arm of the present invention after folding;
FIG. 2 is a rear schematic view of the under-actuated multi-link foldable inspection robot arm of the present invention after being folded;
FIG. 3 is a right side schematic view of the under-actuated multi-link foldable inspection robot of the present invention after being folded;
FIG. 4 is a front view of the under-actuated multi-link foldable inspection robot arm of the present invention after being fully extended;
FIG. 5 is a three-dimensional structure diagram of a robot arm in the under-actuated multi-link foldable inspection robot arm of the present invention;
FIG. 6 is a front view of a gear connecting box in the under-actuated multi-link foldable inspection robot arm according to the present invention;
FIG. 7 is a side view of a gear connecting box in the under-actuated multi-link foldable inspection robot according to the present invention;
FIG. 8 is a sectional view in the direction F-F of the under-actuated multi-link foldable inspection robot arm of the present invention shown in FIG. 7;
fig. 9 is a perspective view of a first lever set of the under-actuated multi-link foldable inspection robot arm according to the present invention.
Wherein: 1-two-degree-of-freedom holder, 2-end equipment, 3-mounting platform, 4-camera, 5-walking wheel, 6-driving motor, 9-left first connecting rod, 10-right first connecting rod, 11-first rotating shaft connecting seat, 13-gear transmission shaft, 14-gear, 15-left second connecting rod, 16-right second connecting rod, 18-third connecting rod bearing, 20-objective table, 21-gear connecting box and 22-second connecting rod bearing.
Detailed Description
Technical solutions of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
Example one
According to the drawings of fig. 1-9, an under-actuated multi-link type foldable inspection mechanical arm comprises a movable mounting platform part, a mechanical arm, a two-degree-of-freedom holder 1 and a terminal device 2, wherein the mechanical arm is arranged on the movable mounting platform part, the two-degree-of-freedom holder 1 is arranged on the mechanical arm, and the terminal device 2 is arranged on the two-degree-of-freedom holder 1. The mobile installation platform piece comprises an installation platform 3, a walking piece, a mobile power supply and a road condition screen monitoring piece, wherein the walking piece and the mobile power supply and the road condition screen monitoring piece are arranged on the installation platform 3, and the mobile power supply is respectively connected with the walking piece, the road condition screen monitoring piece, the mechanical arm and the tail end in an electric mode.
The arm includes motor drive mould subassembly, pole subassembly and objective table 20, motor drive mould subassembly sets up remove installation platform spare is last, the pole subassembly sets up motor drive mould subassembly is last, objective table 20 sets up on the pole subassembly. The motor driving module assembly comprises a module fixing frame and a driving motor 6, the module fixing frame is arranged on the mounting platform 3, and the driving motor 6 is arranged on the module fixing frame. The module fixing frame comprises a module supporting rod and a module fixing seat, the module supporting rod is arranged on the mounting platform 3, and the module fixing seat is arranged on the module supporting rod. The module bracing piece is the tubulose, be provided with first threading through hole on the lateral wall of module bracing piece one end, first threading through hole can be convenient for the electric power transmission line to pass, makes portable power source do through the electric power transmission line drive motor 6, two degree of freedom cloud platform 1 and end equipment 2 power supply. The module fixing seat is in a right-angle fixing sheet shape, a second threading through hole is formed in one right-angle surface of the module fixing seat, and a motor fixing through hole and a first connecting rod fixing through hole are formed in the other right-angle surface of the module fixing seat. The module fixing seat is sleeved on the other end of the module supporting rod through the second threading through hole. The circle center height of the motor fixing through hole is larger than that of the first connecting rod fixing through hole, the driving motor 6 is horizontally sleeved in the motor fixing through hole, and the driving motor 6 is a stepping motor or a power device consisting of a motor and a speed reducer. And a first connecting rod bearing is embedded in the first connecting rod fixing through hole.
The rod assembly comprises a first rod set, a second rod set and a gear connecting box 21, the first rod set is arranged on the motor-driven die assembly, the gear connecting box 21 is arranged on the first rod set, and the second rod set is arranged on the gear connecting box 21. The first rod group comprises a left first connecting rod 9, a right first connecting rod 10 and a first rotating shaft connecting piece, and the first rotating shaft connecting piece is arranged on the left first connecting rod 9 and the right first connecting rod 10.
The left first connecting rod 9 and the right first connecting rod 10 are identical in structure, the left first connecting rod 9 is tubular, and specifically, the left first connecting rod 9 is a carbon fiber tube with high strength and light weight. The first rotating shaft connecting piece comprises a first rotating shaft connecting seat 11 and a first rotating shaft, and the first rotating shaft is arranged on the first rotating shaft connecting seat 11. The first rotating shaft connecting seat 11 is in a right-angle fixing sheet shape, a second connecting rod fixing through hole is formed in one right-angle surface of the first rotating shaft connecting seat 11, and a first rotating shaft fixing through hole is formed in the other right-angle surface of the first rotating shaft connecting seat 11. The first rotating shaft is tubular, and one end of the first rotating shaft is embedded in the first rotating shaft fixing through hole. The first rotating shaft connecting pieces are four in number and are correspondingly fixedly sleeved on the two ends of the left first connecting rod 9 and the right first connecting rod 10 one by one through the second connecting rod fixing through holes. The first shaft fixing member at one end of the left first connecting rod 9 is fitted to the shaft of the driving motor 6 through the first shaft, and the first shaft fixing member at one end of the right first connecting rod 10 is fitted to the first rod bearing through the first shaft.
The gear connecting box 21 is rectangular box-shaped, a third connecting rod fixing through hole and a gear transmission through hole are formed in the gear connecting box 21, two third connecting rod fixing through holes are formed in the two ends of the gear connecting box 21 and are symmetrically distributed with each other, and second connecting rod bearings 22 are embedded in the third connecting rod fixing through holes. The gear transmission through holes are symmetrically distributed, gear transmission shafts 13 are embedded in the gear transmission through holes, and the gear transmission shafts 13 are tubular. The two gear transmission shafts 13 are fixedly sleeved with gears 14, the two gears 14 are meshed with each other, and the gears 14 are located in the gear connection box 21. The gear connecting box 21 is fixedly sleeved on the first rotating shaft at the other end of the left first connecting rod 9 through one gear transmission shaft 13, so that the gear 14 can rotate along with the rotation of the first rotating shaft, and the gear connecting box 21 is sleeved on the first rotating shaft at the other end of the right first connecting rod 10 through one second connecting rod bearing 22, so that the left first connecting rod 9 and the right first connecting rod 10 are parallel to each other.
The second rod group comprises a left second connecting rod 15, a right second connecting rod 16 and a second rotating shaft connecting piece, and the second rotating shaft connecting piece is arranged on the left second connecting rod 15 and the right second connecting rod 16.
The left second connecting rod 15 and the right second connecting rod 16 have the same structure, the left second connecting rod 15 is tubular, and specifically, the left second connecting rod 15 is a carbon fiber tube with high strength and light weight. The second rotating shaft connecting piece comprises a second rotating shaft connecting seat and a second rotating shaft, and the second rotating shaft is arranged on the second rotating shaft connecting seat. The second rotating shaft connecting seat is in a right-angle fixing sheet shape, a fourth connecting rod fixing through hole is formed in one right-angle surface of the second rotating shaft connecting seat, and a second rotating shaft fixing through hole is formed in the other right-angle surface of the second rotating shaft connecting seat. The second rotating shaft is tubular, and one end of the second rotating shaft is embedded in the second rotating shaft fixing through hole. The second pivot connecting piece is provided with four, four the second pivot connecting piece passes through the fixed through hole of fourth connecting rod corresponds fixed suit one by one on left side second connecting rod 15 with on the 16 both ends of right side second connecting rod. The second rotating shaft fixing part at one end of the left second connecting rod 15 is fixedly embedded in the other gear transmission shaft 13 on the gear connecting box 21 through the second rotating shaft, and the second rotating shaft fixing part at one end of the right second connecting rod 16 is embedded in the other second connecting rod bearing 22 on the gear connecting box 21 through the second rotating shaft.
The objective table 20 is in a rectangular groove shape, a side wall of the objective table 20 is provided with two fifth connecting rod fixing through holes, and third connecting rod bearings 18 are embedded in the two fifth connecting rod fixing through holes. The object stage 20 is sleeved on the second rotating shaft at the other end of the left second connecting rod 15 and the second rotating shaft at the other end of the right second connecting rod 16 through the two third connecting rod bearings 18 one by one. A fixed plate is arranged in the objective table 20 groove and is vertical to the bottom of the objective table 20 groove.
When the driving motor 6 rotates reversely, the driving motor 6 can drive the left first connecting rod 9 to rotate reversely around the driving motor 6, and the left first connecting rod 9 pulls the other end of the right first connecting rod 10 to rotate reversely through the gear connecting box 21, so that the first rod group is changed from a horizontal state to a vertical state. When the left first connecting rod 9 rotates reversely, the first rotating shaft at the other end of the left first connecting rod 9 will rotate relatively to the gear connecting box 21, and at the same time, the first rotating shaft at the other end of the left first connecting rod 9 will drive one of the gears 14 on the gear connecting box 21 to rotate reversely by the gear transmission shaft 13, and one of the gears 14 on the gear connecting box 21 will make the other of the gears 14 on the gear connecting box 21 rotate normally. Another gear 14 on the gear connecting box 21 drives one end of the left second connecting rod 15 through the gear transmission shaft 13 to rotate positively in the second rotating shaft, and the second rotating shaft drives the left second connecting rod 15 to rotate positively in the second rotating shaft, so that the second rod group is changed from a horizontal state to a vertical state.
Because the left first connecting rod 9, the right first connecting rod 10, the gear connecting box 21 and the motor driving die assembly form a parallelogram structure, and the left second connecting rod 15, the right second connecting rod 16, the gear connecting box 21 and the objective table 20 form a parallelogram structure, the mechanical arm can smoothly lift and keep the stability of the objective table 20.
Example two
The same parts of this embodiment as those of the first embodiment are not described again, but the differences are:
the rod assembly is at least provided with three rod groups and two gear connecting boxes 21, the rod assembly comprises a first rod group, a second rod group and a third rod group, the gear connecting boxes 21 are respectively a first gear connecting box 21 and a second gear connecting box 21, the first rod group is identical to the first rod group in the first embodiment in structure, the second rod group is identical to the second rod group in the first embodiment in mechanism, the third rod group comprises a left third connecting rod, a right third connecting rod and a third rotating shaft connecting piece, the third rotating shaft connecting piece is arranged on the left third connecting rod and the right third connecting rod, and the first gear connecting box 21 and the second gear connecting box 21 are identical to the gear connecting box 21 in the first embodiment in structure.
The connection relationship between the first rod set and the first gear connecting box 21 is the same as that between the first connecting rod and the gear connecting box 21 in the first embodiment, and the connection relationship between the second rod set and the first gear connecting box 21 is the same as that between the second rod set and the gear connecting box 21 in the first embodiment. One of the second link bearings 22 of the second gear connecting box 21 is fitted to the second rotating shaft at the other end of the left second link 15, and one of the gear transmission shafts 13 of the second gear connecting box 21 is fitted to the second rotating shaft at the other end of the right second link 16.
The left third connecting rod with right side third connecting rod structure is the same, the left side third connecting rod is the tubulose, and is specific, the left side third connecting rod is the carbon fiber pipe of high strength light in weight. The third rotating shaft connecting piece comprises a third rotating shaft connecting seat and a third rotating shaft, and the third rotating shaft is arranged on the third rotating shaft connecting seat. The third rotating shaft connecting seat is in a right-angle fixing sheet shape, a sixth connecting rod fixing through hole is formed in one right-angle surface of the third rotating shaft connecting seat, and a third rotating shaft fixing through hole is formed in the other right-angle surface of the third rotating shaft connecting seat. The third rotating shaft is tubular, and one end of the third rotating shaft is embedded in the third rotating shaft fixing through hole. The third pivot connecting piece is provided with four, four the third pivot connecting piece passes through the fixed through hole of sixth connecting rod corresponds fixed cover dress one by one on left side third connecting rod with on the right side third connecting rod both ends. The third rotating shaft fixing part at one end of the left third connecting rod is embedded in the other second connecting rod bearing 22 on the second gear connecting box 21 through the third rotating shaft, and the third rotating shaft fixing part at one end of the right third connecting rod is embedded in the other gear transmission shaft 13 on the second gear connecting box 21 through the third rotating shaft. The third bar set is connected to the stage 20 in the same manner as the second bar set is connected to the stage 20.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a collapsible arm of patrolling and examining of under-actuated multi-link formula which characterized in that includes: the mechanical arm comprises a motor-driven die assembly, a rod assembly and an object stage, wherein the rod assembly is arranged on the motor-driven die assembly, and the object stage is arranged on the rod assembly;
the motor driving module comprises a module fixing frame and a driving motor, and the driving motor is arranged on the module fixing frame;
the rod assembly comprises at least two rod groups and a gear connecting box; wherein two adjacent rod groups are connected through one gear connecting box;
the object stage is arranged at the free end of the uppermost rod group in the rod assembly; the driving motor can drive the rod assembly to expand and contract.
2. The under-actuated multi-link foldable inspection mechanical arm according to claim 1, further comprising a movable mounting platform piece, wherein the movable mounting platform piece is used for fixing the mechanical arm, the movable mounting platform piece comprises a mounting platform, a walking piece, a mobile power source and a road condition screen monitoring piece, the walking piece and the mobile power source and the road condition screen monitoring piece are arranged on the mounting platform, and the mobile power source is respectively electrically connected with the walking piece, the road condition screen monitoring piece, the mechanical arm and the tail end.
3. The under-actuated multi-link foldable inspection mechanical arm according to claim 2, wherein the mounting platform is used for mounting the mechanical arm, the walking piece, the mobile power supply and the road condition video screen monitoring piece, and the mounting platform can meet the requirement that the under-actuated multi-link foldable inspection mechanical arm runs on a plane and can also meet the requirement that a vehicle is hung on a track; the walking part comprises a walking motor, a transmission part, a walking wheel and an electronic control unit, the walking motor, the transmission part and the electronic control unit are all arranged on the mounting platform, and the walking wheel is arranged on the transmission part; the walking part can provide walking power for the under-actuated multi-connecting-rod type foldable inspection mechanical arm; the mobile power supply can provide electric power for the walking piece, the road condition video screen monitoring piece and the mechanical arm; the road condition screen monitoring piece comprises a camera, an image acquisition card and a computer, wherein the camera and the image acquisition card are arranged on the mounting platform, and the computer is independently arranged.
4. The under-actuated multi-link foldable inspection robot arm according to claim 2, wherein the module holder comprises a module support rod and a module holder, the module support rod is disposed on the mounting platform, and the module holder is disposed on the module support rod; the module supporting rod is tubular, a first threading through hole is formed in the side wall of one end of the module supporting rod, a second threading through hole, a motor fixing through hole and a first connecting rod fixing through hole are formed in the module fixing seat, and the module fixing seat is sleeved at the other end of the module supporting rod through the second threading through hole; the circle center height of the motor fixing through hole is larger than that of the first connecting rod fixing through hole, and the driving motor is sleeved in the motor fixing through hole; and a first connecting rod bearing is embedded in the first connecting rod fixing through hole.
5. The under-actuated multi-link foldable inspection robot according to any one of claims 1-4, wherein the link assembly comprises two link sets and a gear coupling box,
wherein: the rod assembly comprises a first rod group, a second rod group and a gear connecting box, the first rod group is arranged on the motor-driven die assembly, the gear connecting box is arranged on the first rod group, and the second rod group is arranged on the gear connecting box; the first rod group comprises a left first connecting rod, a right first connecting rod and a first rotating shaft connecting piece, and the first rotating shaft connecting piece is arranged on the left first connecting rod and the right first connecting rod.
6. The under-actuated multi-link foldable inspection robot arm according to claim 5, wherein the left first connecting rod and the right first connecting rod have the same structure, and are tubular, and particularly, the left first connecting rod is a carbon fiber tube with high strength and light weight; the first rotating shaft connecting piece comprises a first rotating shaft connecting seat and a first rotating shaft, and the first rotating shaft is arranged on the first rotating shaft connecting seat; the first rotating shaft connecting seat is provided with a second connecting rod fixing through hole and a first rotating shaft fixing through hole, the first rotating shaft is tubular, and one end of the first rotating shaft is embedded in the first rotating shaft fixing through hole; the number of the first rotating shaft connecting pieces is four, and the four first rotating shaft connecting pieces are fixedly sleeved on two ends of the left first connecting rod and the right first connecting rod one by one through the second connecting rod fixing through holes; the first rotating shaft fixing piece at one end of the left first connecting rod is embedded on a rotating shaft of the driving motor through the first rotating shaft, and the first rotating shaft fixing piece at one end of the right first connecting rod is embedded in the first connecting rod bearing through the first rotating shaft.
7. The under-actuated multi-link foldable inspection mechanical arm according to claim 5, wherein a plurality of third link fixing through holes and gear transmission through holes are formed in the gear connecting box, the plurality of third link fixing through holes are distributed at two ends of the gear connecting box, and second link bearings are embedded in the third link fixing through holes; the gear transmission through holes are uniformly distributed, gear transmission shafts are embedded in the gear transmission through holes and are tubular; gears are fixedly sleeved on the two gear transmission shafts, the two gears are meshed with each other, and the gears are positioned in the gear connecting box; the gear connecting box is fixedly sleeved on the first rotating shaft at the other end of the left first connecting rod through one gear transmission shaft, so that a gear can rotate along with the rotation of the first rotating shaft, and the gear connecting box is sleeved on the first rotating shaft at the other end of the right first connecting rod through one second connecting rod bearing, so that the left first connecting rod and the right first connecting rod are parallel to each other.
8. The under-actuated multi-link foldable inspection robot arm according to claim 5, wherein the second link group comprises a left second link rod, a right second link rod and a second spindle connector, and the second spindle connector is arranged on the left second link rod and the right second link rod;
the left second connecting rod and the right second connecting rod are identical in structure, the left second connecting rod is tubular, and particularly, the left second connecting rod is a carbon fiber tube with high strength and light weight; the second rotating shaft connecting piece comprises a second rotating shaft connecting seat and a second rotating shaft, and the second rotating shaft is arranged on the second rotating shaft connecting seat; a fourth connecting rod fixing through hole and a second rotating shaft fixing through hole are formed in the second rotating shaft connecting seat; the second rotating shaft is tubular, and one end of the second rotating shaft is embedded in the second rotating shaft fixing through hole; the four second rotating shaft connecting pieces are fixedly sleeved at two ends of the left second connecting rod and the right second connecting rod one by one through the fourth connecting rod fixing through holes; the second rotating shaft fixing piece at one end of the left second connecting rod is fixedly embedded in the other gear transmission shaft on the gear connecting box through the second rotating shaft, and the second rotating shaft fixing piece at one end of the right second connecting rod is embedded in the other second connecting rod bearing on the gear connecting box through the second rotating shaft.
9. The under-actuated multi-link foldable inspection mechanical arm according to any one of claim 8, wherein the object stage is in a rectangular groove shape, a side wall of the object stage is provided with two fifth link fixing through holes, and third link bearings are embedded in the two fifth link fixing through holes; the objective table is sleeved on the second rotating shaft at the other end of the left second connecting rod and the second rotating shaft at the other end of the right second connecting rod one by one correspondingly through two third connecting rod bearings; and a fixed plate is arranged in the objective table groove.
10. The under-actuated multi-link foldable inspection robot according to any one of claims 1 to 4, wherein the link assembly is provided with three link groups and two gear connection boxes;
wherein: the rod assembly comprises a first rod set, a second rod set, a third rod set, a first gear connecting box and a second gear connecting box, one end of the first rod set is arranged on the motor driving die assembly, one end of the first gear connecting box is arranged at the other end of the first rod set, one end of the second rod set is arranged at the other end of the first gear connecting box, one end of the second gear connecting box is arranged at the other end of the second rod set, one end of the third rod set is arranged at the other end of the second gear connecting box, and the other end of the third rod set is connected with the objective table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010515784.7A CN111515921A (en) | 2020-06-09 | 2020-06-09 | Underactuated multi-connecting-rod type foldable inspection mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010515784.7A CN111515921A (en) | 2020-06-09 | 2020-06-09 | Underactuated multi-connecting-rod type foldable inspection mechanical arm |
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| Publication Number | Publication Date |
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| CN111515921A true CN111515921A (en) | 2020-08-11 |
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| CN202010515784.7A Pending CN111515921A (en) | 2020-06-09 | 2020-06-09 | Underactuated multi-connecting-rod type foldable inspection mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247999A (en) * | 2020-09-24 | 2021-01-22 | 闵好年 | Inspection robot |
| CN113147953A (en) * | 2021-04-26 | 2021-07-23 | 合肥工业大学 | Inspection robot with self-adaptive chassis |
| CN114193470A (en) * | 2021-12-13 | 2022-03-18 | 美的集团(上海)有限公司 | Hinge assembly, rotation adjusting assembly and robot |
| CN114193470B (en) * | 2021-12-13 | 2024-06-07 | 美的集团(上海)有限公司 | Hinge assembly, rotation adjusting assembly and robot |
-
2020
- 2020-06-09 CN CN202010515784.7A patent/CN111515921A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247999A (en) * | 2020-09-24 | 2021-01-22 | 闵好年 | Inspection robot |
| CN113147953A (en) * | 2021-04-26 | 2021-07-23 | 合肥工业大学 | Inspection robot with self-adaptive chassis |
| CN113147953B (en) * | 2021-04-26 | 2023-11-10 | 合肥工业大学 | Inspection robot with self-adaptive chassis |
| CN114193470A (en) * | 2021-12-13 | 2022-03-18 | 美的集团(上海)有限公司 | Hinge assembly, rotation adjusting assembly and robot |
| CN114193470B (en) * | 2021-12-13 | 2024-06-07 | 美的集团(上海)有限公司 | Hinge assembly, rotation adjusting assembly and robot |
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