CN111590633A

CN111590633A - Elastic telescopic rotating arm of robot

Info

Publication number: CN111590633A
Application number: CN202010590840.3A
Authority: CN
Inventors: 樊绍胜; 刘智勇; 宋运团; 欧阳峰; 黄明星; 罗江潮
Original assignee: Shenzhen Yutuo Intelligent Co ltd
Current assignee: Shenzhen Yutuo Intelligent Co ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2020-08-28

Abstract

The invention discloses an elastic telescopic rotary arm of a robot, which comprises a rotary driving assembly, an arm mounting piece, a telescopic driving piece, a linear guide rail, an elastic telescopic arm and a butt joint mounting piece, wherein the arm mounting piece is connected with the rotary driving assembly, the telescopic driving piece and the linear guide rail are both arranged on the arm mounting piece, the elastic telescopic arm is arranged on the linear guide rail and can linearly reciprocate under the driving of the telescopic driving piece, and the butt joint mounting piece is arranged at the front end of the elastic telescopic arm. The elastic telescopic rotary arm of the robot has the advantages of compact structure, stable and reliable operation, wide application range and the like.

Description

Elastic telescopic rotating arm of robot

Technical Field

The invention relates to the field of intelligent detection, in particular to an elastic telescopic rotating arm of a robot.

Background

In the working environment, the robot is generally required to perform partial discharge detection on electromechanical equipment in the power distribution room, and the partial discharge detection requires that the robot contacts a carried partial discharge detection sensor to the surface of required detection equipment, accurately contacts the surface of the detection equipment and cannot influence the normal work of the equipment; in addition, the robot that patrols and examines generally all carries on there is fixed adapter, gathers in order to carry out failure analysis to field device and judges environmental noise, but most adapter among the prior art at present gathers environmental noise omnidirectionally, can't carry out preliminary direction judgement to environmental noise anomaly, more can't carry out accurate location to the unusual equipment of noise.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the elastic telescopic rotary arm of the robot, which has the advantages of compact structure, stable and reliable operation and wide application range.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a flexible rotatory arm of robot elasticity, includes rotary drive subassembly, arm installed part, flexible driving piece, linear guide, flexible arm and butt joint installed part, the arm installed part with the rotary drive subassembly is connected, flexible driving piece and linear guide all install on the arm installed part, flexible arm is installed linear guide is last and can be in linear reciprocating motion under the drive of flexible driving piece, the butt joint installed part is installed the front end of flexible arm.

As a further improvement of the above technical solution:

the flexible arm of elasticity includes mounting panel, cavity arm, barrel, guide bar and elastic component, the mounting panel is installed on linear guide and with flexible driving piece connects, the mounting panel is located cavity arm rear end, the cavity arm is installed on the mounting panel, the barrel install in cavity arm front end, the guide bar is located inside the cavity arm, the guide bar front end with the barrel is connected, the elastic component pressure is located the bellying of guide bar with between the mounting panel, the butt joint installed part is installed on the barrel.

The elastic telescopic arm further comprises a sensing structural part, the rear end of the guide rod penetrates through the mounting plate and the sensing structural part is connected, and a first position sensing piece is arranged on the sensing structural part.

The improved butt joint device is characterized in that more than two studs are arranged on the barrel, screw rods of the studs are located in a hollow cavity of the barrel, springs are sleeved on the studs, and the springs are arranged between the butt joint installation part and the barrel in a pressing mode.

Be equipped with the second position response piece on the mounting panel, limit inductive switch, well limit inductive switch, back limit inductive switch and rear end spacing piece before being equipped with in proper order after to by preceding on the linear guide.

The telescopic driving piece is a screw motor, a support piece capable of supporting the front end of a screw of the screw motor is further arranged on the arm mounting piece, and a bearing is arranged on the support piece.

The hollow arm and the barrel are both cylindrical, and the arm mounting piece is further provided with a dragging and lifting guide structural member acting on the hollow arm.

The rotary driving assembly comprises a rotary hollow gear and a gear motor which are matched with each other, and the arm mounting piece is connected with the rotary hollow gear.

The elastic telescopic arm comprises two guide rods, and four studs uniformly distributed are arranged on the cylinder body.

The butt joint installation piece is provided with a butt joint structure capable of installing a partial discharge detection sensor or a sound pickup.

Compared with the prior art, the invention has the advantages that:

the invention relates to an elastic telescopic rotary arm of a robot, which comprises a rotary driving component, an arm mounting component, a telescopic driving component, a linear guide rail, an elastic telescopic arm and a butt joint mounting component, wherein the arm mounting component is connected with the rotary driving component, the telescopic driving component and the linear guide rail are both arranged on the arm mounting component, the elastic telescopic arm is arranged on the linear guide rail and can linearly reciprocate under the driving of the telescopic driving component, the butt joint mounting component is arranged at the front end of the elastic telescopic arm, the arm mounting component can rotate under the action of the rotary driving component, namely the telescopic driving component, the linear guide rail and the elastic telescopic arm can both rotate under the action of the rotary driving component, the elastic telescopic arm can also reciprocate along the linear guide rail under the driving of the telescopic driving component to drive the butt joint mounting component to move back and forth, and forth movement of the butt joint mounting, when detection devices such as a partial discharge detection sensor or a sound pick-up are installed on the butt joint installation piece in a butt joint mode, the fault equipment can be accurately positioned, detection precision is improved, and the elastic telescopic arm is adopted, so that the detection device can be guaranteed to be attached to the surface of the detected equipment without damaging induction components of the detection device.

Drawings

Fig. 1 is a perspective view of an elastic telescopic rotary arm of a robot according to the present invention.

Fig. 2 is a perspective view of an elastically telescopic rotary arm (not including a cylinder) of the robot of the present invention.

Fig. 3 is a perspective view of another perspective view of the elastically telescopic rotating arm (without cylinder) of the robot of the present invention.

Fig. 4 is a perspective view of a rotation driving assembly of the robot elastic telescopic rotating arm of the present invention.

The reference numerals in the figures denote:

1. a rotary drive assembly; 2. an arm mount; 3. a telescopic driving member; 4. a linear guide rail; 5. an elastic telescopic arm; 51. mounting a plate; 52. a hollow arm; 53. a barrel; 54. a guide bar; 55. an elastic member; 56. an induction structure; 57. a stud; 6. butting the mounting pieces; 71. a first position sensing sheet; 72. a second position sensing sheet; 81. a front limit inductive switch; 82. a middle limit inductive switch; 83. a rear limit inductive switch; 84. a rear end limiting block; 9. a support member; 10. and (5) dragging and lifting the guide structural member.

Detailed Description

The invention will be described in further detail below with reference to the drawings and specific examples.

Fig. 1 to 4 show an embodiment of an elastic telescopic rotary arm of a robot according to the present invention, which includes a rotary driving assembly 1, an arm mounting member 2, a telescopic driving member 3, a linear guide rail 4, an elastic telescopic arm 5 and a butt mounting member 6, wherein the arm mounting member 2 is connected to the rotary driving assembly 1, the telescopic driving member 3 and the linear guide rail 4 are both mounted on the arm mounting member 2, the elastic telescopic arm 5 is mounted on the linear guide rail 4 and can reciprocate linearly under the driving of the telescopic driving member 3, the butt mounting member 6 is mounted at the front end of the elastic telescopic arm 5, the arm mounting member 2 can rotate under the action of the rotary driving assembly 1, that is, the telescopic driving member 3, the linear guide rail 4 and the elastic telescopic arm 5 can rotate under the action of the rotary driving assembly, the elastic telescopic arm 5 can also reciprocate along the linear guide rail 4 under the driving of the telescopic driving member 3, drive 6 back-and-forth movements of butt joint installed part, combine together through rotary motion and concertina movement, can make butt joint installed part 6 remove to the target area more accurately, when butt joint detection devices such as installation partial discharge detection sensor or adapter on butt joint installed part 6, can more accurately fix a position the fault equipment, improve and detect the precision, adopt flexible arm 2, can guarantee that detection device hugs closely but does not damage detection device by the equipment surface that is detected.

In this embodiment, the elastic telescopic arm 5 includes a mounting plate 51, a hollow arm 52, a cylinder 53, a guiding rod 54 and an elastic member 55, the mounting plate 51 is mounted on the linear guide 4 and connected to the telescopic driving member 3, the mounting plate 51 is located at the rear end of the hollow arm 52, the hollow arm 52 is mounted on the mounting plate 51, the cylinder 53 is mounted at the front end of the hollow arm 52, the guiding rod 54 is disposed inside the hollow arm 52, the front end of the guiding rod 54 is connected to the cylinder 53, the elastic member 55 is pressed between the protruding portion of the guiding rod 54 and the mounting plate 51, the docking mounting member 6 is mounted on the cylinder 53, when detection is required, the telescopic driving member 3 drives the mounting plate 51 to move forward, drives the hollow arm 52, the cylinder 53, the guiding rod 54 and the docking mounting member 6 to move forward, when the front end of the docking mounting member 6 contacts the surface of the device under test to reach a certain pressure, the resilient member 55 is compressed to ensure that the sensing device is held in close proximity to the surface of the device being sensed without damage to the sensing device.

In this embodiment, the elastic telescopic arm 5 further includes a sensing structure 56, the rear end of the guiding rod 54 passes through the mounting plate 51 to be connected with the sensing structure 56, the sensing structure 56 is provided with a first position sensing piece 71, when the cylinder 53 moves backwards, the guiding rod 54 drives the sensing structure 56 to move backwards, when the first position sensing piece 71 senses the middle limit sensing switch 82, a signal is sent to control the telescopic driving piece 3 to stop moving forwards, and the damage to the elastic telescopic arm 5 or the detection device at the front end of the butt joint installation piece 6 is avoided.

In this embodiment, the barrel 53 is provided with two or more studs 57, the screws of the studs 57 are located in the hollow cavity of the barrel 53, the studs 57 are sleeved with springs, the springs are pressed between the docking installation part 6 and the barrel 53, and the springs have a certain compression amount, so that the front end of the docking installation part 6 can be ensured to be tightly attached to the surface of the object to be tested, and the detection device mounted at the front end of the docking installation part 6 can be prevented from being damaged due to hard contact and overlarge pressure.

In this embodiment, the mounting plate 51 is provided with the second position sensing piece 72, the linear guide 4 is sequentially provided with the front limit sensing switch 81, the middle limit sensing switch 82, the rear limit sensing switch 83 and the rear limit block 84 from front to back, when the elastic telescopic arm 5 is telescopic, when the second position sensing piece 72 senses the front limit sensing switch 81, the signal is sent to control the telescopic driving piece 3 to stop moving forward, and when the second position sensing piece 72 senses the rear limit sensing switch 83, the signal is sent to control the telescopic driving piece 3 to stop moving backward.

In this embodiment, flexible driving piece 3 is screw motor, still is equipped with the support piece 9 that can support screw motor's screw rod front end on the arm installed part 2, is equipped with the bearing on the support piece 9, and screw motor compact structure moves stably, sets up support piece 9 and supports the screw rod front end, guarantees that the flexible of flexible arm 5 is more steady.

In this embodiment, the hollow arm 52 and the cylinder 53 are both cylindrical, so that the extension and retraction are more convenient, and the arm mounting member 2 is further provided with a lifting guide structural member 10 acting on the hollow arm 52, so as to ensure the stable extension and retraction of the hollow arm 52.

In this embodiment, the rotation driving assembly 1 includes a rotation hollow gear and a gear motor (not shown in the figure) which are matched with each other, the arm mounting member 2 is connected with the rotation hollow gear, and the rotation hollow gear can drive the arm mounting member 2 to rotate by 360 degrees.

In this embodiment, the elastic telescopic arm 5 includes two guide rods 54, and the cylinder 53 is provided with four studs 57 uniformly distributed, so that the operation is more stable and reliable.

In this embodiment, the docking installation member 6 is provided with a docking structure on which a partial discharge detection sensor or a sound pickup can be installed.

The front, the back, the forward and the backward are all described in the invention for convenience of description, and the specific position or direction is not limited, wherein the forward refers to the direction consistent with the extending direction of the driving end of the screw motor, and the forward refers to the direction consistent with the retracting direction of the driving end of the screw motor.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims

1. The utility model provides a flexible rotatory arm of robot which characterized in that: including rotary drive subassembly (1), arm installed part (2), flexible driving piece (3), linear guide (4), the flexible arm of elasticity (5) and butt joint installed part (6), arm installed part (2) with rotary drive subassembly (1) is connected, flexible driving piece (3) and linear guide (4) are all installed on arm installed part (2), install elastic expansion arm (5) linear guide (4) are gone up and can linear reciprocating motion under the drive of flexible driving piece (3), install butt joint installed part (6) the front end of elastic expansion arm (5).

2. The elastically stretchable rotating arm of a robot according to claim 1, wherein: elastic telescopic arm (5) comprises a mounting plate (51), a hollow arm (52), a cylinder body (53), a guide rod (54) and an elastic piece (55), wherein the mounting plate (51) is mounted on a linear guide rail (4) and connected with a telescopic driving piece (3), the mounting plate (51) is located at the rear end of the hollow arm (52), the hollow arm (52) is mounted on the mounting plate (51), the cylinder body (53) is mounted at the front end of the hollow arm (52), the guide rod (54) is mounted inside the hollow arm (52), the front end of the guide rod (54) is connected with the cylinder body (53), the elastic piece (55) is pressed on a protruding part of the guide rod (54) and between the mounting plate (51), and a butt joint mounting piece (6) is mounted on the cylinder body (53).

3. The elastically stretchable rotating arm of a robot according to claim 2, wherein: the elastic telescopic arm (5) further comprises a sensing structural part (56), the rear end of the guide rod (54) penetrates through the mounting plate (51) and the sensing structural part (56) is connected, and a first position sensing piece (71) is arranged on the sensing structural part (56).

4. A robot elastically stretchable rotating arm according to claim 2 or 3, characterized in that: be equipped with two above double-screw bolts (57) on barrel (53), the screw rod of double-screw bolt (57) is located in the cavity of barrel (53), the cover is equipped with the spring on double-screw bolt (57), the spring pressure is located between butt joint installed part (6) and barrel (53).

5. The elastically stretchable rotating arm of a robot according to claim 3, wherein: be equipped with second position response piece (72) on mounting panel (51), linear guide (4) are gone up by preceding spacing inductive switch (81), well spacing inductive switch (82), back spacing inductive switch (83) and rear end spacing piece (84) of being equipped with in proper order after to.

6. A robot elastically stretchable rotating arm according to any one of claims 1 to 3, characterized in that: the telescopic driving piece (3) is a screw motor, a supporting piece (9) capable of supporting the front end of a screw of the screw motor is further arranged on the arm mounting piece (2), and a bearing is arranged on the supporting piece (9).

7. The elastically stretchable rotating arm of a robot according to claim 2, wherein: the hollow arm (52) and the cylinder body (53) are both cylindrical, and the arm mounting piece (2) is further provided with a dragging and lifting guide structural part (10) acting on the hollow arm (52).

8. A robot elastically stretchable rotating arm according to any one of claims 1 to 3, characterized in that: the rotary driving assembly (1) comprises a rotary hollow gear and a gear motor which are matched with each other, and the arm mounting piece (2) is connected with the rotary hollow gear.

9. The elastically stretchable rotating arm of a robot according to claim 4, wherein: the elastic telescopic arm (5) comprises two guide rods (54), and four studs (57) which are uniformly distributed are arranged on the cylinder body (53).

10. A robot elastically stretchable rotating arm according to any one of claims 1 to 3, characterized in that: and the butt joint mounting piece (6) is provided with a butt joint structure capable of mounting a partial discharge detection sensor or a sound pickup.