CN113427476B

CN113427476B - Mechanical arm for sonar monitoring robot

Info

Publication number: CN113427476B
Application number: CN202110800626.0A
Authority: CN
Inventors: 朱仲本; 秦洪德; 盛明伟; 邓忠超; 苏军
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2021-07-15
Filing date: 2021-07-15
Publication date: 2022-06-24
Anticipated expiration: 2041-07-15
Also published as: CN113427476A

Abstract

The invention relates to the field of underwater detection, in particular to a mechanical arm. A sonar monitoring robot arm, includes: arm mount pad is provided with quick-witted case on the arm mount pad, has seted up the installing port on the arm mount pad, and the inside of installing port is provided with the bearing module, and the internal surface mounting of bearing module has solid fixed ring, and movable mounting has the roating seat in the mounting groove, and the roating seat includes upper base body and lower base body through bolted connection, and upper base body and lower base body all pass through bolt and solid fixed ring fixed connection. The utility model provides a sonar monitoring robot uses arm can improve the stability between roating seat and the arm mount pad to make more stable when using of arm, and the rotation between roating seat and the arm mount pad is more smooth and easy, and is more steady when rotatory, can also make things convenient for the article of arm centre gripping different shapes and size, thereby improves mechanical clamping jaw's suitability, and the result of use is better, brings better use prospect.

Description

Mechanical arm for sonar monitoring robot

Technical Field

The invention relates to the field of underwater detection, in particular to a mechanical arm.

Background

The sonar robot is for installing the intelligent robot of sonar detection equipment, and the sonar robot can be applied to aspects such as underwater detection, pipeline detection, mining area detection, and the sonar robot comprises a lot of subassemblies, has the arm for sonar monitoring robot wherein.

The arm for current sonar monitoring robot has certain drawback when using: the bottom end rotating structure of the mechanical arm is not stable enough, the bottom of the mechanical arm is stressed greatly in the process of quick rotation and the process of clamping heavy objects, and the bottom end rotating structure is easy to damage after being used for a long time, so that the mechanical arm is blocked from rotating and cannot meet the requirements of people; in other related art patents related to robot arm rotation driving technology, for example, CN209936918U relates to a light-weight carrying robot arm, which uses a spherical hinge to implement rotation driving in multiple dimensions, but the unstable type of spherical hinge is not suitable for rotation driving in a single horizontal plane, and in other related arts, for example, CN213106862U, CN208946164U, a bearing module is used as a rotary robot arm, but since the robot arm often faces a region rather than 360 ° uniform operation during operation, the robot arm may be locally bearing and slightly inclined in the direction of the region where the robot arm clamps a heavy object, so that a part of the balls in the bearing module supporting rotation of the rotary arm is severely worn, and the balls far away from the operation region side are less stressed, especially after the robot arm is fixed in position, the normal operation region of the robot arm is determined, and under long-time operation, the abrasion of part of the balls in the bearing module is serious, and the service life of the whole bearing module is greatly reduced.

Disclosure of Invention

The purpose of the invention is: aiming at the defects of the prior art, the mechanical arm for the sonar monitoring robot is provided.

The technical scheme of the invention is as follows: a sonar monitoring robot arm, includes:

the mechanical arm mounting seat is provided with a machine case, the mechanical arm mounting seat is provided with a mounting port, a bearing module is arranged in the mounting port and consists of a first bearing and a second bearing which are stacked in the vertical direction and have the same size, wherein the first bearing at the upper part is fixedly connected with the second bearing at the bottom part, a first manual rotating rod which protrudes out of the upper part of the mounting port is fixedly arranged at the top part of an inner ring of the first bearing, a second manual rotating rod which protrudes out of the lower part of the mounting port is fixedly arranged at the bottom part of the inner ring of the second bearing, a fixing ring is arranged on the inner surface of the bearing module, a rotating seat is movably arranged in the mounting port and is connected with an external rotary driving motor, the rotating seat comprises an upper seat body and a lower seat body which are connected through bolts, and the upper seat body and the lower seat body are fixedly connected through bolts, the drive motor in the case is connected with the lower end of the rotating seat, a plurality of vertical inclined grooves which are arranged at equal angle intervals are respectively arranged on the inner ring walls of the first bearing and the second bearing, a first clamping plate and a second clamping plate are respectively hinged in the vertical direction corresponding to the two bearings on the side, facing the bearing module, of the fixed ring body, and the first clamping plate and the second clamping plate are hinged in one direction and opposite in hinge direction.

The utility model discloses a mechanical clamping jaw, including the upper end, the lower extreme of upper base body, the multistage arm, the bottom of multistage arm is installed at the upper end surface intermediate position of upper base body, the other end movable mounting of multistage arm has mechanical clamping jaw.

Preferably, the mechanical clamping jaw comprises a main body, a motor and two groups of clamping jaws, the motor is fixedly installed on the outer surface of the lower end of the main body, the two groups of clamping jaws are movably installed on the main body and movably connected with each other, and the motor is connected with one group of clamping jaws.

Preferably, the clamping jaw comprises a jaw body, a supporting piece and a transmission piece, one end of the jaw body is movably connected with the supporting piece through a pin shaft, the middle position of the outer surface of the jaw body is movably connected with the transmission piece through a pin shaft, and the supporting piece and the transmission piece are both installed on the outer surface of the main body.

Preferably, the outer surface of the transmission part is provided with transmission teeth, the transmission teeth on the two groups of transmission parts are meshed, and the output shaft of the motor is connected with the outer surface of the lower end of the transmission part.

Preferably, the support piece includes dead lever and movable rod, the one end fixed mounting of dead lever is kept away from the one end of multistage arm in the main part, the both ends of movable rod are respectively through the other end of round pin axle and dead lever and the surface intermediate position swing joint of the claw body.

Preferably, the claw body is provided with an auxiliary claw, the auxiliary claw comprises a clamping piece and two sets of telescopic rods, the clamping piece is fixedly connected with the outer surface of the claw body through the two sets of telescopic rods, and a plurality of sets of clamping grooves are formed in the outer surface of the auxiliary claw at equal intervals.

Preferably, the outer surface of the upper end of the upper base body and the outer surface of the lower end of the lower base body are both provided with sliding assemblies, the mechanical arm mounting seat is provided with a limiting assembly, and the sliding assemblies are in sliding connection with the limiting assembly.

Preferably, the limiting assembly comprises a limiting groove and an annular limiting slide way, the limiting groove is formed in the outer side of the mounting hole in the mechanical arm mounting seat, and the annular limiting slide way is formed in the inner bottom surface of the limiting groove and is close to the outer side position.

Preferably, the sliding assembly comprises a limiting plate and a plurality of groups of sliding parts, the sliding parts are arranged on the outer surface of the lower end of the limiting plate at equal intervals and close to the outer side, and the sliding parts are distributed annularly.

Preferably, the sliding part comprises a mounting groove and a ball, the mounting groove is formed in the limiting plate, and the ball is movably mounted on the mounting groove.

Has the advantages that: 1. according to the invention, the double bearings fixed together in the vertical direction are matched with the two clamping plates which are hinged in a one-way mode, so that the mechanical arm can be switched to different bearings while rotating in different directions, and the design can also realize the rotation of the two bearings in idle and non-operation periods, so that the rotation of the balls in the main working area is realized, and the service life of the bearings is greatly prolonged.

2. According to the invention, through the arranged rotating seat, the rotating seat comprises the upper seat body and the lower seat body which are connected through the bolts, the upper seat body and the lower seat body are respectively connected with the fixing rings on the inner surface of the bearing module, and the upper seat body and the lower seat body are connected through the bolts, so that the stability between the rotating seat and the mechanical arm mounting seat can be improved, the mechanical arm is more stable in use, and the using effect is better.

3. According to the mechanical clamping jaw, the jaw bodies on the mechanical clamping jaw are connected through the transmission part, so that the jaw bodies on the mechanical clamping jaw can move synchronously, the distance between the auxiliary jaw and the jaw body can be adjusted by matching with the auxiliary jaw, and the mechanical arm can conveniently clamp objects with different shapes and sizes, so that the applicability of the mechanical clamping jaw is improved.

4. According to the invention, through the sliding assembly arranged on the rotary seat and the limiting assembly arranged on the mechanical arm mounting seat, the balls on the sliding assembly slide along the annular limiting slide way in the rotating process of the multi-section mechanical arm, and the balls play a supporting effect, so that the contact surface between the rotary seat and the mechanical arm mounting seat is small, the sliding friction is converted into rolling friction, the rotation is smoother, the rotation is more stable, and the mechanical arm for the whole sonar monitoring robot has the advantages of simple structure, lower cost, good use effect, capability of large-scale production and application, and high practicability.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a side view structural diagram of the present invention;

FIG. 3 is a partial block diagram of the present invention;

FIG. 4 is a side view of a robot arm mount of the present invention;

fig. 5 is a structural view of a rotary base in the present invention.

In the figure: 1-mechanical arm mounting seat; 2-a case; 3-mounting a port; 4-a bearing module; 5-fixing the ring; 6-a rotating seat; 7-a clamping groove; 8-a multi-section mechanical arm; 9-a mechanical jaw; 10-a clamping jaw; 11-a support; 12-a transmission member; 13-auxiliary claws; 14-a limiting plate; 15-ball bearing.

Detailed Description

Referring to the drawings, a sonar monitoring robot mechanical arm comprises:

the mechanical arm mounting seat comprises a mechanical arm mounting seat 1, a case 2 is arranged on the mechanical arm mounting seat 1, a mounting port 3 is formed in the mechanical arm mounting seat 1, a bearing module 4 is arranged in the mounting port 3, the bearing module 4 is composed of a first bearing and a second bearing which are stacked in the vertical direction and have the same size, the first bearing at the upper part is fixedly connected with the second bearing at the bottom, a first manual rotating rod protruding out of the upper part of the mounting port 3 is fixedly arranged at the top of an inner ring of the first bearing, a second manual rotating rod protruding out of the lower part of the mounting port 3 is fixedly arranged at the bottom of the inner ring of the second bearing, a fixing ring 5 is arranged on the inner surface of the bearing module 4, a rotary seat 6 is movably arranged in the mounting port 3, the rotary seat 6 is connected to an external rotary driving motor, and the rotary seat 6 comprises an upper seat body and a lower seat body which are connected through bolts, the upper base body and the lower base body are fixedly connected with the fixed ring 5 through bolts, the driving motor inside the case 2 is connected with the lower end of the rotating seat 6, a plurality of vertical inclined grooves which are arranged at equal angular intervals are respectively arranged on the inner ring walls of the first bearing and the second bearing, a first clamping plate and a second clamping plate are respectively hinged and arranged in the vertical direction on the side of the fixed ring 5 body facing the bearing module 4 and correspond to the two bearings, and the hinging directions of the first clamping plate and the second clamping plate are unidirectional hinging and opposite.

The multi-section mechanical arm 8 is characterized in that the bottom end of the multi-section mechanical arm 8 is arranged in the middle of the outer surface of the upper end of the upper base body, and the other end of the multi-section mechanical arm 8 is movably provided with a mechanical clamping jaw 9.

Further:

the mechanical clamping jaw 9 comprises a main body, a motor and two groups of clamping jaws 10, wherein the motor is fixedly arranged on the outer surface of the lower end of the main body, the two groups of clamping jaws 10 are movably arranged on the main body, the two groups of clamping jaws 10 are movably connected, and the motor is connected with one group of clamping jaws 10.

The clamping jaw 10 comprises a jaw body, a supporting part 11 and a transmission part 12, one end of the jaw body is movably connected with the supporting part 11 through a pin shaft, the middle position of the outer surface of the jaw body is movably connected with the transmission part 12 through a pin shaft, and the supporting part 11 and the transmission part 12 are both installed on the outer surface of the main body.

The surface of driving medium 12 is provided with the driving tooth, and the driving tooth on two sets of driving mediums 12 meshes mutually, and the output shaft of motor is connected with the lower extreme surface of driving medium 12.

The support piece 11 comprises a fixed rod and a movable rod, one end of the fixed rod is fixedly arranged at one end of the main body far away from the multi-section mechanical arm 8, and two ends of the movable rod are respectively movably connected with the other end of the fixed rod and the middle position of the outer surface of the claw body through pin shafts.

The transmission member 12 is matched with the supporting member 11, the motor drives the transmission member 12 to rotate, and the transmission member 12 drives the claw body to move, so that the claw body moves, and an object is clamped.

Be provided with supplementary claw 13 on the claw body, supplementary claw 13 includes holder and two sets of telescopic links, and the holder passes through the outer fixed surface connection of two sets of telescopic links and the claw body, and a plurality of groups centre gripping groove 7 have been seted up to the surface equidistant of supplementary claw 13.

The telescopic link adopts start-up telescopic link or electric telescopic handle, also equidistant a plurality of groups centre gripping grooves 7 of having seted up on the claw body, can increase frictional force to better centre gripping article.

The upper end surface of going up the pedestal and the lower extreme surface of pedestal down all are provided with the slip subassembly, are provided with spacing subassembly on the arm mount pad 1, slip subassembly and spacing subassembly sliding connection.

The limiting assembly comprises a limiting groove and an annular limiting slide way, the limiting groove is formed in the outer side of the mounting hole 3 on the mechanical arm mounting seat 1, and the annular limiting slide way is formed in the inner bottom surface of the limiting groove and is close to the outer side position.

The sliding assembly comprises a limiting plate 14 and a plurality of groups of sliding pieces, the plurality of groups of sliding pieces are arranged on the outer surface of the lower end of the limiting plate 14 at equal intervals and close to the outer side, the plurality of groups of sliding pieces are distributed in an annular mode, and the limiting plate 14 is clamped in a limiting groove.

The slider includes mounting groove and ball 15, and the mounting groove is seted up on limiting plate 14, and limiting plate 14 rotates when rotatory, and ball 15 rotates along the spacing slide of annular, and rolling friction, frictional force are little, move more stable.

When the mechanical arm for the sonar monitoring robot is used, the driving motor in the case 2 drives the rotating base 6 to rotate, the rotating base 6 drives the multi-section mechanical arm 8 to rotate, and the multi-section mechanical arm 8 drives the mechanical clamping jaw 9 to move to clamp articles.

Through the roating seat 6 that sets up, roating seat 6 includes through bolted connection's last pedestal and lower pedestal, goes up the pedestal and is connected with the solid fixed ring 5 of 4 internal surfaces of bearing module respectively with lower pedestal, goes up in addition through bolted connection between pedestal and the lower pedestal, can improve the stability between roating seat 6 and the arm mount pad 1 to make more stable when using of arm, the result of use is better.

Through the mechanical clamping jaw 9 who sets up, connect through driving medium 12 between the claw body on the mechanical clamping jaw 9, can make the claw body synchronous motion on the mechanical clamping jaw 9, cooperation auxiliary claw 13, the distance between auxiliary claw 13 and the claw body can be adjusted, can make things convenient for the article of arm centre gripping different shapes and size to improve mechanical clamping jaw 9's suitability.

Through setting up the slip subassembly on roating seat 6 and setting up the spacing subassembly on arm mount pad 1, multistage arm 8 rotates ball 15 on the in-process slip subassembly and slides along the spacing slide of annular, ball 15 plays the supporting effect, make the contact surface between roating seat 6 and the arm mount pad 1 little, and convert sliding friction into rolling friction, rotate more smooth and easy, more steady during the rotation, and whole sonar monitoring robot is with the simple structure of arm, the cost is lower, excellent in use effect, can large-scale production and application, and is comparatively practical.

In the process of externally driving the rotating motor to drive the rotating seat 6 to rotate so as to drive the mechanical arm to rotate, because the first clamping plate and the second clamping plate are in one-way hinge joint, the hinge joint can rotate in opposite directions and are matched with the vertical inclined grooves on the inner rings of the bearings, if the mechanical arm rotates clockwise or anticlockwise, only the inner ring of one bearing is driven to rotate, and the other bearing is kept static, so that the mechanical arm can be switched to different bearings while rotating in different directions; in addition, the more important technical effect of the design is that the service life of the bearing is greatly prolonged, the first manual rotating rod at the top and the second manual rotating rod at the bottom are periodically and respectively held in the idle non-operation time period, the bearing at the top or the bearing at the bottom are driven to rotate in partial angles, so that the balls in the region where the mechanical arm frequently operates are rotated, the rotation of the two bearings is realized, the rotation of the main working region is realized, and the service life of the bearing is greatly prolonged.

Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides a sonar monitoring robot arm, its characterized in that includes:

the mechanical arm mounting seat (1), a case (2) is arranged on the mechanical arm mounting seat (1), a mounting opening (3) is formed in the mechanical arm mounting seat (1), a bearing module (4) is arranged inside the mounting opening (3), the bearing module (4) is composed of a first bearing and a second bearing which are stacked in the vertical direction and have the same size, the first bearing at the upper part is fixedly connected with the second bearing at the bottom, a first manual rotating rod protruding out of the upper part of the mounting opening (3) is fixedly arranged at the top of an inner ring of the first bearing, a second manual rotating rod protruding out of the lower part of the mounting opening (3) is fixedly arranged at the bottom of the inner ring of the second bearing, a fixing ring (5) is arranged on the inner surface of the bearing module (4), a rotating seat (6) is movably arranged in the mounting opening (3), and the rotating seat (6) is connected to an external rotation driving motor, the rotating seat (6) comprises an upper seat body and a lower seat body which are connected through bolts, the upper seat body and the lower seat body are fixedly connected with the fixed ring (5) through bolts, a driving motor in the case (2) is connected with the lower end of the rotating seat (6), a plurality of vertical inclined grooves which are arranged at equal angle intervals are respectively arranged on the inner ring walls of the first bearing and the second bearing, a first clamping plate and a second clamping plate are respectively hinged on the side of the fixed ring (5) facing the bearing module (4) in the vertical direction corresponding to the two bearings, and the hinging directions of the first clamping plate and the second clamping plate are unidirectional hinging and opposite;

the utility model discloses a mechanical arm, including multistage arm (8), the bottom of multistage arm (8) is installed at the upper end surface intermediate position of last pedestal, the other end movable mounting of multistage arm (8) has mechanical clamping jaw (9).

2. A sonar monitoring robot arm according to claim 1, wherein: machinery clamping jaw (9) are including main part, motor and two sets of clamping jaw (10), motor fixed mounting is two sets of at the lower extreme surface of main part the equal movable mounting of clamping jaw (10) is in the main part, and is two sets of swing joint between clamping jaw (10), the motor is connected with one of them a set of clamping jaw (10).

3. A sonar monitoring robot arm according to claim 2, wherein: clamping jaw (10) are including the claw body, support piece (11) and driving medium (12), the one end of the claw body is through round pin axle and support piece (11) swing joint, the surface intermediate position of the claw body is through round pin axle and driving medium (12) swing joint, the surface at the main part is all installed in support piece (11) and driving medium (12).

4. A sonar monitoring robot arm according to claim 3, wherein: the outer surface of the transmission piece (12) is provided with transmission teeth, the transmission teeth on the two groups of transmission pieces (12) are meshed, and the output shaft of the motor is connected with the outer surface of the lower end of the transmission piece (12).

5. A sonar monitoring robot arm according to claim 4, wherein: the supporting piece (11) comprises a fixed rod and a movable rod, one end of the fixed rod is fixedly installed at one end, far away from the multi-section mechanical arm (8), of the main body, and two ends of the movable rod are movably connected with the other end of the fixed rod and the middle position of the outer surface of the claw body through pin shafts respectively.

6. A sonar monitoring robot arm according to claim 5, characterized in that: the claw body is provided with auxiliary claw (13), auxiliary claw (13) include holder and two sets of telescopic link, the holder is connected with the surface fixed of the claw body through two sets of telescopic links, a plurality of groups of centre gripping grooves (7) have been seted up to the surface of auxiliary claw (13) equidistant.

7. A sonar monitoring robot arm according to claim 6, wherein: the outer surface of the upper end of the upper base body and the outer surface of the lower end of the lower base body are both provided with sliding assemblies, the mechanical arm mounting base (1) is provided with a limiting assembly, and the sliding assemblies are connected with the limiting assembly in a sliding mode.

8. A sonar monitoring robot arm according to claim 7, wherein: the limiting assembly comprises a limiting groove and an annular limiting slide way, the limiting groove is formed in the outer side of the mounting opening (3) on the mechanical arm mounting seat (1), and the annular limiting slide way is formed in the inner bottom surface of the limiting groove and is close to the outer side position.

9. A sonar monitoring robot arm according to claim 8, wherein: the sliding assembly comprises a limiting plate (14) and a plurality of groups of sliding pieces, the sliding pieces are arranged on the outer surface of the lower end of the limiting plate (14) at equal intervals and close to the outer side, and the sliding pieces are distributed annularly.

10. A sonar monitoring robot arm according to claim 9, wherein: the slider includes mounting groove and ball (15), the mounting groove is seted up on limiting plate (14), ball (15) movable mounting is on the mounting groove.