CN105269593A - Telescoping arm of patrol robot - Google Patents
Telescoping arm of patrol robot Download PDFInfo
- Publication number
- CN105269593A CN105269593A CN201510812049.1A CN201510812049A CN105269593A CN 105269593 A CN105269593 A CN 105269593A CN 201510812049 A CN201510812049 A CN 201510812049A CN 105269593 A CN105269593 A CN 105269593A
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- belt
- telescopic arm
- guide rail
- crusing robot
- wheel
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Abstract
The invention provides a telescoping arm of a patrol robot. The telescoping arm comprises a drive module, a telescoping arm body and a slide arm, wherein the telescoping arm body comprises a guide rail, a belt and a belt clamp; front and rear ends of the guide rail are respectively provided with a front wheel and a rear wheel; the belt is wound on the front wheel and the rear wheel; the belt clamp clamps the belt; the guide rail is connected with the drive module; and the slide arm is movably mounted on the guide rail and is connected with the belt. The telescoping arm utilizes the drive module to drive the telescoping arm body and the slide arm to move; when the telescoping arm body moves, clamping friction force of the belt clamp on the belt is overcome, so that the belt rotates, and the belt rotates to drive the slide arm to move, and therefore, telescoping of the robot arm is realized.
Description
Technical field
The invention belongs to robotics, relate to a kind of crusing robot telescopic arm.
Background technology
Crusing robot is when patrolling and examining, its fuselage not can accurately arrive all positions, particularly for the robot that some fuselage can only stretch in upper next dimension, when its detection of a target and its acquisition sensor have certain distance, sensor is needed to move forward and backward, to improve homework precision, namely arm disclosed by the invention is applicable to such application scenario.
The telescopic arm transmission device of a kind of robot disclosed in Chinese invention patent document CN101780674A " telescopic arm driving device of automatic inspection robot of transmission line " adopts the inside and outside lifting tube form being similar to antenna, and arm lifting mechanism is made up of inside and outside screw mandrel, nut transmission mechanism, inside and outside lifting tube, lifting motor and lifter wheel.This device volume is little, effectively can reach 2 times of distance of stretch out and draw backs, but the inner/outer drum structure adopted is suitable for oscilaltion, and when top heavier loads, telescopic process easily causes arm bending, closes the phenomenons such as internode friction increase.
The disclosed telescopic arm of Chinese invention patent document CN104209957A " a kind of telescopic arm on transfer robot " comprises First Line rail, the second line rail, interior extrusome, ball screw revolute pair, external extension body, balancer, servomotor.The design of servomotor and ball screw revolute pair facilitates Automated condtrol, and improves the accuracy captured.But this design seems complicated at the application scenarios that load cell carries out stretching, be difficult to make product miniaturization and cost control.
Summary of the invention
For solving prior art Problems existing, the invention provides a kind of crusing robot telescopic arm, keeping flexible structural stability compared with during heavy load bearing, when robot shrinks completely, compact conformation, volume are little, and telescoping mechanism structure is simple, and drived control is convenient.
Crusing robot telescopic arm provided by the invention, is characterized in that: comprise driver module, telescopic arm and cursor slide; Described telescopic arm comprises guide rail, belt and leather belt buckle, and the rear and front end of described guide rail is separately installed with front-wheel and trailing wheel, and described strap lug is around on described front-wheel and trailing wheel, and described leather belt buckle clamps described belt; Described guide rail is connected with described driver module; Described cursor slide is arranged on described guide rail movably, and is connected with described belt.The present invention utilizes driver module to drive telescopic arm and cursor slide to move, and when telescopic arm moves, overcomes the clamping friction power of leather belt buckle to belt, belt is rotated, and rotating belt and then drive cursor slide move, and achieve the flexible of robot arm.
Described driver module comprises drive motors, base rail and drives belt, and the rear and front end of described base rail installs jockey pulley and main wheel respectively, and described driving strap lug is around on main wheel and jockey pulley, and described driving belt rotates under drive motors effect; The guide rail of described telescopic arm is connected with described driving belt.Driver module, telescopic arm, cursor slide achieve interlock, and when bringing onto load stretches, Stability Analysis of Structures is reliable, drive belt to rotate unit distance, and drive telescopic arm Moving Unit distance, meanwhile, telescopic arm also can drive cursor slide Moving Unit distance.
For strengthening structural stability, be especially with comparatively heavy load time keep stable mobile, described telescopic arm also comprises the slide block be connected with described guide rail, and this slide block is arranged on described base rail movably, and load weight is shifted by slide block, avoids belt to bear overlaid.
The tie point of described cursor slide and belt, the bite of described leather belt buckle on belt, lay respectively in two half band of described belt; Wherein, when described crusing robot telescopic arm is packed up, the tie point of described cursor slide and belt is near described trailing wheel, and the bite on described leather belt buckle belt is near described front-wheel.If two tie points are positioned in the same half band of belt, so the displacement of cursor slide on telescopic arm is shorter, shortens the distance that robot arm extends.
For making robot arm to stretch more at a distance, described crusing robot telescopic arm comprises multistage telescopic arm, and wherein: the guide rail of first order telescopic arm is connected with described driver module, the guide rail of next stage telescopic arm is connected with the belt of upper level telescopic arm; Described cursor slide is enclosed within the guide rail of afterbody telescopic arm movably, and is connected with the belt of this afterbody telescopic arm.
The rear end of described guide rail is provided with front auxiliary door, and front auxiliary door moves with telescopic arm, plays the effect of stable telescopic arm when driving and moving compared with heavy load.
Preferably, also comprise pedestal, one end of described base rail is arranged on described pedestal, this pedestal is also provided with rear auxiliary door, and described base rail is through described rear auxiliary door, and rear auxiliary door is played a supporting role.
Preferably, the rear end of described guide rail is provided with fixing leather belt buckle, and the end of described fixing leather belt buckle is connected with described driving belt.
Preferably, the rear end of described cursor slide is provided with leather belt buckle, and the end of described upper leather belt buckle is connected with described belt.
The present invention has following beneficial effect: (1) each inter-stage can realize interlock, and when bringing onto load stretches, Stability Analysis of Structures is reliable, and stretching speed is fast, stretching motion process stabilization.(2) adopt motor to add the type of drive of belt, drive simple and reliable.(3) structure is simple, small and exquisite, is convenient to realize product miniaturization.
Accompanying drawing explanation
Fig. 1 is crusing robot detection system overall schematic;
Fig. 2 is that schematic diagram is looked on a left side of the present invention;
Fig. 3 is that schematic diagram is looked on the right side of the present invention;
Fig. 4 is schematic rear view of the present invention.
In figure: 101, movable sensor system; 102, upper arm; 103, case is detected; 140, motor mounting points; 141, belt; 142, jockey pulley; 143, rear auxiliary door; 144, base rail; 145, pedestal; 146, bottom belt card; 147, main wheel; 150, intermediate rail; 151, intermediate slider; 152, trailing wheel; 154, intermediate belt; 155, front-wheel; 156, intermediate belt card; 157, front auxiliary door; 158, intermediate slider; 161, cursor slide; 162, upper leather belt buckle; 163, sensor mounting points.
Detailed description of the invention
Embodiment one
As shown in Figure 1, the detection system of crusing robot is made up of movable sensor system 101, upper arm 102, detection case 103; Upper arm 102, for being connected with the fuselage that crusing robot can stretch up and down, makes the detection system of robot move up and down by the man-machine body of random device; Three layers of sensor mounting points are set gradually from top to bottom in detection case 103, such as infrared, Visible Light Camera can be installed respectively, ultrasonic sensor etc., wherein orlop is movable sensor system 101 mounting points, sensor is arranged on crusing robot telescopic arm, sensor and crusing robot telescopic arm form movable sensor system 101 jointly, and when robot arm stretches, sensor can adjust detecting location in front and back; First and second layer of position of sensor relative detection box body of detection case 103 own is fixed, and crusing robot telescopic arm provided by the invention is arranged on movable sensor 101 mounting points.
As shown in Figure 2,3, 4, crusing robot telescopic arm comprises bottom layer driving module, middle level telescopic arm and upper strata cursor slide 161.
Bottom layer driving module comprises drive motors (not shown), base rail 144, belt 141, and one end of base rail 144 is arranged on pedestal 145, and the top of pedestal 145 is provided with motor mounting points 140, and drive motors is arranged on motor mounting points 140.The forward and backward two ends of base rail 144 install jockey pulley 142 and main wheel 147 respectively, and belt 141 is looped around on jockey pulley 142, main wheel 147.Drive motors drives main wheel 147 forward or reverse be positioned at below it, and belt 141 is toothed timing belt, main wheel, jockey pulley has adaptive tooth at quarter, and this, tooth was well meshing with the tooth at quarter on belt at quarter, thus drive belt 141 forward or reverse.Pedestal 145 is also provided with rear auxiliary door 143, base rail 144 and belt 141 pass from the inside square hole of rear auxiliary door 143, and rear auxiliary door 143 plays the effect of support.
Middle level telescopic arm comprises intermediate rail 150, intermediate slider 151, intermediate belt 154, bottom belt card 146; The rear and front end of intermediate rail 154 installs front-wheel 155, trailing wheel 152 respectively, and intermediate belt 154 is looped around on front-wheel 155 and trailing wheel 152, and drive effect for strengthening, intermediate belt 154 also adopts toothed timing belt, and front-wheel, trailing wheel have adaptive tooth at quarter.Intermediate slider 151 is arranged on the rear end of intermediate rail 150, and intermediate slider 151 is enclosed within base rail 144 and also can slides on base rail 144.The rear end of intermediate rail 150 is also provided with intermediate belt card 156, and the end of intermediate belt card 156 is connected with belt 141, when belt 141 rotates, utilizes intermediate belt card 156 to drive whole middle level telescopic arm to move forward and backward; Slided on base rail 144 by intermediate slider 151, play guide effect on the one hand, play a supporting role on the other hand, the weight avoiding intermediate warp arm is all born by belt 141, is conducive to strengthening stability.The rear end of intermediate rail 150 is also provided with front auxiliary door 157, and front auxiliary door 157 moves forward and backward with middle level telescopic arm, and when bearing comparatively heavy load motion, front auxiliary door plays the effect of stable middle level telescopic arm.One end of bottom belt card 146 is arranged on the front end of base rail 144, other end clamping intermediate belt 154, when belt 141 rotates, belt 141 drives intermediate belt card 156 and then drives middle level telescopic arm to move, because bottom belt card 146 is arranged on base rail, keeps motionless, in the telescopic arm moving process of middle level, overcome the clamping friction power of bottom belt card 146 pairs of intermediate belt 154, thus intermediate belt 154 is rotated.
The intermediate rail 150 that cursor slide 161 is enclosed within middle level telescopic arm can move forward and backward along intermediate rail 150.The rear end of cursor slide 161 has fixedly mounted upper leather belt buckle 162, and cursor slide 161 is connected with the intermediate belt 154 of middle level telescopic arm by upper leather belt buckle 162, when intermediate belt 154 is rotated, drives cursor slide 161 to move forward and backward.The front end of cursor slide 161 is provided with sensor mounting points 163, for sensor installation.
Composition graphs 2,3,4, the installation position of bottom belt card 146, intermediate belt card 156, upper leather belt buckle 162 is equipped with certain requirement: one end of bottom belt card 146 is arranged on the front end of base rail 144, and its other end is near front-wheel 155 place clamping intermediate belt 154; One end of intermediate belt card 156 is connected with the rear end of intermediate rail, and its other end is near main wheel 147 place, be connected with belt 141; One end of upper leather belt buckle 162 is connected with the rear end of cursor slide 161, and its other end is near trailing wheel 152 place, be connected with intermediate belt 154; Intermediate belt 154 is divided into two half band by front-wheel, trailing wheel, and the tie point of the tie point of upper leather belt buckle and intermediate belt, bottom belt card and intermediate belt lays respectively in these two half band.The benefit of such setting is, time flexible, middle level telescopic arm is with the range of belt 141 movement close to the distance of half root belt 141, and the range of cursor slide movement is close to the distance of half root intermediate belt 154; Certainly, also can not arrange like this, the range of movement is slightly shorter.
When the present invention works, drive motors drives belt 141 to rotate, belt 141 drive intermediate belt card 156 so that drive middle level telescopic arm, cursor slide moves integrally, when middle level telescopic arm moves, overcome the clamping friction power of bottom belt card 146, intermediate belt 154 is rotated, thus drives cursor slide 161 to move along intermediate rail 150.
Embodiment two
In conjunction with the embodiments one, for strengthening flexible distance further, crusing robot telescopic arm provided by the invention adopts multistage telescopic arm, the structure of telescopic arm at different levels is identical with middle level telescopic arm structure, wherein, the guide rail of first order telescopic arm is connected with belt 141, and the slide block set of first order telescopic arm also can slide on base rail 144 on base rail; The guide rail of second level telescopic arm is connected with the belt of first order telescopic arm, and the slide block set of second level telescopic arm also can at the slide on rails of first order telescopic arm on the guide rail of first order telescopic arm; The rest may be inferred, and the guide rail of afterbody telescopic arm is connected with the belt of penultimate stage telescopic arm, and the slide block set of afterbody telescopic arm also can at the slide on rails of penultimate stage telescopic arm on the guide rail of penultimate stage telescopic arm; Cursor slide is enclosed within the guide rail of afterbody telescopic arm movably, and is connected with the belt of afterbody telescopic arm.
During work, drive motors drives belt 141 to rotate, belt 141 drives multistage telescopic arm and cursor slide to move integrally, when the first order telescopic arm of multistage telescopic arm moves, overcome the clamping friction power of the leather belt buckle of first order telescopic arm, the belt of first order telescopic arm is rotated, thus drives second level telescopic arm to move along the guide rail of first order telescopic arm; The rest may be inferred, when afterbody telescopic arm moves, overcomes the clamping friction power of the leather belt buckle of afterbody telescopic arm, the belt of afterbody telescopic arm is rotated, thus drive cursor slide to move along the guide rail of afterbody telescopic arm.
Claims (9)
1. a crusing robot telescopic arm, is characterized in that: comprise driver module, telescopic arm and cursor slide; Described telescopic arm comprises guide rail, belt and leather belt buckle, and the rear and front end of described guide rail is separately installed with front-wheel and trailing wheel, and described strap lug is around on described front-wheel and trailing wheel, and described leather belt buckle clamps described belt; Described guide rail is connected with described driver module; Described cursor slide is arranged on described guide rail movably, and is connected with described belt.
2. crusing robot telescopic arm as claimed in claim 1, it is characterized in that: described driver module comprises drive motors, base rail and drives belt, the rear and front end of described base rail installs jockey pulley and main wheel respectively, described driving strap lug is around on main wheel and jockey pulley, and described driving belt rotates under drive motors effect; The guide rail of described telescopic arm is connected with described driving belt.
3. crusing robot telescopic arm as claimed in claim 2, it is characterized in that: described telescopic arm also comprises the slide block be connected with described guide rail, this slide block is arranged on described base rail movably.
4. crusing robot telescopic arm as claimed in claim 1, is characterized in that: the tie point of described cursor slide and belt, the bite of described leather belt buckle on belt, lays respectively in two half band of described belt; Wherein, when described crusing robot telescopic arm is packed up, the tie point of described cursor slide and belt is near described trailing wheel, and the bite on described leather belt buckle belt is near described front-wheel.
5. crusing robot telescopic arm as claimed in claim 1 or 2, it is characterized in that: described crusing robot telescopic arm comprises multistage telescopic arm, wherein: the guide rail of first order telescopic arm is connected with described driver module, the guide rail of next stage telescopic arm is connected with the belt of upper level telescopic arm; Described cursor slide is enclosed within the guide rail of afterbody telescopic arm movably, and is connected with the belt of this afterbody telescopic arm.
6. the crusing robot telescopic arm as described in claim 1,2,3 or 4, is characterized in that: the rear end of described guide rail is provided with front auxiliary door.
7. crusing robot telescopic arm as claimed in claim 2 or claim 3, it is characterized in that: also comprise pedestal, one end of described base rail is arranged on described pedestal, this pedestal is also provided with rear auxiliary door, and described base rail is through described rear auxiliary door.
8. crusing robot telescopic arm as claimed in claim 2 or claim 3, it is characterized in that: the rear end of described guide rail is provided with fixing leather belt buckle, the end of described fixing leather belt buckle is connected with described driving belt.
9. the crusing robot telescopic arm as described in claim 1,2,3 or 4, is characterized in that: the rear end of described cursor slide is provided with leather belt buckle, and the end of described upper leather belt buckle is connected with described belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510812049.1A CN105269593B (en) | 2015-11-20 | 2015-11-20 | A kind of crusing robot telescopic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510812049.1A CN105269593B (en) | 2015-11-20 | 2015-11-20 | A kind of crusing robot telescopic arm |
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| Publication Number | Publication Date |
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| CN105269593A true CN105269593A (en) | 2016-01-27 |
| CN105269593B CN105269593B (en) | 2016-08-17 |
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| CN201510812049.1A Active CN105269593B (en) | 2015-11-20 | 2015-11-20 | A kind of crusing robot telescopic arm |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106937024A (en) * | 2017-03-27 | 2017-07-07 | 陕西科技大学 | Timing Belt telescopic boom dolly |
| CN107824708A (en) * | 2017-11-30 | 2018-03-23 | 常州市晨源铸造有限公司 | Support synchronous proportional trailing type mechanical arm |
| CN109742504A (en) * | 2019-01-28 | 2019-05-10 | 中国电子科技集团公司第三十八研究所 | A kind of antenna arrays of radar Zhan Shou mechanism |
| US11148696B2 (en) | 2018-12-27 | 2021-10-19 | Toyota Research Institute, Inc. | Assistive robots including assemblies for accommodating obstacles and methods for using the same |
| US11420338B2 (en) | 2018-12-27 | 2022-08-23 | Toyota Research Institute, Inc. | Assistive robot systems for container tilting |
| US11505017B2 (en) | 2018-12-27 | 2022-11-22 | Toyota Research Institute, Inc. | Devices including deployable hitch assemblies and autonomous engagement systems incorporating the same |
| CN115837665A (en) * | 2023-01-14 | 2023-03-24 | 菏泽牡丹区姚伟网络科技有限责任公司 | Robot connector pivot |
Families Citing this family (1)
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| US11827500B2 (en) | 2018-12-27 | 2023-11-28 | Toyota Research Institute, Inc. | Assistive robot systems for transporting containers |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106937024A (en) * | 2017-03-27 | 2017-07-07 | 陕西科技大学 | Timing Belt telescopic boom dolly |
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| US11148696B2 (en) | 2018-12-27 | 2021-10-19 | Toyota Research Institute, Inc. | Assistive robots including assemblies for accommodating obstacles and methods for using the same |
| US11420338B2 (en) | 2018-12-27 | 2022-08-23 | Toyota Research Institute, Inc. | Assistive robot systems for container tilting |
| US11505017B2 (en) | 2018-12-27 | 2022-11-22 | Toyota Research Institute, Inc. | Devices including deployable hitch assemblies and autonomous engagement systems incorporating the same |
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| CN109742504A (en) * | 2019-01-28 | 2019-05-10 | 中国电子科技集团公司第三十八研究所 | A kind of antenna arrays of radar Zhan Shou mechanism |
| CN115837665A (en) * | 2023-01-14 | 2023-03-24 | 菏泽牡丹区姚伟网络科技有限责任公司 | Robot connector pivot |
| CN115837665B (en) * | 2023-01-14 | 2023-11-28 | 深圳辉业科技有限公司 | Robot connector rotating shaft |
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| CN105269593B (en) | 2016-08-17 |
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